FR3131724A1 - Method and device for controlling a semi-automatic vehicle lane change system - Google Patents

Abstract

The present invention relates to a method and a device for controlling a semi-automatic lane change system, known as SALC system, of a vehicle (10) traveling on a current lane (1000). The taking into account of an indicator representative of the direction of lateral movement of the vehicle (10) in the control of the SALC system makes it possible to control the latter not only according to the activated turn signals but also according to the trajectory (110) of the vehicle (10). Such an indicator is a function of a time instant for which the vehicle (10) is at a distance greater than a threshold from the middle of the lane (1000) and from the heading (111) of the vehicle (10) at this time instant. Figure for abstract: Figure 1

Description

Method and device for controlling a semi-automatic lane change system for a vehicle

The present invention relates to the methods and devices for controlling a semi-automatic lane change system, called the SALC system, of a vehicle, for example a motor vehicle. The present invention also relates to a method and a device for determining the side of the target adjacent lane for a semi-automatic change of lane of a vehicle. The present invention also relates to a method and a device for controlling a vehicle, in particular an autonomous vehicle.

Technology background

Some contemporary vehicles are equipped with functions or system(s) or driving assistance, known as ADAS (from English “Advanced Driver-Assistance System” or in French “Advanced Driving Assistance System”).

Among these systems, the semi-automatic lane change system, known as the SALC system (from English “Semi-Automatic Lane Change”), has the primary function of assisting the driver of a vehicle when the driver wishes to change taxiway. Upon detection of the activation of the indicators on one side of the vehicle to indicate its intention to change lanes from a current traffic lane to a target traffic lane on the side where the indicators were activated by the driver, the SALC system performs the lane change after carrying out a few checks. Among these checks, the SALC system checks certain conditions relating to the target traffic lane such as:

- the quality of detection of the ground marking lines separating the current traffic lane and the target traffic lane, this quality having to be greater than a threshold to authorize the semi-automatic lane change;

- the type associated with this line, the ground marking line having to be of the discontinuous type to authorize the semi-automatic change of traffic lane; And

- a probability of existence of the discontinuous type ground marking line, such probability having to be greater than a threshold to authorize the semi-automatic lane change.

However, these checks prove insufficient to cover all life or driving situations of the vehicle. Indeed, in certain situations, incorrect activation of the indicators results in a lane change not in accordance with the driver's real intention.

Summary of the present invention

An object of the present invention is to solve at least one of the problems of the technological background described above.

Another object of the present invention is to improve the operation of a SALC system of a vehicle.

According to a first aspect, the present invention relates to a method for controlling a semi-automatic lane change system, called the SALC system, of a vehicle traveling on a current lane of a road, the lane of current traffic comprising a first portion associated with a first side and a second portion associated with a second side opposite the first side, the first portion and the second portion being separated by a line representative of a middle of the traffic lane, the method including the following steps:

- reception of a first piece of information representative of a triggering of indicators on one side of the vehicle corresponding to the first side;

- determination of a first time instant for which a first lateral distance between a reference point of the vehicle and the line representative of the middle of the current traffic lane along a transverse axis of the current traffic lane is greater than a first threshold distance when the reference point is positioned on the second portion of the current traffic lane;

- determination of a second time instant for which a second lateral distance between the reference point of the vehicle and the line representative of the middle of the current traffic lane along the transverse axis of the current traffic lane is greater than a second distance threshold when the reference point is positioned on the second portion of the current traffic lane, the second time instant being later than the first time instant and the second threshold distance being greater than the first threshold distance;

- determination of an indicator representative of a direction of lateral movement of the vehicle as a function of the second time instant and as a function of second information representative of a heading of the vehicle at the second time instant;

- control of the SALC system based on the first information and the indicator.

Taking into account an indicator representative of the direction of lateral movement of the vehicle in the control of the SALC system makes it possible to control the latter not only according to the activated indicators but also according to the trajectory of the vehicle. This makes it possible, for example, to correct an error in activating the vehicle's indicators, for example activating the indicators on the wrong side, for example on the right (respectively on the left), while the driver wishes to move towards the other side, for example example to the left (respectively to the right).

The operation of the SALC system is thus improved.

According to a variant, the method further comprises a comparison of the second temporal instant with a third temporal instant corresponding to an end of a time interval of a determined duration starting at the first temporal instant, the indicator being further determined as a function of a comparison result.

