FR3128681A1 - Method and device for stopping a moving vehicle. - Google Patents

Abstract

The present invention relates to a method and a device for stopping a moving vehicle. If the non-zero speed of the vehicle and the absence of pressure from at least one hand of the driver on the steering wheel are detected simultaneously for at least a first predetermined duration, triggering (521) of a time countdown and triggering (522 ) an alert inside the vehicle; at the end of said time count, if the speed of the vehicle has not been reduced by a determined number of kilometers per hour and if no pressure has been applied to the steering wheel for a second determined duration, one or more actions are implemented to immobilize and secure the vehicle. A notification is sent to the driver to inform him of a state of the vehicle and a geographical position of the vehicle. Figure for abstract: Figure 3

Description

Method and device for stopping a moving vehicle.

The present invention relates to methods and devices for stopping a moving vehicle. The present invention also relates to a computer program comprising instructions for the implementation of one of the methods, a recording medium readable by a computer on which is recorded a computer program comprising instructions for the execution steps of one of the methods and a vehicle comprising one of the devices.

Technology background

Some vehicles are said to be autonomous because they are equipped with advanced driver assistance system(s), known as ADAS (Advanced Driver-Assistance System). ADAS systems are classified according to different levels of autonomy of a vehicle. For example, the classification established by the SAE (from the English Society of Automotive Engineers ) is made up of six different levels, which range from driving that requires total driver intervention to 100% automated driving.

• Level 0 requires full supervision of all aspects of driving;
• Level 1 provides driver assistance that allows steering or acceleration and deceleration control;
• Level 2 allows partial automation with one or more driver assistance systems that control steering as well as acceleration and deceleration functions;
• Level 3 allows control of all aspects of dynamic driving, but requires the driver to intervene appropriately when asked to intervene;
• Level 4 allows control of all aspects of dynamic driving, even when the driver does not react appropriately; And
• Level 5 enables human control of all aspects of dynamic driving at all times, in all road conditions.

The ADAS systems most commonly implemented in current vehicles allow lane keeping (LKA, from the English "Lane Keeping Assist"), the triggering of an alert during an involuntary lane change (LDW from the English "Lane Departure Warning"), the triggering of imminent collision alert (FCA for "Forward Collision Assist"). Mention may also be made of assistance systems for maintaining the vehicle in a traffic lane (LPA for "Lane Positioning Assist"), semi-automatic lane change systems (SALC for "Semi Automatic Lane Change"), anti-lock braking assistance systems (ABS from the German "Antoblockiertsystem"), emergency braking assistance systems (AEBC from the English "Advances Emergency Braking"), electronic trajectory correction (ESP for Electronic Stability Program in English) or adaptive cruise control (ACC for “Adaptive Cruise Control”).

Despite the use of ADAS systems to help drive a vehicle, it can happen that a driver forgets to stop his vehicle correctly, for example by applying his handbrake or by going to cut his engine. The vehicle can then be in motion without any driver. It can also happen that the driver is inside the vehicle but unable to stop the moving vehicle because he is unconscious for example.

The object of the present invention is in particular to stop a moving vehicle when this vehicle is not controlled by a driver.

Summary of the present invention

An object of the present invention is to stop a moving vehicle in the absence of a driver or when this driver is unable to stop the vehicle.

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

According to a first aspect, the present invention relates to a method for stopping a moving vehicle, said method comprising the following steps:
- detection of a non-zero speed of the vehicle and of an absence of pressure from at least one hand of a driver on a steering wheel of the vehicle;
- if the non-zero speed of the vehicle and the absence of pressure from at least one hand of the driver on the steering wheel are detected simultaneously for a first predetermined duration, triggering of a time countdown initialized at a determined value, triggering of an alert inside the vehicle during said time countdown to broadcast information in the vehicle asking the driver of the vehicle to apply pressure on the steering wheel of the vehicle for a second determined duration and to reduce the speed of the vehicle by one determined number of kilometers per hour;
- at the end of said time countdown, if the speed of the vehicle has not been reduced by the determined number of kilometers per hour and if no pressure has been applied to the steering wheel during the second determined duration, selection of an action or a combination of at least two actions from the following actions: control of a braking system of the vehicle to stop the vehicle; cutting off a vehicle engine if it is running; locking vehicle doors and windows; piloting means for igniting the vehicle's hazard warning lights; triggering of a vehicle alarm siren; and, if the vehicle is connected to a communication network, sending a notification to the driver to inform him of a state of the vehicle and of a geographical position of the vehicle.

