FR3086750A1 - MOTOR VEHICLE GEOLOCATION DEVICE - Google Patents

Abstract

The invention relates to a geolocation device (2) of a motor vehicle comprising a housing (20) inside which are arranged means for receiving (34) the signal of a satellite location system, characterized in that the housing is configured to house an optical detection device (36) configured to be cleaned by centrifugal effect.

Description

MOTOR VEHICLE GEOLOCATION DEVICE

The present invention relates to a geolocation device for a motor vehicle, and more particularly to such a device able to equip a vehicle provided with a driving assistance system.

Motor vehicles include more and more automated systems, among which there are in particular driving assistance systems which may make it possible, as well with a lesser degree of autonomy of the vehicle, to assist or carry out maneuvers of parking than performing, in a maximum degree of vehicle autonomy, driving the vehicle without a driver being present in the vehicle. Such driving assistance systems include in particular one or more devices for detecting a vehicle environment and parameters external to this vehicle as well as at least one control unit configured to interpret the information thus collected and to take the decisions required as a result of this information.

More particularly, the implementation of autonomous vehicles, without driver, involves the use of a plurality of detection devices arranged around the vehicle, so that the control unit has a very precise image of the environment of the vehicle, less as reliable as the three-dimensional image that a driver could obtain by himself.

Driving assistance systems installed in vehicles, and particularly in autonomous vehicles, also involve taking geolocation data into account and therefore the presence in or on the vehicle of an antenna to allow reception of signals geolocation, so that the Control Unit can process information on the precise position of the vehicle in a mapped environment.

The present invention is part of this context and aims to propose a driving assistance system which integrates and optimally uses each of the components.

WFR3271 of the system, to ensure that the autonomous piloting of a motor vehicle is carried out in complete safety on the basis of reliable road scene detection information.

An object of the present invention thus relates to a device for geolocation of a motor vehicle comprising a housing inside which are arranged means for receiving location signal, characterized in that the housing is configured to house a detection device optics configured to be cleaned by centrifugal effect.

According to different characteristics of the invention, taken alone or in combination, it can be provided that:

- The housing includes an optical detection face in the main plane of which is arranged an optical surface arranged opposite the detection device;

- the housing has a pointed attack face opposite the optical detection face; the term “attack face” means the face of the housing which first comes into contact with air when the vehicle is being rolled forward; it is therefore important that this leading face has an aerodynamic profile, that is to say a profile offering the least possible resistance to air;

- The optical surface of the optical detection device is a protective glass arranged opposite an optical surface of the detection device, said protective glass being rotatably mounted; provision is made to house in the housing of the geolocation device an actuator configured to drive the protective glass in rotation while leaving the sensor forming the optical detection device static;

- According to an alternative to the above, the optical surface of the optical detection device is directly an optical surface of the detection device, this being configured to be rotatable as a whole;

- the housing incorporates a fluid projection nozzle on the optical surface of the

WFR3271 optical detection device;

- The housing has a fixing face to a structural element of the vehicle, said fixing face being at least partially open for handling the optical detection device; the face is said to be fixing in which it consists of the face facing the structural element of the vehicle carrying it, whether this structural element is directly the roof panel or an independent module attached to a body element; and it is understood that this face is said to be fixing, whatever the embodiment of the box of the geolocation device, namely a separate production and a subsequent fixing on the vehicle or else a simultaneous realization of the roof pavilion and the box from the material of the roof pavilion;

- the at least partially open fixing face is configured to allow passage to a liquid supply duct for the spray nozzle of an additional cleaning device, and / or to a control and electrical supply circuit for an actuator associated with the optical detection device, and / or with an electrical supply circuit for the means for receiving the geolocation signal, and / or with cables of a communication network between said means for receiving the signal and the device optical detection and a remote central control unit located outside the housing.

The invention also relates to a driving assistance system for a motor vehicle, comprising a geolocation device in accordance with that described above, in which the optical detection device and the location signal reception means are configured. to communicate with a central control unit of said driving assistance system.

The driving assistance system can comprise a detection-by-emission detection organ configured to acquire an image according to a detection field in which the geolocation device extends, and the central control unit can be then configured to process the image acquired by the detection member by removing the portion of the detection field in which the

WFR3271 geolocation device, and to combine this processed image with an image acquired by the optical detection device in the geolocation device.

By way of nonlimiting example, the segment of the field of vision of the detection module obstructed by the geolocation device has an angular value of the order of 5 to 45 °.