According to another variant, the first side corresponds to the right side according to a direction of movement of the vehicle and the second side corresponds to the left side according to the direction of movement of the vehicle:

- when the second time instant is prior to the third time instant and when the second information is representative of a heading towards the second side, then the SALC system is controlled so as to continue a change of lane of travel of the vehicle from the lane of current traffic to a traffic lane adjacent to the current traffic lane and arranged on the second side of the current traffic lane;

- when the second time instant is before the third time instant and when the second information is representative of a heading towards the first side, then the SALC system is controlled so as not to trigger any change of lane of the vehicle;

- when the second time instant is after the third time instant and when the second information is representative of a heading towards the first side, then the SALC system is controlled so as to trigger a change of lane of the vehicle from the lane of current traffic towards a traffic lane adjacent to the current traffic lane and arranged on the first side of the current traffic lane; And

- when the second time instant is after the third time instant and when the second information is representative of a heading towards the second side, then the SALC system is controlled so as not to trigger any change in the vehicle's lane.

According to an additional variant, the method further comprises:

- a rendering of a first message representative of an alert of erroneous triggering of the indicators when the second time instant is before the third time instant and when the second information is representative of a heading towards the second side; and or

- a rendering of a second message representative of a request for authorization to trigger the change of lane of the vehicle from the current lane to the lane adjacent to the current lane and arranged on the first side of said current traffic lane by the SALC system when the second time instant is after the third time instant and when the second information is representative of a heading towards the first side.

According to yet another variant, the first side corresponds to the left side according to a direction of movement of the vehicle and the second side corresponds to the right side according to the direction of movement of the vehicle:

- when the second time instant is prior to the third time instant and when the second information is representative of a heading towards the first side, then the SALC system is controlled so as to continue a change of lane of travel of the vehicle from the lane of current traffic towards a traffic lane adjacent to the current traffic lane and arranged on the first side of the current traffic lane;

- when the second time instant is before the third time instant and when the second information is representative of a heading towards the second side, then the SALC system is controlled so as not to trigger any change of lane of the vehicle;

- when the second time instant is after the third time instant and when the second information is representative of a heading towards the second side, then the SALC system is controlled so as to trigger a change of lane of the vehicle from the lane of current traffic to a traffic lane adjacent to the current traffic lane and arranged on the second side of the current traffic lane; And

- when the second time instant is after the third time instant and when the second information is representative of a heading towards the first side, then the SALC system is controlled so as not to trigger any change of lane of the vehicle.

According to an additional variant, the method further comprises:

- a rendering of a third message representative of an alert of erroneous triggering of the indicators when the second time instant is after the third time instant and when the second information is representative of a heading towards the first side; and or

- a rendering of a fourth message representative of a request for authorization to trigger the change of lane of the vehicle from the current lane to the lane adjacent to the current lane and arranged on the second side of the current traffic lane by the SALC system when the second time instant is after the third time instant and when the second information is representative of a heading towards the first side.

According to a second aspect, the present invention relates to a device for controlling a semi-automatic lane change system, called SALC system, of a vehicle, the device comprising a memory associated with a processor configured for implementing 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, 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 a source code, an object code, or an intermediate code between a source code and an object code, such as in 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 executing 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 terrestrial radio or by self-directed laser beam or by other ways. The computer program according to the present invention can in particular be downloaded onto 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 executing the method in question.

Brief description of the figures

Other characteristics and advantages of the present invention will emerge from the description of the particular and non-limiting examples of embodiment of the present invention below, with reference to the appended Figures 1 to 5, in which:

schematically illustrates an environment of a vehicle following a first trajectory, according to a particular and non-limiting embodiment of the present invention;

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

illustrates a flowchart of the different stages of a control process of a semi-automatic lane change system of the vehicle of Figures 1 and 2, according to a particular and non-limiting exemplary embodiment of the present invention.

schematically illustrates a device configured to control a semi-automatic lane change system of the vehicle of Figures 1 and 2, according to a particular and non-limiting embodiment of the present invention;

illustrates a flowchart of the different stages of a method of controlling a semi-automatic lane change system of the vehicle of Figures 1 and 2, according to a particular and non-limiting exemplary embodiment of the present invention.

Description of the implementation examples

A method and a device for controlling a system for semi-automatically changing the lane of a vehicle will now be described in what follows with reference jointly to Figures 1 to 5. The same elements are identified with the same reference signs throughout the description which follows.

