FR3111108A1 - Road environment analysis method implemented by a vehicle - Google Patents

Abstract

Method for analyzing the road environment implemented by a vehicle (10) comprising: - a geolocation system (11), - a device (12) for recognizing anomalies (1) in a road network (2), and- a data exchange interface (13) connected to the recognition device (12) to receive and/or transmit information (3) relating to said anomalies (1), said method comprising the steps consisting of:- carrying out an analysis road marking and/or contrast by an optical device (15) included in the recognition device (12) - recognize an anomaly (1) of the road environment generated by a physical modification of the road environment, and - send to a remote server information (3) relating to said anomaly (1). Figure to be published with the abstract: Fig. 1

Description

Road environment analysis method implemented by a vehicle

The present invention generally relates to the field of road safety and in particular that of vehicles equipped with a device for recognizing road anomalies or singularities in a road network. This type of vehicle aims in particular to increase road safety for all road users and to prevent accidents. The invention relates more particularly to a method for analyzing a road environment implemented by such a vehicle. The invention also relates to a computer program for executing said method, a vehicle for implementing said method as well as an information system for road anomalies or singularities comprising a fleet of such vehicles.

PRIOR ART

In terms of road safety, motor vehicles are equipped with a plurality of driving assistance devices making it possible, for example, to correct braking, to detect a vehicle in a blind spot or to measure the distance with the vehicle in front and to activate braking in the event that a critical deceleration could be reached. All of these non-limiting measures aim to avoid the appearance of a dangerous situation that could lead to an accident. In general, the more the vehicle is intended for autonomous driving, the more it will be equipped with sensors of all kinds aimed at replacing the vigilance of the driver. However, in the automotive field, the development of vehicles naturally tends towards autonomous or at least semi-autonomous driving, so that driving assistance is becoming a key element that is increasingly requested and offered.

The document EP3227148 describes a system configured to memorize and transmit a history of data relating to accidents listed by disaster zones. The main drawback of this system lies in the fact that by focusing on known accident zones, it does not include any means of preventing the occurrence of accidents in new risk zones likely to be the scene of new disturbances. In addition, this system does not take into account minor road irregularities that did not lead to accidents.

Consequently, there is an interest in finding an efficient solution which makes it possible at least in part to resolve the aforementioned drawbacks.

For this purpose, the present invention relates, in a first aspect, to a method for analyzing the road environment implemented by a vehicle comprising:
- a geolocation system,
- a device for recognizing anomalies in a road network, and
- a data exchange interface connected to the recognition device to receive and/or transmit information relating to said anomalies,
said method comprising the steps of:
- carry out a road marking and/or contrast analysis by an optical device included in the recognition device,
- recognize an anomaly of the road environment generated by a physical modification of the road environment, and
- send to a remote server information relating to said anomaly.

The object of the present invention advantageously makes it possible to prevent the appearance of new accident scenes in particular thanks to the optical device of the anomaly recognition device which is at least configured to carry out a road marking and/or contrast analysis. On this basis, this method makes it possible to recognize road anomalies or irregularities generated by physical modifications of the road environment. Such physical changes may typically refer to missing or degraded road markings, a broken traffic light, deteriorated road signs, local degradation or deformation of the road surface or a frozen, snowy or wet for example.

In one embodiment, the recognition device further comprises a vehicle behavior monitoring device or is configured to establish a connection with such a vehicle behavior monitoring device.

Preferably, suspension deflections and/or accelerations imposed on a chassis of the vehicle are monitored by the behavioral monitoring device of the vehicle.

In one embodiment, a type and/or a seriousness is determined, for each anomaly, by an identification unit of the recognition device according to the data exchanged via said interface.

Preferably, data exchanges are established with a remote server and/or with at least one third-party vehicle via a wireless communication network connected to the interface via a mobile device on board the vehicle.

In one embodiment, the vehicle informs of an imminent presence of an anomaly by means of an alert and/or servo-control device connected to the recognition device.

Preferably again, the vehicle adapts its behavior in the imminent presence of an anomaly.

In a second aspect, the invention relates to a computer program comprising computer-executable instructions for carrying out the method according to one of the aforementioned embodiments or according to any combination of these embodiments.

In a third aspect, the invention relates to a vehicle for implementing the method according to one of the aforementioned embodiments or according to any combination of these embodiments.