We understand that in this way we can keep the interest that the presence of a 360 ° camera, or at least a wide field of vision, can have, while the antenna of the geolocation system is in this field of vision. We are thus able to restore in the acquired image the area lost by the presence of the antenna.

The invention further relates to a motor vehicle roof fitted with a geolocation device as described above, the housing being arranged so that the optical detection device is turned towards the rear of the roof.

The geolocation device can in particular be integrated into the structure of the roof of the vehicle and form in one piece with the roof the antenna in which is embedded in particular the optical detection device. It can also be integrated in an independent module which integrates a plurality of optical functions to make a series vehicle autonomous and which is attached to the roof of the vehicle.

Other characteristics, details and advantages will emerge more clearly on reading the detailed description given below by way of indication in relation to an exemplary embodiment of the present invention illustrated in the following figures:

FIG. 1 is a top view of a motor vehicle, making visible on the roof of the vehicle an antenna housing forming part of a geolocation system according to a first aspect of the invention;

- Figure 2 is a detail view, from above, of the antenna housing illustrated in Figure 1;

- Figure 3 is a perspective view of the antenna housing of Figure 2, the

WFR3271 perspective making more particularly visible the optical detection face in which the optical element integrated in the antenna housing is arranged;

- Figure 4 is a perspective view of an antenna housing similar to that illustrated in Figures 2 and 3 in particular, the perspective angle making visible a partially open housing mounting face, the antenna housing FIG. 4, differing from the housings previously illustrated in that it also incorporates an additional cleaning device by spraying liquid, the spray nozzle of which is visible here;

- Figure 5 is a partial sectional view of the antenna of Figure 4, the section making more particularly visible the optical detection device configured to be cleaned by centrifugal effect, the additional cleaning device by spraying liquid, and means for receiving a geolocation signal;

- Figure 6 is a perspective view of a second embodiment of a geolocation system according to the invention, according to which the antenna is integrated in an independent module which integrates a plurality of optical functions, and in particular a module detection by emission-reception of waves;

- Figure 7 is a top view of a roof or the module of Figure 6, in which the presence of the antenna in the field of vision of a detection module by emission-reception of waves has been illustrated ;

- And Figure 8 is a flowchart illustrating a method of image acquisition in the case illustrated in Figure 7, with an antenna in the field of vision of a detection module by transmission-reception of waves.

In the following description, the terms "longitudinal", "transverse" and "vertical" refer to an orientation of a geolocation device according to the invention when the latter is integrated into a vehicle. Thus, the term "longitudinal" corresponds to a direction parallel to a longitudinal axis L of a trihedron L, V, T shown in the figures, the term "transverse" corresponds to a direction parallel to

WFR3271 a transverse axis T of this trihedron, the transverse axis being perpendicular to the longitudinal axis L and the term "vertical" corresponds to a direction parallel to a vertical axis V of the trihedron, this vertical axis V being perpendicular to the axis longitudinal L and to the transverse axis T. A transverse section refers to a section made along a longitudinal and transverse plane, that is to say a plane in which the longitudinal axis L and the transverse axis are inscribed T of the trihedron L, V, T illustrated.

Figure 1 is a top view of a motor vehicle 1 comprising at least one geolocation device 2 according to the invention. More particularly, according to the example illustrated here, the geolocation device 2 is attached to the roof 4 of the vehicle, in the rear part 6 thereof. The geolocation device 2 according to one aspect of the invention is particular in that it comprises, in the same housing 8 forming an antenna, both signal reception means of a location system, necessary for the geolocation function, that an optical detection device, specific in that it can be cleaned by centrifugal effect, that is to say by rotation at high speed of an optical surface of this detection device.

In FIG. 1, the motor vehicle 1 is schematically illustrated with a plurality of components, and in particular of image acquisition members 10 of the road scene, of a driving assistance system. In the example illustrated, these bodies for acquiring images of the road scene are arranged on the periphery of the roof 4 of the motor vehicle, but it will be understood that some of these bodies may be arranged at the level of the front face 12, side faces 14 or rear face 16 of the motor vehicle 1. In this case, the motor vehicle 1 comprises a first image acquisition member arranged on the front part 18 of the roof 4 and configured to give an accurate image of the road scene at the front of the vehicle, a second image acquisition member configured to give a precise image of the road scene at the rear of the vehicle, this member being here according to the invention integrated in the housing of the geolocation device as mentioned above, and two other image acquisition devices arranged laterally on the roof of the vehicle. Thus, data can be acquired on an entire vehicle environment

WFR3271 automobile, that is to say 360 ° around this motor vehicle. The terms “front” and “rear” as they are used here and subsequently are understood here with respect to a direction S of main movement of the motor vehicle 1.

