FR3101307A1 - Method and device for preventing vehicle collision risk - Google Patents

Abstract

The invention relates to a method and a device for preventing vehicle collision risk (10). In effect, the presence of an obstacle (12) on the road taken by the vehicle (10) is detected. An alert signaling the presence of the obstacle (12) is advantageously emitted in the vehicle. Following this alert, the behavior of the vehicle is determined over a given distance and less than the distance separating the vehicle (10) from the obstacle (12) when the alert was issued. To this end, one or more parameters are determined or measured, for example the speed of the vehicle, the accelerations or decelerations of the vehicle, the braking. The reaction time of the vehicle is then determined as a function of this or these parameters. Figure for the abstract: Figure 1

Description

Method and device for preventing the risk of collision for a vehicle

The invention relates to methods and devices for preventing the risk of collision for vehicles, in particular of the automobile type. The invention also relates to collision avoidance methods and devices for vehicles, and more particularly collision avoidance between a vehicle and a natural person.

Technology background

Road safety is an important issue for our societies. With the increase in the number of users, whether vehicles, pedestrians or even cyclists, on the road networks around the world, the risks of accidents and incidents caused by these same users have never been as important.

To improve safety on the roads, new technologies are emerging that allow the exchange of information between vehicles and/or between vehicles and the infrastructure that surrounds them. Thus, new information and communication technologies applied to the field of transport have appeared, such as the ITS G5 (from the English "Intelligent Transportation System G5" or in French "Système de transport intelligent G5") in Europe or DSRC (Dedicated Short Range Communications) in the United States of America, both of which are based on the IEEE 802.11p standard or technology based on cellular networks named C-V2X (from English "Cellular - Vehicle to Everything" or in French "Cellulaire - Vehicule vers tout") which is based on 4G based on LTE (from English "Long Term Evolution" or in French "Long term evolution") and soon 5G.

However, the prevention of the risk of collision, in particular between a vehicle and a more fragile user (for example a pedestrian, a cyclist, a person on a scooter) nevertheless remains largely perfectible.

An object of the present invention is to improve road safety.

Another object of the invention is to improve the prevention of collisions between a vehicle and an obstacle on the road, in particular a natural person.

According to a first aspect, the invention relates to a method for preventing a risk of collision for a vehicle, the method comprising the following steps:

- detection of the presence of an obstacle on a traffic lane on which the vehicle is traveling;

- issuance of a first alert indicating the presence of the obstacle to the vehicle;

- determination of at least one parameter representative of a behavior of the vehicle when approaching the obstacle over at least part of a distance separating the vehicle from the obstacle after transmission of the first alert;

- determination of a reaction time of the vehicle after the emission of the first alert as a function of at least one parameter.

According to a variant, the method further comprises a step of issuing at least one second alert signaling the presence of the obstacle to the vehicle when the reaction time is greater than a first threshold, the at least one second alert being issued after the first alert has been issued.

According to yet another variant, the method further comprises a step of saving information representative of the behavior of the vehicle when the reaction time is greater than the first threshold.

According to another variant, the method further comprises a step of transmitting at least a third alert to a communication device associated with the obstacle when the reaction time is greater than a second threshold, the at least one third alert being issued after the issue of the first alert.

According to an additional variant, the detection is obtained from at least one of the following data:

- data representative of the obstacle received from at least one detection device on board the vehicle;

- data representative of the obstacle received by the vehicle via a wireless link in a V2X type communication system.

According to an additional variant, the at least one parameter is representative of the speed of the vehicle over the at least part of the distance separating the vehicle from the obstacle.

According to another variant, the method further comprises a step of saving information representative of the behavior of the vehicle when the result of the analysis indicates that the presence of the obstacle has not been taken into consideration by the vehicle.

According to another variant, the obstacle corresponds to a natural person.

According to a second aspect, the invention relates to a device for preventing a risk of collision for a vehicle, the device comprising a memory associated with a processor configured for the implementation of the steps of the method according to the first aspect of the invention.

According to a third aspect, the invention relates to a vehicle, for example of the automotive type, comprising a device as described above according to the second aspect of the invention.

According to a fourth aspect, the invention relates to a computer program which comprises instructions adapted for the execution of the steps of the method according to the first aspect of the invention, this in particular when the computer program is executed by at least one processor.

