FR3117252A1 - Method and device for aiding emergency maneuvering - Google Patents

Abstract

The invention relates to a method for aiding emergency maneuvering, by a first vehicle comprising a plurality of onboard sensors and a location device, comprising the steps of: - Reception (30) of a message indicating that a second vehicle has faulty sensors, - Determination (31) of a position of the first vehicle on a digital map from the location device, - Extraction (32) of elements from the digital map from the position of the first vehicle and of the second vehicle, - Emission (34), to the second vehicle, of at least one indication relating to at least one element extracted from the map, the indication being likely to help the second vehicle in a stopping maneuver emergency. Figure for abstract: Figure 1

Description

Method and device for aiding emergency maneuvering

The invention relates to devices for transmitting elements from a first vehicle, in particular elements capable of helping a second vehicle in an emergency maneuver.

Technology background

Document FR3081416 discloses a method for detecting a fault in a sensor fitted to a host vehicle intended to provide information relating to the environment of the host vehicle.

One of the disadvantages of such a system is that nothing is provided to overcome the fault of the sensor.

An object of the present invention is to provide a solution for assisting in the circulation and guidance of vehicles comprising a fault in a sensor located near a vehicle and in this way also aims to improve vehicle safety.

To this end, the subject of the invention is an aid method, by a first vehicle comprising a plurality of on-board sensors and a location device, comprising the steps of:

- Reception of a message indicating that a second vehicle has faulty sensors,

- Determination of a position of the first vehicle and of the second vehicle on a digital map from the location device,

- Extraction of elements of the digital map from the position of the first vehicle and the second vehicle,

- Emission, to the second vehicle, of at least one indication relating to at least one element extracted from the map, the indication being likely to help the second vehicle in an emergency stop maneuver.

With the invention, the vehicle can help guide surrounding vehicles that request assistance following the detection of a fault in their sensors, by transmitting indications relating to elements of a digital map.

This can be particularly useful for autonomous vehicles. The information shared by the vehicle makes it possible to at least partially overcome the sensor faults.

Advantageously, the message received indicates which sensors are faulty, said sensors corresponding to a perception zone around the second vehicle, the first vehicle transmitting guidance data relating to the perception zone corresponding to the faulty sensors.

This feature makes it possible to improve the automated/autonomous driving functions and emergency stop maneuvers in infrastructure conditions or degraded visibility (erased markings, degraded weather, etc.) and/or sensor failure.

The aid method according to the invention further comprises a step of determining, by the first vehicle, a destination compatible with an emergency stop maneuver for the second vehicle, the method further comprising a step of transmission of said destination to the second vehicle.

This feature helps to carry out an emergency stop maneuver for the second vehicle when.

Advantageously, the extracted elements having coordinates centered on the first vehicle, said method further comprises a step of determining coordinates centered on the second vehicle, of said extracted elements and in which the at least one indication emitted relating to at least one element extracted from the map includes coordinates centered on the second vehicle.

This characteristic makes it possible to provide the second vehicle with data that can be used directly by the latter.

Advantageously, the elements extracted from the digital map are chosen from:
- point clouds,
- infrastructure objects, including panels and posts,
- road geometry elements including ground markings, road edges and average vehicle trajectories,
- events including hazards associated with works, accidents, objects on the road.

With the invention, the vehicle can alert the drivers of surrounding vehicles of unforeseen events (accident or work) or simply remind them of the speed limit in force.

Advantageously, the method for transmitting guide elements according to the invention further comprises steps of:
- detection, by the plurality of sensors, of elements external to the vehicle,
- establishment of a correspondence between at least some of the elements detected and at least some of the elements of the digital map,
- adjustment of the position of the first vehicle on the digital map from the established correspondences.

This feature allows more precise positioning of the vehicle on the digital map. This increases the accuracy of the information transmitted and ultimately improves security.

Advantageously, the adjustment of the position of the first vehicle on the digital map comprises the application of a method chosen from: a quadratic minimization of deviations between corresponding elements, determination of weight at each deviation given as a function of probability of association elements, determination of Kalman filter type estimators,

Advantageously, the method for issuing guide elements according to the invention further comprises a step of identifying at least one element of the card not detected by on-board sensors.

This characteristic makes it possible to determine conditions of reduced visibility and potentially to adapt the indication emissions accordingly.

Advantageously, the compatible destination of an emergency stop maneuver is chosen from: an emergency lane, a refuge or a service area.