According to a particular and non-limiting embodiment, if the driver has reduced the speed of the vehicle by the determined number of kilometers per hour and applies pressure to the steering wheel during the second determined duration, then the time count is stopped and the information is no longer disseminated.

According to a particular and non-limiting exemplary embodiment, if the speed of the vehicle is reduced by the determined number of kilometers per hour and the driver applies pressure on the steering wheel for the second determined duration, the selected action is stopped or the actions of 'a combination of selected actions are stopped.

According to a particular and non-limiting example of embodiment, the alert is audible.

According to a particular and non-limiting example of embodiment, the alert is visual.

According to a particular and non-limiting embodiment, the visual alert indicates the time countdown.

According to a second aspect, the present invention relates to a device for stopping a moving 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 present invention.

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

According to a fourth aspect, the present 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 present 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 present 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 present 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 present 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 present invention will emerge from the description of the particular and non-limiting examples of embodiments of the present invention below, with reference to the appended figures 1 to 3, in which:

schematically illustrates a driving environment of a vehicle, according to a particular and non-limiting embodiment of the present invention;

schematically illustrates a device for stopping a moving vehicle, according to a particular and non-limiting embodiment of the present invention; And

illustrates a flowchart of the different steps of a method for stopping a moving vehicle, according to a particular embodiment of the present invention.

Description of the examples of realization

A method and a device for stopping a vehicle in motion will now be described in the following with reference to FIGS. 1 to 3. The same elements are identified with the same reference signs throughout the description which go follow.

According to a particular and non-limiting embodiment of the present invention, a non-zero speed of the vehicle and an absence of pressure from at least one hand of the driver on the steering wheel of this vehicle are detected.

If these two conditions are simultaneously verified (non-zero speed and absence of pressure on the steering wheel) for a first predetermined duration, then a time countdown is triggered. This time countdown is initialized to a determined value. Throughout this time count, an alert is triggered inside the vehicle to broadcast information in the vehicle asking the driver of the vehicle to apply pressure on the steering wheel of the vehicle for a second determined duration, and to reduce the vehicle speed of a specified number of kilometers per hour. At the end of the time countdown, if the two conditions are still verified, an action or a combination of at least two actions is selected from the following actions: control of a braking system of the vehicle to stop the vehicle; cutting off the vehicle engine if it is running; locking vehicle doors and windows; control of vehicle hazard warning lights ignition means; triggering of a vehicle alarm siren; and, if the vehicle is connected to a communication network, sending a notification to the driver to inform him of a state of the vehicle and of a geographical position of the vehicle.

The vehicle can thus stop automatically even in the absence of the driver or if the driver is unable to stop the vehicle. Road safety is thus improved because the present invention prevents uncontrolled vehicles from being in motion.

The present invention is advantageous because its implementation uses means already on board the vehicle such as its braking systems, alert means or even means for lighting hazard warning lights, and the control of these systems or means can be implemented by one of the computers already on board the vehicle.

schematically illustrates an environment 1 in which a vehicle 10 moves, according to a particular and non-limiting embodiment of the present invention.

The environment 1 comprises a vehicle 10. The vehicle 10 comprises a device 2 configured as described in relation to the to stop the vehicle 10 when it is in motion and it is not under the control of a driver. The environment 1 can also include a device 3 disembarked from the vehicle 10. The device 3 is a separate device from the device 2. The devices 2 and 3 are configured to communicate with each other via a communication network illustrated here by a cloud 11.

In a first operation, the non-zero speed of the vehicle 10 and the absence of pressure from at least one hand of a driver on the steering wheel of the vehicle 10 are detected by systems comprising sensors and computers of the device 2.