Such a computer program can use any programming language, and be in the form of source code, object code, or intermediate code between source code and object code, such as in a partially compiled form, or in any other desirable form.

According to a fifth aspect, the invention relates to a computer-readable recording medium on which is recorded a computer program comprising instructions for the execution of the steps of the method according to the first aspect of the invention.

On the one hand, the recording medium can be any entity or device capable of storing the program. For example, the medium may comprise a storage means, such as a ROM memory, a CD-ROM or a ROM memory of the microelectronic circuit type, or even a magnetic recording means or a hard disk.

On the other hand, this recording medium can also be a transmissible medium such as an electrical or optical signal, such a signal being able to be conveyed via an electrical or optical cable, by conventional or hertzian radio or by self-directed laser beam or by other ways. The computer program according to the invention can in particular be downloaded from an Internet-type network.

Alternatively, the recording medium may be an integrated circuit in which the computer program is incorporated, the integrated circuit being adapted to execute or to be used in the execution of the method in question.

Brief description of figures

Other characteristics and advantages of the invention will emerge from the description of the non-limiting embodiments of the invention below, with reference to the appended figures 1 to 3, in which:

schematically illustrates a V2X communication environment, according to a particular embodiment of the present invention;

schematically illustrates a device configured to communicate in the environment of FIG. 1, according to a particular embodiment of the present invention;

illustrates a flowchart of the different steps of a communication method for a vehicle, the method being for example implemented in the device of FIG. 2, according to a particular embodiment of the present invention.

A method and a device for preventing the risk of collision for a vehicle will now be described in the following with reference in conjunction to FIGS. 1 to 3.

According to a particular and non-limiting embodiment of the invention, a collision risk prevention method for a vehicle comprises the detection of the presence of an obstacle on a traffic lane on which the vehicle is traveling, the corresponding obstacle by example to a vulnerable road user, for example a pedestrian, a cyclist or even a person riding a scooter. A first alert signaling the presence of the obstacle is advantageously emitted in the vehicle, for example by means of the display of an alert message on a screen in the passenger compartment and/or the rendering of a sound or a sound message via one or more loudspeakers arranged in the passenger compartment of the vehicle. Following the issuance of the first alert, the behavior of the vehicle is determined over a given distance and less than the distance separating the vehicle from the obstacle when the first alert was issued. For this purpose, one or more parameters are determined or measured, for example the speed of the vehicle, the accelerations or decelerations of the vehicle, the braking, etc. The reaction time of the vehicle is then determined as a function of this or these parameters, the reaction time corresponding for example to the time elapsed between the emission of the first alert and a modification in the behavior of the vehicle highlighted by the determined parameters (reduction of speed, braking applied).

The determination of the reaction time of the vehicle (or of its driver) after the emission of an alert makes it possible to determine whether the vehicle has properly taken into account the presence of the obstacle and the associated danger of collision, which makes it possible to implement additional actions if necessary (for example when the reaction time indicates that the vehicle, or its driver, have not taken into account the presence of the obstacle within a given time. The prevention of a risk of collision and safety on the road are thus improved.

schematically illustrates a communication environment 1 in a V2X (Vehicle-to-everything) type communication network, according to a particular and non-limiting embodiment of the present invention .

Figure 1 illustrates a first vehicle 10 and a second vehicle 11 traveling in a road environment. The first vehicle 10 and the second vehicle 11 each carry a communication device for transmitting and receiving data intended for another vehicle and/or a server of a network infrastructure. Each communication device can be likened to a node of a network, for example an ad hoc wireless network.

The infrastructure of the network comprises for example communication devices 110, 111, each device 110, 111 corresponding for example to an antenna of a cellular network of the 4G or 5G LTE type or to a UBR ("Roadside Unit") , each corresponding to a network node, in addition to the nodes equipping vehicles or pedestrians.

According to the example of FIG. 1, the road environment corresponds to a portion of road with two-way traffic, the first vehicle 10 and the second vehicle 11 traveling in the opposite direction, each on its own traffic lane. This portion of road includes for example a pedestrian crossing 120 allowing a pedestrian 12 to cross this portion of road.