According to a particular and non-limiting example of embodiment of the present invention, the control of a semi-automatic lane change system, called SALC system, of a vehicle traveling on a current lane of a road comprises the reception, for example by the computer in charge of controlling the SALC system, of a first piece of information representative of a triggering of the indicators on one side of the vehicle, for example the indicators on the right side of the vehicle or the indicators on the left side of the vehicle, the indicators having for example been activated by the driver of the vehicle to signal his intention to change lanes of traffic. A first temporal instant is determined. This first temporal instant corresponds to the instant for which a first lateral distance, along a transverse axis of the current traffic lane, between a reference point of the vehicle (for example the middle of the rear axle of the vehicle or the barycenter of the vehicle) and a line representative of the middle of the current traffic lane is greater than a first threshold distance, when the reference point is positioned on a portion of the current traffic lane located on the side opposite to the side on which the turn signals are activated - opposite the middle line. Thus, when the right (respectively left) indicators are activated, the portion considered of the current traffic lane corresponds to the part of the lane located to the left (respectively to the right) of the middle line. A second time instant, subsequent to the first time instant, is then determined. This second time instant corresponds to the instant for which a second lateral distance, along the transverse axis of the current traffic lane, between the reference point of the vehicle and the center line of the current traffic lane is greater than one second threshold distance when the reference point is positioned on the portion of the track located on the side opposite to the turn signal activation side. The second threshold distance is advantageously greater than the first threshold distance. An indicator representative of a direction of lateral movement of the vehicle (for example towards the left or towards the right) is determined as a function of the second time instant and as a function of second information representative of a heading or a direction ( for example towards the left or towards the right) of the vehicle at the second time instant. Finally, the SALC system is controlled according to the first information and the indicator, for example so as to trigger a change of lane towards the traffic lane located to the left of the current lane, to trigger a change of lane towards the traffic lane located to the right of the current lane or to interrupt a lane change in progress.

Taking into account an indicator representative of the direction of lateral movement of the vehicle in the control of the SALC system makes it possible to control the latter not only according to the activated indicators but also according to the trajectory of the vehicle. This makes it possible, for example, to correct an error in activating the vehicle's indicators, for example activating the indicators on the wrong side, for example on the right (respectively on the left), while the driver wishes to move towards the other side, for example example to the left (respectively to the right).

There and the each schematically illustrate an environment 1 in which a vehicle 10 operates, according to two particular and non-limiting examples of embodiment of the present invention.

There illustrates a vehicle 10, for example a motor vehicle, traveling on a portion of the road in environment 1. According to other examples, the vehicle 10 corresponds to a coach, a bus, a truck, a utility vehicle or a motorcycle, that is to say a vehicle of the motorized land vehicle type.

Vehicle 10 corresponds to a vehicle circulating under the full supervision of a driver or circulating in an autonomous or semi-autonomous mode. The vehicle 10 circulates according to a level of autonomy equal to 0 or according to a level of autonomy ranging from 1 to 5 for example, according to the scale defined by the American federal agency which has established 5 levels of autonomy ranging from 1 to 5, level 0 corresponding to a vehicle having no autonomy, whose driving is under the total supervision of the driver, level 1 corresponding to a vehicle with a minimum level of autonomy, whose driving is under the supervision of the driver with minimal assistance from an ADAS system, and level 5 corresponding to a completely autonomous vehicle.

The 5 levels of autonomy in the classification of the federal agency responsible for road safety are:

- level 0: no automation, the vehicle driver has full control over the main functions of the vehicle (engine, accelerator, steering, brakes);

- level 1: driver assistance, automation is active for certain vehicle functions, the driver maintaining overall control over vehicle driving; cruise control is part of this level, like other aids such as ABS (anti-lock braking system) or ESP (programmed electro-stabilizer);

- level 2: automation of combined functions, the control of at least two main functions is combined in the automation to replace the driver in certain situations; for example, adaptive cruise control combined with lane centering allows a vehicle to be classified level 2, as does automatic parking assistance;

- level 3: limited autonomous driving, the driver can cede complete control of the vehicle to the automated system which will then be in charge of critical safety functions; however, autonomous driving can only take place in certain specific environmental and traffic conditions (only on motorways for example);

- level 4: complete autonomous driving under conditions, the vehicle is designed to ensure all critical safety functions alone over a complete journey; the driver provides a destination or navigation instructions but is not required to make himself available to regain control of the vehicle;

- level 5: completely autonomous driving without driver assistance in all circumstances.

According to a particular embodiment, the vehicle 10 circulates in a semi-autonomous or autonomous mode, that is to say with a level of autonomy greater than or equal to 2 according to the classification above.

According to the example of the , the vehicle 10 travels on a current traffic lane 1000. The current traffic lane 1000 is for example surrounded by two adjacent lanes (not shown), with an adjacent lane to the left of the current lane 1000 (depending on the direction of traffic of the vehicle 10) and an adjacent lane to the right of the current lane (according to the direction of movement of vehicle 10).

The notions of right and left are defined according to the direction of movement of the vehicle 10.

The current traffic lane 1000 is for example delimited by ground marking lines, for example a line 101 on the right side and a line 102 on the left side. A central or middle line 100 separates the roadway of the current traffic lane 1000 into two portions along the longitudinal axis 100 and a second portion 1002 corresponding to the part of track 1000 to the left of the middle line 100.

