FR3117585A1 - Method for displaying guidance elements, intended for a driver of a vehicle comprising a head-up display device - Google Patents

Abstract

The invention relates to a method for displaying guidance elements, intended for a driver of a vehicle comprising a location device and a head-up display device, comprising steps of:- determining (31) d a position of the vehicle on a digital map from the location device, - Extraction (32) of elements from the digital map from the position of the vehicle, - Detection (33) of a direction of the driver's gaze, - Determination (34) of at least one element to be reported, depending on the determined direction of gaze, among the extracted elements, - Display (35), on the head-up display device, of at least one relative indication at least one determined reportable item. Figure for abstract: Figure 1

Description

Method for displaying guidance elements, intended for a driver of a vehicle comprising a head-up display device

The invention relates to methods for displaying guidance elements, intended for a driver of a vehicle comprising a head-up display device.

Technology background

Document WO2019169348 describes an autonomous vehicle generating a superimposed image by superimposing map data on sensor data and rendering the superimposed images. The visualization process is repeated as the vehicle moves along the route. The visualization can be displayed on a screen inside the vehicle or at a remote device.

One of the disadvantages of such a system is that it forces the driver to look away from the road to consult the information offered. This has the effect of increasing driver inattention.

An object of the present invention is to provide a solution to help guide vehicles without increasing driver inattention.

To this end, the subject of the invention is a method for displaying guidance elements, intended for a driver of a vehicle comprising a location device and a head-up display device, comprising the steps of:
- Determination of a position of the vehicle on a digital map from the localization device,
- Extraction of elements of the digital map from the position of the vehicle,
- Detection of a direction of the driver's gaze,
- Determination of at least one element to be reported according to the determined direction of gaze, among the extracted elements,
- Display, on the head-up display device, of at least one indication relating to the at least one determined item to be reported.

With the invention, the vehicle can help guide the driver without distracting him, by emitting indications relating to elements of a digital map. Indications are displayed on the HUD. They can be consulted by the driver without taking his eyes off the road. In addition, by limiting the information displayed according to the direction of the driver's gaze, driver inattention is further reduced.

Advantageously, the at least one indication relating to the at least one determined item to be reported is displayed superimposed on a real item with which it is associated.

This feature improves the precision of the warning given to the driver by placing it specifically. This makes it easier for the driver to understand the alert.

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 vehicle further comprising a plurality of on-board sensors, the method for displaying guidance elements according to the invention, furthermore 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 vehicle on the digital map from the correspondences established.

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 vehicle on the digital map comprises the application of a method chosen from among: a quadratic minimization of deviations between corresponding elements, determination of weight at each given deviation according to the probability of association of the elements, determination of Kalman filter type estimators,

Advantageously, the method for displaying guide elements according to the invention further comprises a step of identifying at least one element of the map not detected by on-board sensors and, in response to the step of identifying at least one element of the card not detected by the plurality of on-board sensors, the method further comprises the display of an indication relating to the element not detected by the plurality of on-board sensors.

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

This characteristic makes it possible to inform the driver of an element that is not very visible or not visible.

Advantageously, the head-up display device projects the indications onto the windscreen of the vehicle.

The invention also relates to a device for displaying 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 displaying 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.

shows an example of an indication projected onto the windshield of a vehicle by a head-up display device.

The vehicle according to the invention comprises a head-up display device or HUD.

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 for displaying guidance elements, intended for a driver of a vehicle comprising a location device and a head-up display device.

With reference to the , the method comprises a step 31 of determining a position of the vehicle on a digital map from the location device. The 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 method then includes an extraction 32 of elements of the digital map from the position of the 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 also includes a step 33 of detecting a direction of the driver's gaze. This detection is for example carried out from an image captured by an interior camera of the vehicle. This is for example a camera oriented towards the driver and used to determine the driver's level of alertness and/or drowsiness.

The method then includes a step 34 for determining at least one element to be reported according to the direction of gaze determined.

The device according to the invention selects guide elements, among the extracted elements, present in the visual field of the driver. The driver's field of vision can be deduced from the direction of gaze, for example by calculating a cone whose top is the driver's eyes.

Then, the device displays the element(s) of the selected map, on the head-up display device.

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 vehicle on the digital map from the correspondences established.

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 method further comprises a step of identifying at least one element of the card not detected by on-board sensors.

Advantageously, and in response to the step of identifying at least one element of the card not detected by the plurality of onboard sensors, the method further comprises the display of an indication relating to the element not detected by the plurality of on-board sensors.

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.

There shows an example of an indication projected onto the windshield of a vehicle by a head-up display device. The figure shows a raindrop covered vehicle windshield. The visibility of the road is extremely reduced. In particular, the system identifies elements of the map that are not detected by the on-board sensors and projects them onto the windscreen (or “head-up” support, augmented reality, etc.) to help the driver better guide the vehicle.

In the example, these elements are: edges of the road (represented by solid white lines on either side of the figure), markings on the ground indicating the limits of the lane (represented by broken white lines), an arrow indicating the direction to follow, a danger (the triangular panel), a speed limit (the circular panel with the 50 limit).

Advantageously, degraded weather/visibility information (windscreen wipers or fog lights activated, radio/cellular information, etc.) can also be used to decide which element to project.

Claims (10)

Method for displaying guidance elements, intended for a driver of a vehicle comprising a location device and a head-up display device, comprising the steps of:
- Determination (31) of a position of the vehicle on a digital map from the location device,
- Extraction (32) of elements of the digital map from the position of the vehicle,
- Detection (33) of a direction of the driver's gaze,
- Determination (34) of at least one element to be reported, depending on the determined direction of gaze, among the extracted elements,
- Display (35), on the head-up display device, of at least one indication relating to the at least one determined item to be reported. Method for displaying guidance elements according to the preceding claim, in which the at least one indication relating to the at least one determined element to be signaled is displayed superimposed on a real element with which it is associated. Method for displaying guidance elements according to one of the preceding claims, characterized in that the elements extracted from the digital map are chosen from:
- point clouds,
- objects of an infrastructure, 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. Method for displaying guidance elements according to one of the preceding claims, characterized in that, the vehicle further comprising a plurality of on-board sensors, the method 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 vehicle on the digital map from the correspondences established. Method for displaying guidance elements according to the preceding claim, characterized in that the adjustment of the position of the vehicle on the digital map includes the application of a method chosen from: a quadratic minimization of deviations between corresponding elements , determination of weight at each given deviation as a function of probability of association of the elements, determination of estimators of the Kalman filter type, Method for displaying guidance elements according to one of the preceding claims, characterized in that it further comprises a step of identifying at least one element of the map not detected by on-board sensors
and in that in response to the step of identifying at least one element of the card not detected by the plurality of onboard sensors, the method further comprises the display of an indication relating to the element not detected by the plurality of on-board sensors. Method for displaying guidance elements according to the preceding claim, characterized in that the head-up display device projects the indications onto the windscreen of the vehicle. Device (2) for displaying guidance elements, said device (2) comprising a memory (21) associated with at least one processor (20) configured to implement the steps of the method according to one of Claims 1 at 7. Vehicle (10) comprising the device (2) according to the preceding claim. 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.