The pedestrian 12 is advantageously equipped with a wireless communication device, for example a smart telephone (from the English "smartphone") or any connected object (for example a connected watch) allowing data to be exchanged with the network.

According to the particular example of FIG. 1, the pedestrian crossing 120 is monitored by a camera 112. This camera is advantageously associated with or equipped with a communication device connected to the network, for example to transmit to the network the images acquired by this camera 112

The vehicles 10 and 11 advantageously communicate using a so-called V2X communication system, for example based on the 3GPP LTE-V or IEEE 802.11p standards of ITS G5. In such a V2X communication system, each vehicle embeds a node to enable V2V vehicle-to-vehicle, vehicle-to-V2I infrastructure (vehicle-to-vehicle) -infrastructure") and/or V2P ("vehicle-to-pedestrian") vehicle, pedestrians being equipped with mobile devices (e.g., smart phone ("Smartphone")) configured to communicate with vehicles.

According to a particular embodiment, all the nodes (that is to say the communication devices associated with the vehicles 10, 11, the pedestrian 12, the camera 112 and the antennas or UBR 110, 111) of the network forms for example a wireless ad hoc network (also called WANET (from the English "Wireless Ad Hoc Network") or MANET (from the English "Mobile Ad Hoc Network"), corresponding to a decentralized wireless network. Unlike a centralized network which is based on an existing infrastructure comprising, for example, routers or access points linked together by a wired or wireless infrastructure, the ad hoc wireless network is made up of nodes which each participate in the data routing by retransmitting data from one node to another, from the sender to the receiver, depending on the network connectivity and the routing algorithm implemented. The ad hoc wireless network advantageously corresponds to a vehicular ad hoc network (or VANET, standing for “Vehicular Ad hoc NETwork”) or to an intelligent vehicular ad hoc network (or InVANET, standing for “Intelligent Vehicular Ad hoc NETwork”), also known as the “GeoNetworking” network. In such a network, 2 or more vehicles each carrying a node can communicate with each other in the context of V2V vehicle-to-vehicle communication; each vehicle can communicate with the infrastructure set up as part of a V2I vehicle-to-infrastructure communication; each vehicle can communicate with pedestrian(s) equipped with mobile devices (e.g., smart phone) in V2P vehicle-to-pedestrian communication. pedestrian”).

The nodes corresponding to the antennas (or UBR) 110 and 111 as well as the node corresponding (or associated) to the camera 112 are advantageously connected to one or more remote servers or to the "cloud" 100 (or in French "nuage") via a wired and/or wireless connection. The antennas or UBR 110 and 111 can thus act as a relay between the "cloud" 100 and the first vehicle 10 and/or the second vehicle 11.

In a first operation, the first vehicle 10 detects the presence of an obstacle, the obstacle corresponding to the pedestrian 12 according to the particular example of FIG. 1. The pedestrian 12 is for example detected by a detection system on board the first vehicle 10, such a detection system comprising for example one or more radars arranged on the first vehicle 10, for example at the front, at the rear and/or in the corners of the first vehicle 10.

According to a variant embodiment, the first vehicle 10 receives information indicating the presence of the pedestrian 12 crossing the traffic lane taken by the first vehicle 10. This information is advantageously received by the V2X type wireless network. The presence of the pedestrian 12 is for example detected by the second vehicle 11, for example via the detection system (radar for example) of the second vehicle, the information on the presence of the pedestrian 12 then being sent back by the second vehicle to the "cloud 100 via the antenna 111, according to a V2I communication mode. According to another example, the driver of the second vehicle 11 signals the presence of the pedestrian 12 to a communication system fitted to the second vehicle, this system relaying the information to the network infrastructure. The information on the presence of the pedestrian 12 sent by the second vehicle to the network infrastructure is then communicated to all the vehicles traveling on this traffic lane and likely to collide with the pedestrian. According to another example, the information is transmitted to the first vehicle 10 by the second vehicle 11 according to a direct communication mode of the V2V type. According to yet another example, the presence of the pedestrian crossing the road on the crosswalk 120 is detected by the camera 112 which monitors the crosswalk, or by a device of the "cloud" 100 receiving and processing the images acquired by the camera 112 to detect objects (pedestrians, cyclists, scooters) by application of object detection methods applied to the images and known to those skilled in the art. According to an additional example, the information on the presence of an object transmitted by the second vehicle 11 is combined with the analysis of the images from the camera 112 to confirm the detection of the pedestrian 12 before transmission to the first vehicle 10.