In a last aspect, the invention relates to an information system of anomalies identified in a road network, comprising:
- a management center for said anomalies configured to be connected to a wireless communication network, and
- A fleet of vehicles according to the third aspect of the invention.

BRIEF DESCRIPTION OF FIGURES

The invention will be better understood in the light of the appended figures, given by way of non-limiting illustrations and examples, in which:

is a schematic representation of an example of a vehicle configured for the implementation of the method according to the present invention;

is a schematic representation of an anomaly reporting system in accordance with one aspect of the present invention.

DETAILED DESCRIPTION

With reference to the , this represents a schematic illustration of an example of a vehicle 10 allowing the implementation of the road environment analysis method of the present invention. To avoid any confusion, this vehicle 10 could be qualified as an ego-vehicle with respect to a plurality of other vehicles. Vehicle 10 includes:
- a geolocation system 11,
- a device 12 for recognizing anomalies 1 in a road network 2, and
- a data exchange interface 13 connected to the recognition device 12 to receive and/or transmit information 3 relating to anomalies 1.

Anomalies 1 relate to physical changes in the road environment. In other words, these anomalies concern physical irregularities in the road network, in particular physical irregularities in the roadway or its signalling. They therefore do not refer to the presence of an accident or a congestion of vehicles that can typically create a traffic jam on a section of road. These anomalies can also be qualified as road irregularities. They are generally of long duration, even permanent without the intervention of a qualified maintenance service to remedy them.

On the , these anomalies are represented by a pictogram representing a deformation of the roadway. However, they are not limited to such physical deformation of the roadway but could include any other physical modification of the road environment such as, for example, missing, aging or deformed markings on the ground, a broken traffic light, a sign damaged or unrecognizable signaling road, the presence of a warning triangle or traffic cones permanently placed on the roadway, the appearance of a pothole or a subsidence of the roadway, the presence of materials carried along by a landslide or flood, the presence of a speed bump also known as a blackcurrant, recumbent policeman or speed bump, or even the modification of the road surface which may, as a result, become frozen, snowy or even wet .

It should be noted that the aforementioned list of examples is of course not exhaustive but illustrates the type of anomalies assimilated as physical modifications of the road environment. In particular, this list aims to exclude any anomaly linked to the presence of an accident, a traffic jam or an overload of vehicles. Indeed, this type of inconvenience constitutes information involving road users, namely people traveling in vehicles, and is therefore not considered to be a physical modification of the road environment. In addition, the concentration or involvement of people in accidents or traffic jams is information that can easily be obtained by means of road information relayed by any radio system or road navigation system traditionally on board vehicles.

The geolocation system 11 is typically a geographical location system for the vehicle 10 based on data transmitted by satellites 11'. However, the geolocation system 11 could be based, as a substitute or in addition, on a GSM-type triangulation using terrestrial antenna networks and mobile telephone network technologies.

The interface 13 for exchanging data 3 can be a data reception interface, a data transmission interface or preferably a bidirectional interface making it possible to transmit and receive such data 3.

In the case where the interface 13 operates in a data transmission mode, the vehicle 10 is able to transmit the data relating to the anomalies 1 which have been previously recognized by the recognition device 12. This transmission could be carried out towards a storage unit (not shown) intended to collect the data relating to the anomalies detected by the vehicle 10. Such a storage unit could then be read by a computer station, such as a computer or a portable device equipped with an application dedicated. To do this, the storage unit could be removable or read remotely. The computer station could then be used as a relay to relay the transmission of data 3 to a management center 30, such as that illustrated as an example in the information system shown in . The data transmitted from the vehicle could be routed directly to the management center 30 via a wireless communication network 20 making it possible to establish a connection between these two entities (vehicle and management center).

In the case where the interface 13 operates in a data reception mode, the vehicle 10 is able to be informed of any anomalies that it might encounter on its route. The reception by the vehicle 10 of the information relating to the anomalies could be carried out via the storage unit, which could consist for example of a removable memory card which may have been previously updated via the computer station. (computer or portable device). In a preferred embodiment, the data received by the vehicle 10 could come directly from the management center 30 via a connection to a wireless communication network.