The vehicle 10 advantageously carries one or more driving assistance systems, called ADAS (from English “Advanced Driver-Assistance System” or in French “Advanced Driving Assistance System”). For example, vehicle 10 has a semi-automatic lane change system, called the SALC system (Semi-Automatic Lane Change). Such a system is based in particular on the detection and recognition of the marking lines on the ground to authorize or not the change of lane from a current traffic lane to a traffic lane adjacent to this current traffic lane, and when the change is authorized, to control the maneuver allowing the vehicle 10 to change lanes.

Among the checks carried out by the SALC system to authorize or not the lane change, the SALC system verifies that the ground marking line delimiting the current traffic lane from the target adjacent lane corresponds to a discontinuous line for which the lane change is authorized. The change of lane is also triggered by the activation of the indicators, for example by the driver of the vehicle 10. Thus, the triggering of the right indicators of the vehicle 10 triggers a change of lane (if the controls carried out allow it) towards the lane to the right of the current lane 1000 and triggering the left turn signals of the vehicle 10 triggers a change of lane (if the checks carried out allow it) to the lane to the left of the current lane 1000.

The vehicle 10 advantageously carries a ground marking detection system. Such a system is for example coupled to the SALC system or integrated into the SALC system. Such a ground marking detection system receives data from one or more cameras on board the vehicle 10 and configured for the acquisition of images of the traffic lane taken by the vehicle 10, for example the portion of road located at the front and/or on the sides of the vehicle 10. The ground marking detection system is thus configured to detect the ground markings 101, 102 in the environment of the vehicle 10. Image processing is applied to the images obtained from the camera(s) of the ground marking detection system to determine the presence of lines on the ground and to classify these lines into different categories, for example to determine whether the lines on the ground correspond to edge lines or lines medians for example. An example of image processing to detect lines on the ground is for example described in document WO2017194890A1. The floor marking detection system identifies, for example, solid line or dotted line lines.

The detection of the ground markings 101, 102 laterally delimiting the current traffic lane makes it possible to determine the middle line 100 which is generally not drawn on the ground, this line 100 being virtual, and consequently the right part 1001 and the left part 1002 of track 1000.

For this purpose, each lateral delimitation or ground marking 101, 102 is advantageously represented by a polynomial of degree 3 in the form P(x) = C ₀ + C ₁ * x + C ₂ * x² + C ₃ * x ³ , with C ₀ , C ₁ , C ₂ and C ₃ the coefficients of the polynomial.

The coefficients C ₀ , C ₁ , C ₂ and C ₃ come from the on-board camera(s) of the vehicle 10 or from the ground marking detection system using images from this camera(s).

The coefficient C ₀ represents for example a distance between the center of the vehicle 10 and each boundary considered. The coefficient C ₁ represents an angle between the trajectory of the vehicle 10 and a tangent to the traffic lane (the heading). The coefficient C ₂ represents a radius of curvature and the coefficient C ₃ represents a derivative of this radius of curvature.

Thus, line 101 is for example defined by the polynomial P ₁₀₁ (x) = C _{0_101} + C ₁ * x + C ₂ * x² + C ₃ * x ³ and line 102 is defined by the polynomial P ₁₀₂ (x) = C _{0_102} + C ₁ * x + C ₂ * x² + C ₃ * x ³ .

The width L of track 1000 is then obtained using the following equation:

And the center or midpoint C of the track is obtained using the following equation:

According to a variant embodiment, the center or middle 100 of the lane 1000 is determined or obtained from mapping data, for example data received from a server via a wireless connection connecting the vehicle 10 to this server.

According to an optional embodiment, the vehicle 10 also carries one or more of the following sensors:

- one or more millimeter wave radars arranged on the vehicle 10, for example at the front, at the rear, on each front/rear corner of the vehicle; each radar is adapted to emit electromagnetic waves and to receive the echoes of these waves returned by one or more objects (for example the barriers 110), with the aim of detecting obstacles or other objects and their distances with respect to the vehicle 10; and or

- one or more LIDAR(s) (from the English “Light Detection And Ranging”, or “Detection and estimation of the distance by light” in French), a LIDAR sensor corresponding to an optoelectronic system composed of a transmitter device laser, a receiving device comprising a light collector (to collect the part of the light radiation emitted by the transmitter and reflected by any object located in the path of the light rays emitted by the transmitter) and a photodetector which transforms light collected as an electrical signal; a LIDAR sensor thus makes it possible to detect the presence of objects located in the emitted light beam and to measure the distance between the sensor and each detected object.

According to the example of realization of the , the vehicle 10 follows a trajectory 110 and the right indicators of the vehicle 10, represented by a star, are activated.

According to the example of realization of the , the vehicle 10 follows a trajectory 210 and the right indicators of the vehicle 10, represented by a star, are activated.