According to a particular and non-limiting embodiment, a system for measuring the pressure of at least one hand of a driver on the steering wheel of the vehicle comprises a pressure sensor and a computer, for example an electric power steering computer. The pressure sensor measures a pressure torque on the steering wheel while the computer determines whether this pressure torque corresponds to pressure from at least one hand of a driver. For example, the computer determines an absence of pressure from at least one hand of a driver if the pressure torque is below a threshold value; typically a few Nm (Newton meter). This computer is in communication with device 2.

According to a particular and non-limiting embodiment, a system for measuring the non-zero speed of the vehicle comprises a satellite positioning sensor (GNSS for “Global Navigation Satellite System”, in French for “global navigation satellite system”) and a computer, for example an ESP (Electronic Stability Control) computer, in French “electronic stability control”. The positioning sensor determines successive geographical positions while the computer estimates the speed of the vehicle 10 from these successive geographical positions of the vehicle 10 and the time to cover the distance which separates two of these successive geographical positions. This computer is in communication with device 2.

According to a particular and non-limiting exemplary embodiment, a system for measuring the non-zero speed of the vehicle comprises a camera and a computer, for example an ESP computer. The camera captures ground marking images such as parking lines while the computer detects the movement of the vehicle 10 by analyzing these ground marking images taken by this camera. This computer is in communication with device 2.

According to a particular and non-limiting example of embodiment, a system for measuring the non-zero speed of the vehicle comprises a rotation detector of the wheels or hubs of the vehicle and a computer, for example an ESP computer. The rotation detector is activated as soon as a wheel (hubs) is in motion and the computer relays this information to device 2 with which it is in communication.

The present invention is not limited to systems comprising particular sensors and particular computers for detecting a non-zero speed of the vehicle 10 or for detecting the absence of pressure from at least one hand of the driver on the steering wheel of the vehicle 10 .

In a second operation, if the non-zero speed of the vehicle 10 and the absence of pressure from at least one hand of the driver on the steering wheel of the vehicle 10 are detected simultaneously for a first predetermined duration, then the device 2 triggers several shares. Typically the first duration is equal to a few seconds.

First, device 2 triggers a time count DT. The time count DT is initialized to a determined value, typically a few seconds. Then, the device 2 controls alert means so that an alert AL is triggered inside the vehicle 10 from the start of this time count DT and for the duration of this time count DT. The alert means broadcast information INF inside the vehicle 10 from the start of this time count DT and for the duration of this time count DT. The information INF requests the driver of vehicle 10 to regain control of vehicle 10 by applying pressure to the steering wheel of the vehicle for a second determined duration and to reduce the speed of vehicle 10 by a determined number of kilometers per hour.

According to a particular and non-limiting embodiment, the alert AL is audible and the alert means are loudspeakers of an infotainment system in communication with the device 2. The audible alert AL is then emitted by these speakers inside the vehicle.

According to a particular and non-limiting embodiment, the alert AL is visual and one of the alert means is a screen a screen of the device 2, such as a central screen of an infotainment system or a screen of an instrument cluster. The visual AL alert is then displayed on this screen.

According to a particular and non-limiting example of embodiment, the visual alert AL indicates the time countdown DT.

Alternatively, the AL alert is audible and visual.

According to a particular and non-limiting exemplary embodiment, if the driver has reduced the speed of the vehicle 10 by the determined number of kilometers per hour, for example by remaining pressed on a brake pedal of the vehicle, and that he has applied pressure on the steering wheel of the vehicle 10 during the second determined duration, then the device 2 stops the time countdown DT and controls the alert means so that the alert AL stops and the information INF is no longer broadcast.

At the end of the time countdown DT, if the speed of the vehicle has not been reduced by the determined number of kilometers per hour and if no pressure has been applied to the steering wheel during the second determined duration, the device 2 selects a action or a combination of at least two actions from the following actions: control of a braking system of the vehicle to stop the vehicle; cutting off a vehicle engine if it is running; locking vehicle doors and windows; control of vehicle hazard warning lights ignition means; triggering of a vehicle alarm siren; and, if the vehicle is connected to a communication network, sending a notification to the driver to inform him of a state of the vehicle and of a geographical position of the vehicle.

For example, the notification sent may indicate that the vehicle 10 is stationary, that the engine of the vehicle 10 is switched off or even that the doors and windows of the vehicle 10 are locked.