According to yet another variant, the presence of the pedestrian 12 is detected by the first vehicle 10 by combining the information received from the detection system of the first vehicle 10 and the presence information received in V2X.

In a second operation, a first alert is issued in the first vehicle 10 to notify the driver (and possibly the passengers) of the first vehicle 10 of the presence of a pedestrian 12 (natural person) on the traffic lane to prevent collision with this pedestrian 12. The first alert corresponds for example to a message displayed on a display screen in the passenger compartment of the vehicle and/or on the screen of a smart phone connected to the on-board system of the first vehicle 10. According to another example, the first alert corresponds to a sound and/or to a voice message reproduced (rendered) on one or more loudspeakers of the passenger compartment of the first vehicle 10 and/or on one or more loudspeakers of a smart telephone connected to the on-board system of the first vehicle 10.

In a third operation, the behavior of the vehicle is analyzed from the issuance of the first alert. To do this, data and/or parameters originating from sensors connected to the on-board system of the first vehicle are for example determined, for example data on the speed and/or on the braking system of the first vehicle 10. These data or parameters are for example measured over part of the distance separating the first vehicle 10 from the pedestrian 12. If d2 corresponds to the distance between the first vehicle 10 and the pedestrian 12 when the first alert is issued, the distance d1 over which the data or parameters are measured is defined as: d1 = d2 – d3, with d3 corresponding to the braking distance (distance required for the first vehicle to stop for a given initial speed). For safety, d1 is defined as: d1 = d2 – 2*d3. These data make it possible to determine whether the first vehicle 10 (that is to say its driver) takes the first alert into account. A consideration of the first alert is manifested in particular by an actuation of the brakes and/or a deceleration (decrease in speed) of the first vehicle 10.

In a fourth operation, the reaction time of the vehicle (or of its driver) is determined from the parameters determined in the third operation. The reaction time of the first vehicle 10 advantageously corresponds to the time elapsed (corresponding to a duration expressed for example in seconds) between the transmission of the first alert and the engagement of the brakes of the first vehicle 10 and/or a deceleration of the first vehicle 10 (for example to reach a determined value, for example 30 or 40 km/h).

If the reaction time is less than a first threshold, then no other action or operation is implemented because it is considered that the first vehicle 10 has indeed taken the first alert into account and that the collision with the pedestrian 12 will be avoided. The first threshold corresponds for example to the time required to travel the distance d1 or the time required to travel part of the distance d1 (for example 50%, 60% or 70% of d1), taking for example into consideration the speed of the first vehicle 10 when the first alert is issued.

If the reaction time is greater than the first threshold, then one or more second alerts signaling the presence of the pedestrian 12 to the first vehicle 10 are transmitted in the first vehicle 10. The second alert or alerts are for example identical to the first alert. According to a variant, the second alert(s) are different from the first alert, for example emitted with a higher sound volume, or even increasingly louder if several second alerts are emitted, to attract the attention of the driver of the first vehicle 10 The second alert is for example transmitted as soon as the first threshold is reached. Following the transmission of a second alert, it is determined whether the first vehicle 10 takes the second alert into account (determination of one or more parameters representative of the behavior of the first vehicle 10, for example deceleration and/or braking). If so, then no further second alerts are issued. If this is not the case, at least another second alert is issued.

According to an optional variant, if the first vehicle 10 takes no action to avoid the collision, that is to say that no braking or slowing down is measured or determined, a message is for example automatically transmitted to a dedicated server of the "cloud" 100 to report dangerous and inappropriate behavior of the first vehicle 10.

In parallel, the information representative of the behavior of the vehicle (for example the reaction time, the speed of the first vehicle 10) are saved (for example in the memory of the device having calculated the reaction time or on a dedicated server of the "cloud" 100 ), as well as, for example, information on the location of the zone, the speed and/or the location of the pedestrian 12. This information is useful for improving the system by analyzing the reasons which could explain the late taking into account of the first alert .