A first time instant t1 corresponds to the instant at which the distance d1 between a reference point of the vehicle 10 (for example the center of the vehicle 10 or the middle of the front or rear axle of the vehicle 10) and the middle of the lane (along the transverse axis Y of the track 1000) is greater than a first threshold (for example 0.4, 0.5, 0.6 or 0.7 m), while the reference point of the vehicle 10 is located on the second portion of the track ( the left portion according to the examples in Figures 1 and 2).

A second time instant t2 corresponds to the instant at which the distance d2 between the reference point of the vehicle 10 and the middle of the lane (along the transverse axis Y of the lane 1000) is greater than a second threshold (for example 0.8 , 0.9 or 1 m), while the reference point of the vehicle 10 is located on the second portion of the track (the left portion according to the examples in Figures 1 and 2).

A third time instant t3 corresponds to the end (the end) of a time interval having as its start the instant t1 and its duration a determined duration, for example 3, 5 or 10 s.

The heading of vehicle 10 at time t2 is represented by an arrow 111 on the (and/or by an angle between this heading and the longitudinal axis of the track 1000 represented by the arrow 112 on the ). In the same way, the heading of the vehicle 10 at time t2 is represented by an arrow 211 on the (and/or by an angle between this heading and the longitudinal axis of the track 1000 represented by the arrow 112 on the ).

According to the example of the , the heading 111 of the vehicle 10 is said to be negative (angle between the axis 111 and the axis 112 in the clockwise direction) in that it corresponds to a lateral movement of the vehicle 10 towards the left. According to the example of the , the heading 211 of the vehicle 10 is said to be positive (angle between the axis 211 and the axis 112 in the anti-clockwise direction) in that it corresponds to a lateral movement of the vehicle 10 towards the right.

One problem that arises is that the triggering of the turn signals may be erroneous and thus not represent the driver's true intention. For example, the driver can trigger the right turn signals by mistake when he actually wants to change lanes to go to the lane to the left of the current lane 1000, and conversely, the driver can trigger the left turn signals by mistake when he actually wants to change lanes to go to the lane to the right of the current lane 1000. The process described with regard to the and/or the process described with regard to the , in relation to Figures 1 and 2, make it possible in particular to resolve such a problem.

There illustrates a process for controlling the SALC system of the vehicle 10, according to a particular and non-limiting embodiment of the present invention.

The control process of the SALC system of the vehicle 10 is advantageously implemented by the vehicle 10, that is to say by a computer or a combination of computers of the on-board system of the vehicle 10, for example by the computer or computers in responsible for controlling the SALC system. In what follows, reference will be made to a single calculator for reasons of clarity, without however being limited to this particular embodiment.

According to a first embodiment, the is described in relation to Figures 1 and 2 for illustrative purposes. According to this first embodiment, the right indicators of the vehicle 10 are activated while the trajectory of the vehicle 10 over a time interval of determined duration evolves on the left portion 1002 of the track 1000.

In a first operation 301, the SALC system is activated, for example by activating or triggering the right turn signals of the vehicle 10. The processor in charge of the process receives first information representative of the triggering of the turn signals. This first information is for example received from the computer in charge of controlling the indicators of the vehicle 10 in the form of a set of data, for example multiplexed. These computers belong to a set of computers and sensors forming the on-board system of the vehicle 10. The computers and/or sensors of the on-board system are connected in communication via one or more communication buses, for example one or more communication buses of the type CAN data bus (from the English “Controller Area Network” or in French “Réseau de controllers”), CAN FD (from the English “Controller Area Network Flexible Data-Rate” or in French “Réseau de controllers à flow de flexible data"), FlexRay (according to the ISO 17458 standard), Ethernet (according to the ISO/IEC 802-3 standard) or LIN (from the English "Local Interconnect Network", or in French "Réseau interconnectée local").

In a second operation 302, the calculator determines or calculates the distance between a reference point of the vehicle 10 (for example the center of the vehicle or the middle of the rear or front axle of the vehicle 10) and the middle of the traffic lane current 1000 at the location of the vehicle reference point, along the transverse axis Y of the traffic lane 1000.

This distance is for example determined as the vehicle 10 moves, for example at regular intervals, for example every 100, 200 or 500 ms.

In a third operation 303, each distance determined in the second operation 302 is compared to a first distance threshold value, for example a few tens of centimeters. When a distance d1 (called first lateral distance) determined in the second operation 302 is greater than or equal to the first distance threshold value, the process goes to the fourth operation 304. Otherwise, the process loops back to the second operation 302. L The time instant at which the first distance d1 was determined is denoted t1 (and called first time instant) and is for example recorded in a memory associated with the computer.

In a fourth operation 304, a counter is triggered (when the first distance d1 between the reference point of the vehicle 10 and the middle of the lane 10 exceeds the first threshold value) for a determined duration, for example for a duration equal to 1 second or several seconds. The calculator continues to determine the distances separating the reference point of vehicle 10 from the middle of lane 1000.