The invention also relates to a device for transmitting guidance elements, said device comprising a memory associated with at least one processor configured for the implementation of the steps of the method according to the invention.

The invention also relates to a vehicle comprising the device according to the invention.

The invention also relates to a computer program product comprising instructions adapted for the execution of the steps of the method according to the invention, when the computer program is executed by at least one processor.

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, in which:

schematically illustrates a method for transmitting guide elements, according to a particular embodiment of the present invention.

shows examples of elements of a digital map;

shows an example of vehicles detected around the vehicle.

illustrates shows an example of map elements and detected elements.

schematically illustrates a device configured to transmit guidance elements to a vehicle according to the invention.

The vehicle according to the invention comprises means for transmitting and receiving data intended for other vehicles. These means of V2X type data transmission. The new wireless telecommunications standards include specifications dedicated to automotive applications. Thus, short-range vehicle-to-everything wireless communication channels, called V2X channels, have been specified.

A first type of V2X channel is based on Wi-Fi standards (IEEE 802.11p) and supports communications between vehicles and between vehicles and infrastructures.

A second type of V2X channel is based on cellular standards, and in particular on the 5G standard. This second type of V2X channel supports communications between vehicles, between vehicles and infrastructures or even between vehicle and cellular network. This type of channel existing in parallel with conventional cellular channels, it is notably called “sidelink”, for side link in French, or even “PC5”.

V2X communications can also be implemented by a user device.

The vehicle also includes a plurality of on-board sensors. The plurality of on-board sensors comprises for example one or more of the following sensors: a frontal radar, radars (preferably at each corner of the vehicle), a Multifunction Video Camera, a laser scanner, a Panoramic Video Camera (360° vision) and/ or UltraSound sensors.

The vehicle also includes a tracking device. The location device comprises a satellite geo-positioning information receiver which is preferably a GPS (Global Positioning System) receiver which picks up the radio signals transmitted by at least four satellites of the GPS system and can, by calculating the times of propagation of these signals between the satellites and it, knowing its distance from them and, by trilateration, determining with an accuracy of a few meters, the position of the vehicle placed in visibility of the satellites.

As a variant, the satellite geo-positioning receiver uses a system other than GPS, such as for example the EGNOS system (European Geostationary Navigation Overlay System), the GLONASS system or else the GALILEO system.

The invention relates to a method of assistance by a first vehicle comprising a plurality of on-board sensors and a localization device, intended for at least one second vehicle.

The method includes a step 30 receiving a message indicating that a second vehicle has faulty sensors. The second vehicle is for example a vehicle similar to that disclosed in document FR3081416 to configure to detect a sensor fault and transmit a message.

The method also includes a step 31 of determining a position of the first vehicle and of the second vehicle on a digital map from the location device. The first vehicle is geolocated using a receiver, for example of the GPS type. The vehicle is then positioned on the map according to its geolocation. The second vehicle is for example detected by sensors of the first vehicle. Its position on the map can be deduced from the position of the first vehicle and from its position relative to the first vehicle established by the sensors of said first vehicle.

Note that the precise positioning of the second vehicle in the map and the sending of guidance elements to the autonomous vehicle can be done by the infrastructure (by cameras and V2X terminals installed on the edges of the road).

The method then includes an extraction 32 of elements of the digital map from the position of the first vehicle. The device according to the invention determines for example the elements of the map located at a distance less than a predetermined threshold, for example five hundred meters. In other words, the device extracts the elements of the digital map around the GPS position of the vehicle.

There shows examples of elements of a digital map. These elements can be (non-exhaustive list):
- Point clouds (represented by circles)
- Infrastructure objects such as panels and posts,
- Road geometry elements such as road markings (thick broken lines), road edges (thick continuous lines), trajectories (thin continuous lines)
- Events such as work hazards, accidents, objects on the road, etc.

The method then includes a step 34 of sending, using the means of sending, to the at least one second vehicle, at least one indication relating to at least one element extracted from the card.

Figure 3 shows an example of vehicles detected around the vehicle. In this example, vehicle 101 receives a message from a surrounding vehicle 102, reporting a sensor fault and detects two surrounding vehicles 102, 103.

The device detects vehicles and other users (motorcycles, bicycles, pedestrians, etc.) around the vehicle using the camera or other on-board sensor (green circles) and positions them precisely in the map.

Then, the vehicle 101 transmits map elements (which may not be clearly visible at this time) to help guide the vehicle indicating a fault in these sensors.