According to a variant embodiment, if the reaction time is greater than a second threshold (equal to or greater than the first threshold), one or more third alerts are transmitted by the first vehicle to the telephone or to the connected object carried by the pedestrian 12 , according to a V2P communication mode, to alert the pedestrian 12 that the first vehicle 10 is approaching and that there is a danger of collision. The third alert corresponds for example to a haptic effect (for example vibration of the telephone) or a sound message (determined ringtone) to alert the pedestrian 12 of the danger. According to a variant, the third alert is a function of the position of the pedestrian and corresponds for example to an audible message providing instructions to the pedestrian 12 to move away from the danger (for example giving a direction to follow to move away, for example "step back").

According to yet another variant, an alert is issued to all users of the zone, in particular the most fragile (pedestrians, cyclists, scooters) in which the first vehicle 10 is circulating to warn them of the danger.

Of course, the invention is not limited to avoiding collision with a pedestrian but extends to all obstacles, in particular the most exposed and fragile users such as cyclists, pedestrians and scooters.

schematically illustrates a device 2 configured to prevent a collision and to communicate in the network of FIG. 1, according to a particular and non-limiting exemplary embodiment of the present invention. The device 2 corresponds for example to a device on board the first vehicle 10, for example a computer, to a “cloud” server or else to a communication device carried by the pedestrian 12, for example a smart telephone. The device 2 is for example configured to transmit and/or receive data.

The device 2 is for example configured for the implementation of the operations described with regard to FIG. 1 and/or the steps of the method described with regard to FIG. 3. Examples of such a device 2 comprise, without being limited thereto , on-board electronic equipment such as a vehicle's on-board computer, electronic computer such as an ECU ("Electronic Control Unit"), smart phone, tablet, laptop, server. The elements of device 2, individually or in combination, can be integrated in a single integrated circuit, in several integrated circuits, and/or in discrete components. The device 2 can be made in the form of electronic circuits or software (or computer) modules or else a combination of electronic circuits and software modules. According to different particular embodiments, the device 2 is coupled in communication with other similar devices or systems, for example via a communication bus or through dedicated input/output ports.

The device 2 comprises one (or more) processor(s) 20 configured to execute instructions for carrying out the steps of the method and/or for executing the instructions of the software or software embedded in the device 2. The processor 20 can include integrated memory, an input/output interface, and various circuits known to those skilled in the art. The device 2 further comprises at least one memory 21 corresponding for example to a volatile and/or non-volatile memory and/or comprises a memory storage device which can comprise volatile and/or non-volatile memory, such as EEPROM, ROM, PROM, RAM, DRAM, SRAM, flash, magnetic or optical disk.

The computer code of the on-board software or software comprising the instructions to be loaded and executed by the processor is for example stored on the first memory 21.

According to a particular and non-limiting embodiment, the device 2 comprises a block 22 of interface elements to communicate with external devices, for example a remote server or the "cloud", other nodes of the ad hoc network. Block 22 interface elements include one or more of the following interfaces:

- RF radiofrequency interface, for example of the Bluetooth® or Wi-Fi® type, LTE (from English "Long-Term Evolution" or in French "Evolution à long terme"), LTE-Advanced (or in French LTE-avanced );

- USB interface (from English "Universal Serial Bus" or "Bus Universel en Série" in French);

- HDMI interface (from the English "High Definition Multimedia Interface", or "Interface Multimedia Haute Definition" in French).

Data are for example loaded to the device 2 via the interface of block 22 using a Wi-Fi® network such as according to IEEE 802.11, an ITS G5 network based on IEEE 802.11p or a mobile network such as a 4G network (or LTE Advanced according to 3GPP release 10 – version 10) or 5G, in particular an LTE-V2X network.

According to another particular embodiment, the device 2 comprises a communication interface 23 which makes it possible to establish communication with other devices (such as other computers of the on-board system when the device 2 corresponds to a computer of the on-board system ) via a communication channel 230. The communication interface 23 corresponds for example to a transmitter configured to transmit and receive information and/or data via the communication channel 230. The communication interface 23 corresponds for example to a wired network of CAN type (from English "Controller Area Network" or in French "Réseau de Contrôleurs") or CAN FD (from English "Controller Area Network Flexible Data-Rate" or in French "Réseau de Contrôleurs à Flow flexible data").