In what follows, the image acquisition devices and the optical detection devices consist of elements configured to, on the one hand, acquire data relating to an environment external to the vehicle on which the geolocation device is embarked according to a aspect of the invention, and on the other hand transmit the data thus acquired to a control unit which is configured to send, as a result of this information received, one or more instructions making it possible to initiate or assist a maneuver of the vehicle.

FIG. 1 makes the geolocation device 2 more particularly visible according to one aspect of the invention arranged in the rear part 6 of the roof 4.

The geolocation device 2 comprises a housing 20 which in particular has a rear face, that is to say a face facing the rear of the vehicle, which forms an optical detection face 22 and a front face, or face of attack 24 because facing towards the front of the vehicle and therefore directly across the air flow when the vehicle is running, which has a pointed shape.

As can be seen in FIGS. 2 and 3 in particular, an optical surface 26, that is to say an advantageously transparent optical element, is arranged in the optical detection face 22 of the housing 20, said optical surface having a part bulging projecting from the main plane defined by the optical detection face 22.

The optical surface 26 is configured to allow an appropriate field of vision 27 towards the rear of the vehicle, as illustrated by way of example in FIG. 1.

The optical detection face 22 has a proximal portion 28, close to a base of the housing 20, and a distal portion 30, turned away from the vehicle on which the housing is arranged, and FIG. 3 illustrates the characteristic, not limiting, according to which the profile of the housing is such that the proximal portion 28 has a dimension

WFR3271 transverse greater than that of the distal portion 30 forming the top of the housing. In this way, the housing here has a pointed shape from the rear face towards the front face and a pointed shape from the base secured to the structure of the vehicle towards the top. It is understood that these shapes are in particular suitable for the aerodynamic profile of the vehicle and that the shapes of the faces of the housing are not limiting here, and in particular the hollow shape of the lateral faces 32 extending between the rear face and the front face.

FIGS. 4 and 5 show the interior of the antenna housing 20 to illustrate in particular the presence in this single housing of signal reception means 34 of a localization system, for example a satellite signal of GPS type ensuring the function of geolocation, and an optical detection device 36, specific in that it can be cleaned by centrifugal effect, that is to say by rotation at high speed of an optical surface of this detection device.

It should be noted that these FIGS. 4 and 5 also make it possible to illustrate an alternative embodiment in which the housing 20 forming the antenna of the geolocation device 2 also includes an additional cleaning device by spraying of fluid configured to spray, via a nozzle projection 38, of the fluid, whether air, water or windshield washer fluid, on the optical surface 26 arranged in the optical detection face 22 of the housing 20. Of course, what follows to describe Figures 4 and 5 also applies if the optical detection device is not associated with such an additional cleaning device, the cleaning being carried out only by centrifugal effect.

As illustrated in FIG. 4, the housing has at its base, as mentioned above, a fixing face 40 at least partially open to allow passage for the insertion and removal of the optical detection device configured to be cleaned by centrifugal effect. The fixing face 40 has a peripheral flange 42 in which are made here several fixing holes 44 allowing the screwing in particular of the housing on a roof panel or on an independent intermediate module as will be detailed below.

WFR3271

It is understood that the fixing means could differ without departing from the context of the invention, and that the peripheral flange could in particular serve as a zone for welding the housing to the appropriate structural element of the vehicle, for example the roof 4. Furthermore , it could be envisaged that the antenna housing is made in one piece with the structural element of the vehicle and for example the roof, and in such a variant, the structural element would be open to the right of the antenna housing to pass the detection device through the housing formed inside the housing.

As can be seen in FIG. 4, the at least partially open fixing face allows the passage from the interior of the housing towards the exterior thereof of a liquid supply duct 46 of the projection nozzle 38 of the additional cleaning device, as well as of a control and electrical supply circuit 48 of an actuator 50 associated with the optical detection device 36, said actuator allowing the optical surface 26 to rotate in order to allow its cleaning by centrifugal effect.

Of course, the opening formed in the fixing face can also allow the passage of an electrical supply circuit of the means for receiving the geolocation signal also housed in the antenna housing and it can be provided to pass through this opening of the wired communication means between said signal reception means, and / or the optical detection device, and a central control unit 200, illustrated schematically in dotted lines in Figures let 7, remote and located outside of the housing.