In a fifth operation 305, each distance determined as separating the reference point of the vehicle 10 from the middle of the lane 1000 is compared to a second distance threshold value, for example equal to 0.8, 0.9, 1 or 1.1 meter for example. When one of the determined distances, this distance being called the second lateral distance d2, is greater than or equal to the second threshold value, then the process passes into a sixth operation 306. Otherwise, the process remains at the fifth operation 305. The instant time at which the second distance d2 was determined is denoted t2 (and called second time instant) and is for example recorded in a memory associated with the computer.

In a sixth operation 306, the second time instant t2 is compared to a third time instant t3 corresponding to the end of the time interval measured by the counter, which begins with the first time instant t1 for a determined duration.

If the second time instant t2 is prior to the third time instant t3 (such as in the example of ), then the process goes to the seventh operation 307.

If the second time instant t2 is later than the third time instant t3 (as in the example of ), then the process goes to the tenth operation 310.

In a seventh operation 307 (when t2 < t3), the heading of the vehicle 10 during the second time instant t2 is determined according to any method known to those skilled in the art.

If the heading of the vehicle is negative, that is to say if the direction of the vehicle 10 is directed towards the left (as according to the example of the ), then the process continues with the eighth operation 308.

If the heading of the vehicle is positive, that is to say if the direction of the vehicle 10 is directed to the right, then the process continues with the ninth operation 309.

In the eighth operation 308, the SALC system controls the lane change of the vehicle 10 so that the vehicle begins a lane change from the current traffic lane to an adjacent traffic lane and to the left of the traffic lane 1000 Thus, according to this first embodiment, even if the indicators of the vehicle 10 have been activated on the right, the SALC system is controlled to make a lane change to the left.

This makes it possible to trigger a lane change depending on the trajectory of the vehicle and the direction taken by this vehicle when the latter is in unambiguous contradiction with the side of activation of the indicators.

A first message is then sent, for example, to the driver of vehicle 10, to inform the driver that the indicators on the first side have been activated by mistake and that the lane change will be triggered towards the second side opposite the first side. Such a first message is for example rendered by display on a screen embedded in the vehicle and/or rendered by voice synthesis via one or more speakers embedded in the passenger compartment of the vehicle 10.

In the ninth operation 309, the SALC system is controlled so as not to trigger a lane change. If a lane change to the right has been initiated following the activation of the indicators on the first side, then the latter is stopped or interrupted.

In a tenth operation 310 (when t2 > t3), the heading of the vehicle 10 during the second time instant t2 is determined according to any method known to those skilled in the art.

If the heading of the vehicle is positive, that is to say if the direction of the vehicle 10 is directed towards the first side (that is to say directed towards the right according to the example of the ), then the process continues with the eleventh operation 311.

If the heading of the vehicle is negative, that is to say if the direction of the vehicle 10 is directed to the left, then the process continues with the ninth operation 309 already described.

In the eleventh operation 311, the SALC system is controlled so as to trigger or continue a lane change of the vehicle 10 from the current lane to the adjacent lane to the right of the current lane.

According to a variant, the triggering of the lane change to the lane on the right is conditional on a response to a request made to the driver of the vehicle 10. For this purpose, a second message representative of a request for authorization to trigger the change of lane of the vehicle from the current lane to the adjacent lane of the first side (on the right) is rendered (for example for display on a touch screen and/or for rendering by voice synthesis) to the driver of the vehicle 10.

The driver then decides whether he wants the SALC system to trigger or continue the lane change to the right (for example via a touch press on the touch screen or by speaking a voice command) or whether he wants the lane change to be channel by the SALC system is interrupted or inhibited.

According to a second embodiment according to which the first side corresponds to the left side and the second side to the right side. According to this second embodiment, the left turn signals of the vehicle 10 are activated while the trajectory of the vehicle 10 over a time interval of determined duration evolves on the right portion of the traffic lane 1000.

The first operation 301 of the second embodiment is identical to that described with regard to the first embodiment.

The second operation 302 of the second embodiment is identical to that described with regard to the first embodiment.

The third operation 303 of the second embodiment is identical to that described with regard to the first embodiment.

The fourth operation 304 of the second embodiment is identical to that described with regard to the first embodiment.

The fifth operation 305 of the second embodiment is identical to that described with regard to the first embodiment.

The sixth operation 306 of the second embodiment is identical to that described with regard to the first embodiment.

In a seventh operation 307 (when t2 < t3), the heading of the vehicle 10 during the second time instant t2 is determined according to any method known to those skilled in the art.

If the heading of the vehicle is positive, that is to say if the direction of the vehicle 10 is directed to the right, then the process continues with the eighth operation 308.

If the heading of the vehicle is negative, that is to say if the direction of the vehicle 10 is directed to the left, then the process continues with the ninth operation 309.