According to a particular and non-limiting exemplary embodiment, if the speed of the vehicle is reduced by the determined number of kilometers per hour and the driver applies pressure on the steering wheel for the second determined duration, the device 2 stops the selected action or actions of a combination of selected actions.

According to a particular and non-limiting example of embodiment, the device 2 comprises or is in communication with a computer, for example an ESP computer, which controls the braking system, the cut-off of a vehicle engine, the locking of doors and windows of the vehicle, the means of switching on the vehicle's hazard warning lights and the triggering of the vehicle's alarm siren.

According to a particular and non-limiting example of embodiment, the device 2 comprises or is in communication with an infotainment system which controls the alert means and the means of communication for the transmission of the notification to the driver.

schematically illustrates a device 2 for stopping a moving vehicle, according to a particular and non-limiting embodiment of the present invention. Device 2 corresponds to a device on board vehicle 10.

The device 2 is for example configured for the implementation of the operations described with regard to the and/or the steps of the process 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's on-board computer, an electronic computer such as an ECU ("Electronic Control Unit"), a telephone smart phone, tablet, 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.

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 onboard software or software comprising the instructions to be loaded and executed by the processor is for example stored on the memory 21.

According to various particular and non-limiting examples of embodiment, the device 2 is coupled in communication with other similar devices or systems and/or with communication devices, for example a TCU (from the English “Telematic Control Unit” or in French “Telematic Control Unit”), for example via a communication bus or through dedicated input/output ports.

According to a particular and non-limiting embodiment, the device 2 comprises a block 22 of interface elements for communicating with external devices, for example the device 3, other nodes of the ad hoc network. Block 22 interface elements include one or more of the following interfaces:

- RF radio frequency interface, for example of the Wi-Fi® type (according to IEEE 802.11), for example in the 2.4 or 5 GHz frequency bands, or of the Bluetooth® type (according to IEEE 802.15.1), in the band frequency at 2.4 GHz, or of the Sigfox type using UBN radio technology (Ultra Narrow Band, in French ultra narrow band), or LoRa in the 868 MHz frequency band, LTE (from English " Long-Term Evolution” or in French “Evolution à long terme”), LTE-Advanced (or in French LTE-advanced);

- USB interface (from the English "Universal Serial Bus" or "Universal Serial Bus" in French);

- HDMI interface (from the English “High Definition Multimedia Interface”, or “Interface Multimedia Haute Definition” in French);

- LIN interface (from English “Local Interconnect Network”, or in French “Réseau interconnecté local”).

Data such as the notifications sent to the driver of the vehicle 10 are for example loaded from the device 2 via the interface of the 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 (or 5G) network based on the LTE (Long Term Evolution) standard defined by the 3GPP consortium, in particular an LTE-V2X network.

According to another particular and non-limiting example of embodiment, the device 2 comprises a communication interface 23 which makes it possible to establish communication with other on-board devices of the vehicle 10 via a communication channel 231 such as a power steering computer electrical, an ESP computer, an infotainment system, a braking system, vehicle hazard warning lights ignition means 10, vehicle engine cut-off means 10, vehicle door and window locking means or even a vehicle alarm siren 10. The communication interface 23 corresponds for example to a transmitter configured to transmit INF information or control commands and to receive data via the communication channel 231. The communication interface 23 corresponds for example to a wired network of the CAN type (from the English “Controller Area Network” or in French “Réseau de Contrôleurs”), CAN FD (from the English “Controller Area Network Flexible Data-Rate” or in French “Flexible Data Rate Controller Network”), FlexRay (standardized by ISO 17458) or Ethernet (standardized by ISO/IEC 802-3).

According to a particular and non-limiting embodiment, the device 2 can provide output signals to one or more external devices, such as a central screen 24 of an infotainment system or a screen 24 of a handset. instruments, tactile or not, one or more loudspeakers 26 of an infotainment system and/or other peripherals 27 respectively via output interfaces 27, 28 and 29. According to a variant, one or more another of the external devices is built into device 2.

illustrates a flowchart of the different steps of a method for stopping the vehicle 10 in motion, according to a particular and non-limiting embodiment of the present invention. The method is for example implemented by the device 2 of the .