FIG. 4 makes in particular visible the lugs 52 for fixing the actuator 50 mentioned above, these lugs making it possible in particular to freeze the position of the stator of the actuator relative to the housing. We will now describe with reference to Figure 5 an embodiment of the detection device 36 housed in the housing and configured to be cleaned by centrifugal effect.

The detection device 36 includes a sensor 54, the body of which contains

WFR3271 ίο means of acquisition and if necessary of image processing, the body being covered by a projection lens 56. The detection device further comprises a protective glass forming the optical surface 26 previously mentioned and arranged in the face detection 22 of the housing. The sensor 54 is fixed relative to the housing and the protective glass is configured to rotate at high speed when dirt is detected on the optical surface formed by this protective glass. To this end, the detection device 36 is associated with the actuator 50 arranged in the longitudinal extension of the detection device. More particularly, the actuator here is a brushless type motor, which comprises an internal stator 49 carrying coils supplied with current and an external rotor 51 carrying permanent magnets and configured to rotate around the stator. The stator 49 carries a support 53 of the sensor body 54 so as to ensure its fixed position and the rotor 51 is linked to the optical surface 26 via an intermediate wall 58, so that the rotation of the rotor around the stator causes the high-speed rotation of the optical surface 26 around the axis of rotation of the actuator, advantageously coincident with the optical axis of the sensor 54. The fact that the actuator is here an external rotor motor is not limiting of the invention and the optical surface of the detection device integrated according to the invention in the housing of the geolocation device could without departing from the context of the invention be rotated with an actuator with internal rotor.

It should be noted that the size of the detection device and the means necessary for cleaning its optical surface, here by centrifugal effect, is essentially longitudinal, that is to say according to the direction of advance of the vehicle. This is particularly advantageous in the position of the housing of the geolocation device illustrated in particular in FIG. 1, since the aerodynamic grip can be limited due to the sole increase in the longitudinal dimensions, which is not very detrimental for aerodynamics, and the non-increase in the vertical and / or transverse size, which would be penalizing for aerodynamics.

FIG. 5 also illustrates in more detail an additional cleaning device 60 allowing the projection of fluid onto the optical surface, which can be used

WFR3271 prior to or simultaneously with the rotation of the optical surface, in order to facilitate the removal of dirt from the optical surface during the rotation of the latter. As a follow-up to what has just been described above, it should be noted that in this alternative embodiment, the additional cleaning device 60 by fluid spraying is only an auxiliary device, and that one can be satisfied a single and fixed projection nozzle 38, and therefore compact. The projection nozzle 38 has a body 39 capable of guiding the fluid received via the liquid supply conduit 46. The nozzle 38 is configured to project a jet 62 onto the optical surface 26.

As specified above, FIG. 5 also schematically illustrates the presence of the signal reception means 34 of a location system, for example a satellite signal of the GPS type. These are arranged as close as possible to the distal portion 30 forming the top of the housing, in order to benefit from the best reception quality. Electromagnetic shielding may be provided, if necessary, between the actuator 50 of the detection device 36 and the reception means 34, so as not to disturb the reception of the signal and the processing of this geolocation information.

The antenna housing as just described can in particular be integrated into an independent module 100 capable of being attached to a roof of a motor vehicle, as illustrated in FIG. 6.

The independent module 100 is specific in that it integrates a plurality of detection devices of the vision camera type or RADAR or LIDAR devices, capable of giving autonomy to a vehicle which is not planned from the design of a system. assistance with appropriate conduct. In particular, one can observe in Figure 6 the presence of side vision cameras 101 and detection devices arranged in a front face 102 of the independent module. Each of these detection devices aims to ensure the acquisition of data around the entire periphery of the vehicle. The detection device integrated in the housing of the geolocation device aims here to ensure the acquisition of data on the rear of the vehicle.

WFR3271

Without it being necessary for a good understanding of the invention to describe in detail such an independent module 100, it should be noted that it has on an external face, or upper face, that is to say an opposite face on the roof surface on which it is intended to be placed, a detection module 110 with a wide field of vision, here at 360 °. More particularly, in the illustrated case, this detection module operates by transmission-reception of waves and takes the form of a LIDAR device, capable of reconstructing an image of the entire road scene present around the vehicle. In this context, it should be noted that the antenna housing of the geolocation device according to one aspect of the invention is located in at least one angular segment of the field of vision of the detection module and prevents the analysis of the road scene disposed downstream of the housing in this angular segment.