In the eighth operation 308, the SALC system controls the lane change of the vehicle 10 so that the vehicle begins a lane change from the current traffic lane 1000 to a traffic lane adjacent to the traffic lane and to the right of this lane 1000. Thus, according to this second embodiment, even if the indicators of the vehicle 10 have been activated on the left side of the vehicle 10, the SALC system is controlled to make a lane change to the opposite side, this is i.e. to the right.

This makes it possible to trigger a lane change depending on the trajectory of the vehicle and the direction taken by this vehicle when the latter is in unambiguous contradiction with the side of activation of the indicators.

According to a variant, a first message similar to that of the first embodiment is rendered.

In the ninth operation 309, the SALC system is controlled so as not to trigger a lane change. If a lane change to the left has been initiated following activation of the left turn signals, then the latter is stopped or interrupted.

In a tenth operation 310 (when t2 > t3), the heading of the vehicle 10 during the second time instant t2 is determined according to any method known to those skilled in the art.

If the heading of the vehicle is negative, that is to say if the direction of the vehicle 10 is directed to the left, then the process continues with the eleventh operation 311.

If the heading of the vehicle is positive, that is to say if the direction of the vehicle 10 is directed to the right, then the process continues with the ninth operation 309 already described.

In the eleventh operation 311, the SALC system is controlled so as to trigger or continue a lane change of the vehicle 10 from the current lane to the adjacent lane located to the left of lane 1000.

According to a variant, the triggering of the lane change to the lane on the left is conditional on a response to a request sent to the driver of the vehicle 10. For this purpose, a second message representative of a request for authorization to trigger the change of vehicle lane from the current lane to the adjacent lane on the left is rendered (for example for display on a touch screen and/or for rendering by voice synthesis) to the driver of the vehicle 10.

The driver then decides whether he wants the SALC system to trigger or continue the lane change to the left (for example via a touch on the touch screen or by speaking a voice command) or whether he wants the lane change to be channel by the SALC system is interrupted or inhibited.

There schematically illustrates a device 4 configured to control a SALC system, according to a particular and non-limiting embodiment of the present invention. The device 4 corresponds for example to a device on board the vehicle 10, for example a computer.

The device 4 is for example configured for the implementation of the operations described with regard to the and/or steps of the process described with regard to the . Examples of such a device 4 include, without being limited to, on-board electronic equipment such as an on-board computer of a vehicle, an electronic computer such as an ECU (“Electronic Control Unit”), a telephone smart (from the English “smartphone”), a tablet, a laptop. The elements of device 4, individually or in combination, can be integrated into a single integrated circuit, into several integrated circuits, and/or into discrete components. The device 4 can be produced in the form of electronic circuits or software (or computer) modules or even a combination of electronic circuits and software modules.

The device 4 comprises one (or more) processor(s) 40 configured to execute instructions for carrying out the steps of the method and/or for executing the instructions of the software(s) embedded in the device 4. The processor 40 may include integrated memory, an input/output interface, and various circuits known to those skilled in the art. The device 4 further comprises at least one memory 41 corresponding for example to a volatile and/or non-volatile memory and/or comprises a memory storage device which may 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 embedded software(s) comprising the instructions to be loaded and executed by the processor is for example stored on memory 41.

According to different particular and non-limiting examples of embodiment, the device 4 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 communications bus or through dedicated input/output ports.

According to a particular and non-limiting exemplary embodiment, the device 4 comprises a block 42 of interface elements for communicating with external devices, for example a remote server or the “cloud” (or “cloud” in French), or the vehicle 10 when the device 4 corresponds to a smartphone or a tablet for example. The interface elements of block 42 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 Sigfox type using UBN radio technology (from English 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 “Long-Term Evolution”), LTE-Advanced (or in French LTE-advanced);

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

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

According to another particular and non-limiting example of embodiment, the device 4 comprises a communication interface 43 which makes it possible to establish communication with other devices (such as other computers of the on-board system or on-board sensors) via a channel communication interface 430. The communication interface 43 corresponds for example to a transmitter configured to transmit and receive information and/or data via the communication channel 430. The communication interface 23 corresponds for example to a wired network of the type CAN (from the English “Controller Area Network” or in French “Réseau de controlleres”), CAN FD (from the English “Controller Area Network Flexible Data-Rate” or in French “Réseau de controllers à rate flexible data” ), FlexRay (standardized by the ISO 17458 standard), Ethernet (standardized by the ISO/IEC 802-3 standard) or LIN (from the English “Local Interconnect Network”, or in French “Local Interconnected Network”).

According to a particular and non-limiting embodiment, the device 4 can provide output signals to one or more external devices, such as a display screen, touch or not, one or more speakers and/or other devices (projection system) via respective output interfaces. According to a variant, one or the other of the external devices is integrated into the device 4.