The vehicle 10, in particular the recognition device 12 of this vehicle, comprises at least one optical device 15 configured to collect data relating to at least part of the exterior environment of the vehicle 10 and to carry out a road marking analysis and/or or contrast. The aforementioned road marking essentially refers to the marking lines painted on the ground on the roads whereas the contrast is the intrinsic property of an image which quantifies the difference in luminosity between light and dark parts of this image. The contrast not only makes it possible to detect road markings but also makes it possible to detect deformations such as potholes, subsidence of the roadway, presence of foreign materials, blackcurrant, or even changes in the road surface such as patches of ice. For example. The lighting making it possible to reveal these modifications of contrast can be natural or artificial such as that given by public lighting or by the headlights of the vehicle 10.

The optical device 15 could collect images and/or radar or laser echoes of the front and/or rear part of the vehicle. To do this, it preferably comprises a camera 15a and/or a lidar 15b making it possible to determine the distance of the anomalies by a laser device. The simultaneous combination of an image taken by the camera 15a and an echo from the lidar advantageously makes it possible to obtain a three-dimensional map of the proximity environment determined by the optical device 15. Alternatively, the optical device 15 could be attached, as an auxiliary device, to the recognition device 12.

According to the invention, the method for analyzing the road environment implemented by the aforementioned vehicle 10 comprises the steps consisting of:
- carry out a road marking and/or contrast analysis by the optical device 15 of the recognition device 12,
- recognize an anomaly 1 of the road environment generated by a physical modification of this road environment, and
- send to a remote server information 3 relating to this anomaly 1.

The analysis performed by the optical device 15 is essentially image processing implemented by an algorithm within this device. Such an algorithm being preferably configured to detect modifications or variations in contrast in the images taken for example by the camera 15a.

The recognition of an anomaly 1 generated by a physical modification of the road environment is a step that can be carried out by a specific processing algorithm configured to accomplish such a task, as better detailed later in the present description.

The last step of the process aimed at transmitting information 3 relating to the anomaly 1 to a remote server, once it has been recognized and analyzed, is typically carried out via the interface 13.

Preferably, the interface 13 is also connected to at least one behavioral monitoring device 14 of the vehicle 10, on board the latter, so that the recognition device 12 can establish a connection with such a behavioral monitoring device. 14. In a preferred embodiment, the behavioral monitoring device 14 is integrated into the recognition device 12. The main purpose of the behavioral monitoring device 14 is to provide the recognition device 12 with data relating to the behavior of the vehicle 10 so that recognition device 12 can obtain additional parameters making it possible to recognize the presence of an anomaly 1. These parameters are data collected by the behavioral monitoring device 14 from any support or function control of the vehicle. For example, such a component could be the ABS wheel anti-lock system, the vehicle stability control ESP system, the steering, guidance or vehicle speed control, a suspension control device or the attitude of the vehicle, or even an accelerometer such as that which equips the airbags for example.

In a preferred embodiment, monitoring of suspension deflections and/or of accelerations imposed on the vehicle 10, in particular on the chassis of this vehicle, is also carried out by the behavioral monitoring device 14 of the vehicle.

The data collected by such monitoring typically make it possible to contribute to the recognition of the anomaly 1. Indeed, these data are transmitted to the recognition device 12 in order to be processed by the latter, typically by means of a processing algorithm configured to recognize the presence of an anomaly 1. For example, when a wheel of the vehicle 10 passes through a pothole or over a currant, the values measured on the travel of the suspension of this wheel can advantageously constitute information allow, once processed by the algorithm hosted by the recognition device 12, to detect the presence of an anomaly 1. Thanks to the geolocation system 11 that includes the vehicle 10, this anomaly can be geolocated before being listed and /or transmitted to the management center 30. Alternatively, the recognition device 12 could simply be configured to collect and group the information coming from the geolocation system 11 and the behavioral monitoring device 14, before transmitting them, for example in a raw or almost raw state, to the management center 30.

As an example of detection of an anomaly 1, it could be considered that the optical device 15 is oriented towards the front of the vehicle in order to be able to detect an anomaly there even before the vehicle 10 arrives at the height of this anomaly. . In an example scenario, one could imagine that the camera detects, in advance, a subsidence of the road on the lower side of the latter. Thanks to the feedback from the behavioral monitoring device 14 of the vehicle, the recognition device 12 could determine whether a change in the behavior of the attitude or the upright suspensions of the vehicle occurs within a determined time interval, for example depending the speed of the vehicle and the distance of the anomaly from the vehicle. This distance can typically be determined almost instantaneously by means of the laser echo reported by the lidar 15b. If within the expected time interval the expected parameters reported by the behavioral monitoring device 14 are confirmed, then the recognition device 12 will be able to conclude that the road has sunk and the anomaly 1 or the road singularity will be then confirmed.