Figure 7 illustrates this problem more clearly. The housing 20 of the geolocation device 2 is found in the wide angular segment SI covered by the detection module 110. This results in an image portion S2 detected by this detection module which remains fixed, due to the presence of the housing static, unlike the rest of the detected image which evolves as the vehicle moves. The detection module 110 and the associated central control unit 200 are then configured to cut out this portion of image S2 from the rest of the detected image and then to replace it with an image detected by the detection device 36 integrated in the housing. 20 of the geolocation device, whose field of vision 27 is clear.

The image detection and processing method implemented by the detection module 110 and the associated central control unit 200 is illustrated in FIG. 8. A first step E1 consists in image acquisition and processing , on a given angular sector, by the detection module 110. In a second step E2, an analysis of the image is carried out by the associated central control unit and appropriate image processing means in order to determine whether a portion of the detected image remains fixed and if this portion of the fixed image is due to the presence of the housing of the geolocation device 2, in particular by estimating whether the angular segment corresponds. If no portion of the image remains fixed, or if the fixed portion of the image is analyzed

WFR3271 as being due to dirt rather than the presence of the box in the field of vision, the image acquired by the detection module 110 is supplied as it is to the driving assistance system in a third step E3 . If, on the other hand, the fixed portion of the image is analyzed as being due to the presence of the box in the field of vision, the central control unit proceeds to a fourth step E4 during which, simultaneously, it recovers in a first sub-step E41 an image detected by the detection device 36 on board the housing 20 and it processes in a second sub-step E42 the image acquired by the detection module 110 to erase the fixed portion of this image. This fourth step E4 is then followed by a fifth step E5 of image processing by adding and superimposing the two images obtained simultaneously in each of the preceding substeps, the image resulting from this superimposition of images then being supplied. to the driver assistance system.

The foregoing description explains clearly and completely how the present invention achieves the goals which it has set itself, namely the production of a geolocation device capable of integrating means of acquiring data relating to the road scene. , so as to arrange in a reduced environment two components essential to the empowerment of a motor vehicle. The device as it is the subject of the invention makes it possible in particular to propose the integration of these two components in a housing whose detection face, namely the face comprising the optical element of the data acquisition means , must be as small as possible to minimize the field of vision of other vehicle detection elements.

The present invention cannot however be limited to the means and configurations described and illustrated here and it also extends to any equivalent means or configuration and to any technically effective combination of such means. In particular, the shape and the arrangement of the housing of the geolocation device can be modified without harming the invention insofar as the device integrates both signal reception means of a satellite location system and a tracking device. optical detection configured to be cleaned by centrifugal effect.

Claims (10)

1. Geolocation device (2) of a motor vehicle comprising a housing (20) inside which are arranged reception means (34) for locating signal, characterized in that the housing is configured to house a device optical detection sensor (36) configured to be cleaned by centrifugal effect. 2. Device according to claim 1, characterized in that the housing (20) has an optical detection face (22) in the main plane of which is arranged an optical surface (26) disposed opposite the detection device. 3. Device according to claim 2, characterized in that the housing has a leading face (24) of pointed shape opposite the optical detection face (22). 4. Device according to claim 2 or 3, characterized in that the optical surface (26) of the optical detection device is a protective pane disposed opposite a projection lens (56) of the optical detection device (36) , said protective glass being rotatably mounted. 5. Device according to one of claims 2 to 4, characterized in that the housing (20) incorporates a spray nozzle (38) of fluid on the optical surface (26) of the optical detection device. 6. Device according to one of the preceding claims, characterized in that the housing (20) has a fixing face (40) to a structural element of the vehicle, said fixing face (40) being at least partially open for handling. of the optical detection device (36). 7. Assistance system for driving a motor vehicle, comprising a geolocation device (2) according to the preceding claim, in which the optical detection device (36) and the reception means (34) of signal are configured to communicate with a central control unit (200) of said driving assistance system. WFR3271 8. Driving assistance system according to the preceding claim, comprising a detection member (110) configured to acquire an image according to a detection field in which the geolocation device (2) extends, in which the unit control center (200) is configured to process the image acquired by the organ 5 detection by removing the portion of the detection field in which the geolocation device extends, and to combine this processed image with an image acquired by the optical detection device in the geolocation device. 9. Roof (4) of a motor vehicle equipped with a geolocation device (2) according to one of claims 1 to 7, the housing (20) being arranged so that 10 the optical detection device is turned towards the rear of the roof (4).