In a first step 51, a non-zero speed of the vehicle 10 and an absence of pressure from at least one hand of a driver on a steering wheel of the vehicle 10 are detected.

If the non-zero speed of the vehicle 10 and the absence of pressure from at least one hand of the driver on the steering wheel are detected simultaneously for a first predetermined duration, in a second step 521, a time countdown DT, initialized at a determined value, is triggered. In a third step 522, an alert AL is triggered inside the vehicle 10 during the time countdown DT to broadcast in the vehicle 10 information INF asking the driver of the vehicle 10 to apply pressure on the steering wheel of the vehicle 10 during a second determined duration, and to reduce the speed of the vehicle 10 by a determined number of kilometers per hour.

At the end of the time countdown DT, if the speed of the vehicle 10 has not been reduced by the determined number of kilometers per hour and if no pressure has been applied to the steering wheel during the second determined duration, one of the following steps or a combination of at least two of the following steps are carried out:
in a step 531, a braking system of the vehicle 10 is controlled to stop the vehicle 10;
in a step 532, an engine of the vehicle 10 is cut off if it is running;
in a step 533, the doors and windows of vehicle 10 are locked;
in a step 534, means for igniting the hazard warning lights of the vehicle 10 are controlled;
in a step 535, an alarm siren of the vehicle 10 is triggered; And
if the vehicle 10 is connected to a communication network, in a step 536, a notification is sent to the driver to inform him of a state of the vehicle 10 and of a geographical position of the vehicle 10.

According to a variant, the variants and examples of the operations described in relation to the apply to the process steps of the .

Of course, the present invention is not limited to the embodiments described above but extends to a method for stopping a moving vehicle which would include secondary steps without departing from the scope of the present invention. . The same would apply to a device configured for the implementation of such a method.

The present invention also relates to a vehicle 10, for example automobile or more generally an autonomous land motor vehicle, comprising the device 2 of the .

Claims (9)

A method of stopping a moving vehicle, said method comprising the following steps:
- detection (51) of a non-zero speed of the vehicle and of an absence of pressure from at least one hand of a driver on a steering wheel of the vehicle;
- if the non-zero speed of the vehicle and the absence of pressure from at least one hand of the driver on the steering wheel are detected simultaneously for a first predetermined duration, triggering (521) of a time countdown initialized at a determined value , triggering (522) of an alert inside the vehicle during said time countdown to broadcast information in the vehicle requesting the driver of the vehicle to apply pressure on the steering wheel of the vehicle for a second determined duration and to reduce the vehicle speed of a specified number of kilometers per hour;
- at the end of said time countdown, if the speed of the vehicle has not been reduced by the determined number of kilometers per hour and if no pressure has been applied to the steering wheel during the second determined duration, selection of an action or a combination of at least two actions from the following actions:
driving (531) a braking system of the vehicle to stop the vehicle;
switching off (532) an engine of the vehicle if it is running;
locking (533) of doors and windows of the vehicle;
control of ignition means (534) of the vehicle's hazard warning lights;
triggering (535) of a vehicle alarm siren; And
if the vehicle is connected to a communication network, transmission (536) of a notification intended for the driver to inform him of a state of the vehicle and of a geographical position of the vehicle. A method according to claim 1, wherein if the driver has decreased the speed of the vehicle by the determined number of kilometers per hour and has applied pressure to the steering wheel for the second determined duration, then the time count is stopped and the information is no longer disseminated. Method according to one of Claims 1 or 2, in which if the speed of the vehicle is reduced by the determined number of kilometers per hour and the driver applies pressure to the steering wheel during the second determined duration, the selected action is stopped or the actions of a combination of selected actions are stopped. Method according to one of Claims 1 to 3, in which the alert is audible. Method according to one of claims 1 to 4, in the alert is visual. A method according to claim 5, wherein the visual alert indicates the time count. Computer program comprising instructions for implementing the method according to any one of the preceding claims, when these instructions are executed by a processor. Device (2) for stopping a moving vehicle, 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 any one of claims 1 to 6. Vehicle (10) comprising the device (2) according to claim 8.