In addition, depending on the values reported through the parameters collected by the behavioral monitoring device 14, it will also become possible to determine the severity of the sag, namely to determine whether it is, for example, a minor sag or importance. Depending on the wheels impacted by this subsidence, it is also possible to better locate the position of the anomaly with respect to the width of the lane taken by the vehicle.

Thanks to such a system embedded in the vehicle 10, it becomes possible to report these anomalies 1 to the management center 30 or to a remote server so that they are listed in a database. This step is typically carried out by sending to such an entity information 3 relating to the anomalies 1 thus recognized by the vehicle 1. The information contained remotely in such a database not only makes it possible to identify the road irregularities that should be corrected by the intervention of a road maintenance service, but also to prevent the occurrence of accidents that may result in particular from these anomalies 1.

In a preferred embodiment, the recognition device 12 further comprises an identification unit 12a shown schematically on the by a magnifying glass. This identification unit 12a could be configured to determine, for each anomaly 1 or part of them, a type and/or a seriousness according to the data exchanged via the interface 13, in particular according to the data received by the behavior monitoring device 14 and/or by the optical device 15.

Thanks to this identification unit 12a, the recognition device 12 would thus not only make it possible to recognize the presence of an anomaly, but also to determine its nature and its importance with a view to obtaining an identification of the anomaly. Advantageously, this identification can thus contribute to listing the anomalies detected by an algorithmic processing carried out directly in the vehicle 10. This also makes it possible to reduce the data transmitted to the management center 30 via the wireless communication network 20, thus relieving its band passing. Also, if the coverage of the communication network at the place where the vehicle is located is reduced or if the data rate transmitted via this network is not optimum, this makes it possible to shorten the exchanges and in particular to transmit more quickly the essential information to the management center 30.

Returning to the illustration given by the , it is also noted that the interface 13 could be connected to the communication network 20 wirelessly. The latter can be a mobile telephone network (for example of the 3G, 4G or 5G type) or a combination of several communication networks, at least one of which is wireless. As shown in , the interface 13 could be directly connected to the mobile telephone network (communication network 20) or be connected to it via a portable device or mobile device 17 on board the vehicle, such as a portable telephone of one of the occupants of the vehicle. The latter could be connected on the one hand to the interface 13 via a local sub-network of the Bluetooth type for example, and on the other hand to the management center 30 via the mobile telephone network. In this case, the mobile device 17 would act as a communication relay as illustrated by the broken lines in the . In general, it will therefore be understood that the wireless communication network 20 can be of different types, for example GSM, Wi-Fi or Bluetooth and that these different types of networks can be considered alone or in combination with each other with at least one part of others.

In one embodiment, the interface 13 is further configured to establish, via the wireless communication network 20, a connection with a remote server and/or at least one third-party vehicle 10'. The remote server could be the management center 30 already mentioned and illustrated in . The third vehicle 10' could be another vehicle similar to the vehicle 10 (ego-vehicle). In particular, the ego-vehicle 10 and the third-party vehicle 10' could be part of a fleet 10" of vehicles 10, as represented schematically in . Thus, in this embodiment, the vehicle 10 could be able to exchange information not only with the management center 30, but also with surrounding third-party vehicles 10'. In general, data exchanges can be established with a remote server and/or with at least one third-party vehicle 10′ via the wireless communication network 20.

Such exchanges could be carried out by a wireless technology of the Wi-Fi or Bluetooth type for example. The exchange of this information would also make it possible to warn neighboring vehicles, in particular third-party vehicles 10′ located behind the ego-vehicle 10, to alert them or inform them of an imminent presence of an anomaly 1. This sharing of information can indeed be highly beneficial to the third-party vehicle 10' located behind and close to the ego-vehicle 10, because the third-party vehicle cannot necessarily take advantage of sufficient clearance in front of it to detect the posits an anomaly to come.