These elements can be: markings on the ground indicating the limits of the lane or arrows indicating the direction to follow, edges of the road, average trajectory of users who have passed through the same lane, speed limit, dangers (works, accidents, narrowing of way…).

Advantageously, the method further comprises steps of:
- detection, by the plurality of sensors, of elements external to the vehicle,
- establishment of a correspondence between at least some of the elements detected and at least some of the elements of the digital map,
- adjustment of the position of the first vehicle on the digital map from the established correspondences.

There shows an example of map elements and detected elements. The device compares the positions of the equipment (panels, posts, contrast points, etc.) detected by the camera or other sensor on board the vehicle (represented by thin circles) with the positions of the corresponding equipment on the map (represented by thick circles) to position the vehicle precisely in the map.

There are many precise positioning methods by equipment correspondence: quadratic minimization of the differences between corresponding landmarks, weight at each difference given according to the probability of association of the landmarks, Kalman filter type estimators, etc.)

Advantageously, the message received indicates which sensors are faulty, said sensors corresponding to a perception zone around the second vehicle, the first vehicle transmitting guidance data relating to the perception zone corresponding to the faulty sensors.

Advantageously, the method for transmitting guidance elements according to the invention further comprises a step of determining, by the first vehicle, a destination compatible with an emergency stop maneuver for the second vehicle, the method further comprising a step of transmitting said destination to the second vehicle.

The compatible destination of an emergency stop maneuver is, for example, chosen from: an emergency lane, a refuge or a service area.

There schematically illustrates a device 2 configured to transmit guidance elements intended for a vehicle, according to a particular and non-limiting embodiment of the present invention. The device 2 corresponds for example to a device on board the vehicle 10.

The device 2 is for example configured for the implementation of the operations described of the steps of the method described with regard to the . Examples of such a device 2 include, but are not limited to, on-board electronic equipment such as a vehicle on-board computer, an electronic computer such as an ECU, a telematics control unit TCU (of the English "Telematic Control Unit"), a smart phone (from English "smartphone"), a tablet, a laptop. 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 various particular embodiments, the device 2 is coupled in communication with other similar devices or systems, for example via a communication bus or via 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.

Claims (10)

Method for assisting in emergency maneuvering, by a first vehicle comprising a plurality of on-board sensors and a location device, comprising the steps of:
- Reception (30) of a message indicating that a second vehicle has faulty sensors,
- Determination (31) of a position of the first vehicle and of the second vehicle on a digital map from the location device,
- Extraction (32) of elements of the digital map from the position of the first vehicle and of the second vehicle,
- Emission (34), to the second vehicle, of at least one indication relating to at least one element extracted from the card, the indication being likely to help the second vehicle in an emergency stop maneuver. Aid method according to the preceding claim, in which the message received indicates which sensors are faulty, the said sensors corresponding to a perception zone around the second vehicle, the first vehicle transmitting guidance data relating to the perception zone corresponding to the sensors defaulters. Aid method according to one of the preceding claims, further comprising a step of determining, by the first vehicle, a compatible destination of the emergency stop maneuver for the second vehicle, the method further comprising a step transmission from said destination to the second vehicle. Assistance method according to one of the preceding claims, characterized in that the elements extracted from the digital map are chosen from:
- point clouds,
- infrastructure objects, including panels and columns
- road geometry elements including ground markings, road edges and average vehicle trajectories,
- events including hazards associated with works, accidents, objects on the road. Assistance method according to one of the preceding claims, characterized in that it further comprises steps of:
- detection, by the plurality of sensors, of elements external to the vehicle,
- establishment of a correspondence between at least some of the elements detected and at least some of the elements of the digital map,
- adjustment of the position of the first vehicle on the digital map from the established correspondences. Assistance method according to the preceding claims, characterized in that the adjustment of the position of the first vehicle on the digital map comprises the application of a method chosen from: a quadratic minimization of deviations between corresponding elements, determination of weight for each deviation given as a function of the probability of association of the elements, determination of estimators of the Kalman filter type, Aid method according to one of Claims 3 to 6, in which the compatible destination of an emergency stopping maneuver is chosen from: an emergency lane, a refuge or a service area. Assistance method according to the preceding claim, characterized in that in response to a step of identifying at least one element of the card not detected by the plurality of on-board sensors, the method further comprises the transmission of an indication relating to the element not detected by the plurality of on-board sensors. Aid device (2), said device (2) comprising a memory (21) associated with at least one processor (20) configured for the implementation of the steps of the method according to one of the preceding claims. Vehicle (10) comprising the device (2) according to the preceding claim.