According to an additional particular embodiment, the device 2 can supply output signals to one or more external devices, such as a display screen, one or more loudspeakers and/or other peripherals respectively via interfaces output not shown.

illustrates a flowchart of the different steps of a method for preventing a risk of collision for a vehicle, according to a particular and non-limiting embodiment of the present invention. The method is for example implemented by a device on board the vehicle 10, by a server or a computer of the "cloud", or by the device 2 of figure 2.

In a first step 31, the presence of an obstacle, for example a physical person such as a pedestrian, a cyclist or a person riding a scooter, is detected on the traffic lane taken by the vehicle. This obstacle is detected thanks to the sensors (for example radars) of the vehicle's object detection system and/or from information received from another vehicle according to a V2V communication mode or received from the network according to a communication mode V2I.

In a second step 32, a first alert signaling the presence of the obstacle to the vehicle is issued, for example by means of the display of a textual or graphic message (for example an icon) on a screen of the vehicle and/ or the rendering of a sound or an audible message in the passenger compartment of the vehicle.

In a third step 33, one or more parameters representative of the behavior of the vehicle when approaching the obstacle are determined over at least part of a distance separating the vehicle from the obstacle, following the transmission of the first warning of step 32. The parameter or parameters are for example representative of the speed of the vehicle and/or of the actuation of the braking system.

In a fourth step 34, the reaction time of the vehicle is determined from the parameters determined in step 33, the reaction time corresponding to the time elapsed between the emission of the first alert and an indicator showing that the vehicle has taken into consideration this first alert, for example a decrease in speed or braking of the vehicle. According to a variant, the distance traveled between the moment when the first alert was emitted and the moment when the vehicle took this first alert into consideration (reduced speed and/or braking) is determined instead of the reaction time.

One or more actions are then potentially undertaken depending on the reaction time determined in step 34: transmission of second alerts in the vehicle, transmission of one or more third alerts to the obstacle to warn it of the risk of collision and/or saving of parameters and information representative of the behavior of the vehicle.

Of course, the invention is not limited to the embodiments described above but extends to a method for determining a reaction time of a vehicle following the transmission of an alert and to the device configured for the implementation of the method, or to a method and alert device.

The invention also relates to a vehicle, for example an automobile or more generally a land motor vehicle, comprising the device 2 of FIG. 2.

Claims (10)

Method for preventing a risk of collision for a vehicle (10), said method comprising the following steps:
- detection (31) of the presence of an obstacle (12) on a traffic lane on which said vehicle (10) travels;
- transmission (32) of a first alert signaling the presence of said obstacle (12) to said vehicle (10);
- determination (33) of at least one parameter representative of a behavior of said vehicle (10) when approaching said obstacle (12) over at least part of a distance separating said vehicle (10) from said obstacle (12) after said issuance of the first alert;
- determination (34) of a reaction time of said vehicle (10) after said transmission of the first alert as a function of said at least one parameter. Method according to claim 1, further comprising a step of transmitting at least a second alert signaling the presence of said obstacle (12) to said vehicle (10) when said reaction time is greater than a first threshold, said at least one second alert being emitted after said emission of the first alert. Method according to claim 2, further comprising a step of saving information representative of the behavior of said vehicle (10) when said reaction time is greater than said first threshold. Method according to one of claims 1 to 3, further comprising a step of transmitting at least a third alert to a communication device associated with said obstacle (12) when said reaction time is greater than a second threshold , said at least one third alert being transmitted after said transmission of the first alert. Method according to one of Claims 1 to 4, for which said detection is obtained from at least one of the following data:
- data representative of said obstacle received from at least one detection device on board said vehicle;
- data representative of said obstacle received by said vehicle (10) via a wireless link in a V2X type communication system. Method according to one of Claims 1 to 5, for which the said at least one parameter is representative of the speed of the said vehicle (10) over the said at least part of the distance separating the said vehicle from the said obstacle. Method according to one of Claims 1 to 6, for which the said obstacle (12) corresponds to a natural person. Device (2) comprising a memory (21) associated with at least one processor (20) configured for implementing the steps of the method according to any one of Claims 1 to 7. Vehicle (10) comprising the device (2) according to claim 8. Computer program product comprising instructions adapted for the execution of the steps of the method according to one of Claims 1 to 7, when the computer program is executed by at least one processor.