If the geolocation data of a third-party vehicle 10', located near the ego-vehicle 10, make it possible to determine that the third-party vehicle 10' has already crossed the anomaly, no prevention information will then be transmitted to it by the ego-vehicle 10. Thus, the vehicles that should be prevented can be determined according to their geographical position. Similarly, if it is determined that the third-party vehicle 10', although traveling in the same direction as the ego-vehicle 10, is not located on the same lane as the latter, no prevention information (alert) will could be passed on to him.

In a still conceivable embodiment, the geolocation data could be received by the mobile device 17, for example by means of an antenna dedicated to this purpose within this mobile device, before being transmitted by the latter to the interface 13 so that it can finally be routed and operated by the recognition device 12. Alternatively, an antenna dedicated to the reception of geolocation satellite signals could be placed on the roof of the vehicle and be connected to the interface 13 in the same aim.

According to another embodiment, the vehicle 10 informs of the imminent presence of an anomaly 1, in particular an anomaly on the trajectory of said vehicle, by means of an alert and/or servocontrol device 18 connected to the recognition device 12. The information of the presence of this anomaly could be sent to the driver of the vehicle, for example by means of an audible and/or luminous signal such as a voice or written message. As a variant, this information could be sent to an electronic control unit of the vehicle, in particular if the latter is an autonomous or semi-autonomous vehicle. Thus, the vehicle 10 could adapt, by means of the warning and/or servocontrol device 18, its behavior according to the anomaly 1 detected. Such an adaptation could for example aim to modify the speed and/or the trajectory of the vehicle. In yet another variant, the vehicle 10 could inform third-party vehicles 10', of the preferences of third-party vehicles located near the ego-vehicle 10, of this anomaly 1 and/or could send to a remote server information 3 relating to this anomaly.

In a second aspect, the invention relates to a computer program comprising computer-executable instructions for carrying out the road environment analysis method described so far, in particular any of the embodiments of this method or any possible combination of these embodiments. Such a computer program could be stored on any memory medium in a human-readable language or in a machine language, for example. Preferably, such a computer program could be the subject of an application, for example an application downloadable on a device configured to execute it. Such a device could be integrated into the vehicle 10 or constitute a mobile device that can be embarked in the vehicle 10.

In a third aspect, the invention relates to a vehicle 10 for implementing the aforementioned method, in particular one of the embodiments of this method or any possible combination of these embodiments.

With reference to the , the latter describes more particularly an anomaly information system 1 in accordance with the fourth and last aspect of the present invention. More particularly, this fourth aspect relates to an information system for anomalies 1 identified in a road network 2, comprising:
a management center 30 for these anomalies, this management center being configured to be connected to a wireless communication network 20, and
- A 10" fleet of vehicles 10 in accordance with the third aspect of the invention.

The interest of the vehicle 10 of the present invention increases when the latter constitutes one entity among a plurality of similar entities. This plurality of vehicles is shown in by the fleet 10" of vehicles 10. Indeed, in the presence of a large number of vehicles 10 each equipped with at least the minimum devices according to the present invention, it becomes possible to enrich and keep up to date a database grouping together numerous anomalies, or even all the anomalies, that the road network 2 covered by the management center 30 has. , the contributors to this anomaly information system 1, namely the vehicles 10, are also the primary beneficiaries, resulting in an advantageous balance between contributors and beneficiaries conferring a win-win type scheme.

The management center 30 can be perceived as a remote server providing information on physical modifications of the road environment to the vehicles 10 concerned. This provision could be established through the wireless communication network 20 according to two different approaches.

According to a first approach, the aforementioned information could be broadcast (broadcasted) in the form of messages continuously sent in a loop like an alert broadcast recurrently by a radio wave. The vehicles 10 associated with this broadcasting system could be able to sort the information broadcast according to the geographic coordinates of their position and those of the anomaly 1 broadcast. This filtering could be carried out by the anomaly recognition system 12 with the help of the geolocation system 11 on board the vehicle 10.

According to a second approach, the information initially broadcast could be received on request from the vehicle 10, in particular from the recognition device 12. The latter could regularly send to the management center 30 messages including at least its current geographical position. These messages could include an identifier enabling the management center to identify the vehicle 10 concerned. In addition, these messages could still be secured by protection based on a cryptographic encryption method recognized by the management center. After processing these requests, the management center could send back responses addressed specifically to the vehicle 10 concerned. These responses would typically include all the information necessary to alert the vehicle 10 concerned of the imminent presence of an anomaly on the road section taken by the latter.

Even more efficiently, the recognition device 12, coupled to a navigation system on board the vehicle 10, could transmit to the management center the complete route that the driver of the vehicle plans to follow. The transmission of information relating to this route could also be updated according to any modifications to the route planned by the navigation system. Advantageously, all of all the anomalies 1 that the vehicle is likely to encounter during its upcoming journey could be transmitted without waiting by the management center. This would contribute to significantly reducing the number of requests to be processed by the server remote from the management center while also reducing the number of messages 3 exchanged through the communication network 20 between the vehicle 10 and the management center 30.

Advantageously, the redundancy of information relating to the detection of the same anomaly 1 by a plurality of vehicles 10, allows the management center 30 on the one hand to validate the assurance of the presence of this anomaly within the network road, and secondly to refine the nature and severity of this anomaly. The fleet 10″ of vehicles 10 therefore makes it possible to contribute to the reliability of the information retransmitted to third-party vehicles 10′ by the management center.

In addition, the management center 30 could also be able to cross-reference the anomaly information 1 listed in its database with other types of information that may come from databases belonging to other recognized authorities or services. , such as meteorological databases 41 or road traffic information databases 42. Other types of services or databases could of course be considered.

Even advantageously, the confirmed information relating to the anomalies 1 collected by the management center could be transmitted to a maintenance service 40 of the road network 2, so that this road service can be aware of the singularities and other defects of the road environment and immediately undertake the necessary corrective and maintenance operations. Thanks to the identification of the nature (i.e. of the type) of the anomaly 1 listed by the management center, such a maintenance service 40 can then intervene quickly with appropriate means depending on whether the anomaly refers, for example, to the presence of a pothole, a landslide or ice on the road. Finally, the management center 30 could be able to undertake further investigations in the event that the anomaly is not the result of a natural cause. These investigations could take into account the state of the material (road surfacing), the type of terrain, the thickness of the road, the presence of a structure such as a bridge, a tunnel or a passage at level, new experimental materials, more advanced meteorological data, previous work, satellite views, samples or even seismic studies. A more in-depth analysis would advantageously make it possible to determine its cause.

It will be understood that various modifications and/or improvements obvious to those skilled in the art can be made to the various embodiments of the invention described in the present description without departing from the scope of the invention.

Claims (10)

Method for analyzing the road environment implemented by a vehicle (10) comprising:
- a geolocation system (11),
- a device (12) for recognizing anomalies (1) in a road network (2), and
- a data exchange interface (13) connected to the recognition device (12) to receive and/or transmit information (3) relating to said anomalies (1),
said method comprising the steps of:
- performing a road marking and/or contrast analysis by an optical device (15) included in the recognition device (12)
- recognize an anomaly (1) of the road environment generated by a physical modification of the road environment, and
- send to a remote server information (3) relating to said anomaly (1). Method according to Claim 1, characterized in that the recognition device (12) also makes it possible to perform behavioral monitoring of the vehicle (10) by receiving data relating thereto from a behavioral monitoring device (14) of the vehicle (10) or a connection with a behavior monitoring device (14) of the vehicle. Method according to Claim 2, characterized in that monitoring of suspension deflections and/or of accelerations imposed on a chassis of the vehicle is carried out by the behavior monitoring device (14) of the vehicle (10). Method according to one of the preceding claims, characterized in that a type and/or a seriousness is determined, for each anomaly, by an identification unit (12a) of the recognition device (12) as a function of the data exchanged via said interface. Method according to one of the preceding claims, characterized in that data exchanges are established with a remote server (30) and/or with at least one third-party vehicle (10') via a wireless communication network (20) connected to the interface (13) via a mobile device (17) on board the vehicle (10). Method according to one of the preceding claims, characterized in that the vehicle (10) informs of an imminent presence of an anomaly (1) by means of a warning and/or servocontrol device (18) connected to the recognition device (12). Method according to one of the preceding claims, characterized in that the vehicle (10) adapts its behavior in the imminent presence of an anomaly (1). Computer program comprising computer-executable instructions for carrying out the method according to one of claims 1 to 7. Vehicle (10) for implementing the method according to one of Claims 1 to 7. Anomaly information system (1) identified in a road network (2), comprising:
- a management center (30) of said anomalies (1) configured to be connected to a wireless communication network (20), and
- a fleet (10") of vehicles (10) according to claim 9.