There illustrates a flowchart of the different stages of a method of controlling a semi-automatic lane change system, called SALC system, of a vehicle traveling on a current lane such as lane 1000 with a first portion associated with a first side (for example the right side or the left side) and a second portion associated with a second side (for example the left side or the right side respectively) opposite the first side, the first portion and the second portion being separated by a line representative of a middle of the traffic lane, according to a particular and non-limiting embodiment of the present invention. The method is for example implemented by a device on board the vehicle 10 or by the device 4 of the .

In a first step 51, first information representative of a triggering of indicators on one side of the vehicle corresponding to the first side is received.

In a second step 52, a first time instant is determined, for which a first lateral distance between a reference point of the vehicle and the line representative of the middle of the current traffic lane along a transverse axis of the current traffic lane is greater at a first threshold distance when the reference point is positioned on the second portion of the current traffic lane.

In a third step 53, a second time instant is determined, for which a second lateral distance between the reference point of the vehicle and the line representative of the middle of the current traffic lane along the transverse axis of the current traffic lane is greater than a second threshold distance when the reference point is positioned on the second portion of the current traffic lane, the second time instant being later than the first time instant and the second threshold distance being greater than the first threshold distance.

In a fourth step 54, an indicator representative of a direction of lateral movement of the vehicle is determined as a function of the second time instant and as a function of second information representative of a heading of the vehicle at the second time instant.

In a fifth step 55, the SALC system is controlled according to the first information and the indicator.

According to a variant, the variants and examples of the operations described in relation to one of Figures 1 to 3 apply to the steps of the method of .

Of course, the present invention is not limited to the exemplary embodiments described above but extends to a method of determining a side towards which to make a change of lane which would include secondary steps without leaving the the scope of the present invention. The same would apply to a device configured to implement such a process.

The present invention also relates to a SALC system comprising device 4 of the .

The present invention also relates to a vehicle, for example an automobile or more generally an autonomous vehicle with a land engine, comprising the device 4 of the or the SALC system above.

Claims (10)

Method for controlling a semi-automatic lane change system, called SALC system, of a vehicle (10) traveling on a current traffic lane (1000), said current traffic lane (1000) comprising a first portion (1001) associated with a first side and a second portion (1002) associated with a second side opposite said first side, said first portion (1001) and said second portion (1002) being separated by a line (100) representative of a middle of said traffic lane, said method comprising the following steps:
- reception (51) of first information representative of a triggering of indicators on one side of said vehicle (10) corresponding to said first side;
- determination (52) of a first temporal instant for which a first lateral distance between a reference point of said vehicle (10) and said line (100) representative of the middle of said current traffic lane (1000) along a transverse axis of said current traffic lane (1000) is greater than a first threshold distance when said reference point is positioned on said second portion (1002) of the current traffic lane (1000);
- determination (53) of a second time instant for which a second lateral distance between said reference point of the vehicle (10) and said line (100) representative of the middle of said current traffic lane (1000) along the transverse axis of said current traffic lane is greater than a second threshold distance when said reference point is positioned on said second portion (1002) of the current traffic lane, said second temporal instant being posterior to said first temporal instant and said second threshold distance being greater than said first threshold distance;
- determination (54) of an indicator representative of a direction of lateral movement of said vehicle (10) as a function of said second time instant and as a function of second information representative of a heading (111, 211) of said vehicle (10) ) said second time instant;
- control (55) of said SALC system according to the first information and said indicator. A method according to claim 1, further comprising a comparison of said second temporal instant with a third temporal instant corresponding to an end of a time interval of a determined duration beginning at said first temporal instant, said indicator further being determined as a function of 'a result of said comparison. Method according to claim 2, for which said first side corresponds to the right side in one direction of movement of said vehicle (10) and said second side corresponds to the left side in said direction of movement of said vehicle (10):
- when said second time instant is before said third time instant and when said second information is representative of a heading towards said second side, then said SALC system is controlled so as to continue a change of lane of said vehicle (10) from the current traffic lane (1000) to a traffic lane adjacent to said current traffic lane and arranged on said second side of said current traffic lane (1000);
- when said second time instant is before said third time instant and when said second information is representative of a heading towards said first side, then said SALC system is controlled so as not to trigger any change of lane of said vehicle (10) ;
- when said second time instant is after said third time instant and when said second information is representative of a heading towards said first side, then said SALC system is controlled so as to trigger a change of lane of said vehicle (10) from the current traffic lane (1000) to a traffic lane adjacent to said current traffic lane and arranged on said first side of said current traffic lane (1000); And
- when said second time instant is after said third time instant and when said second information is representative of a heading towards said second side, then said SALC system is controlled so as not to trigger any change of lane of said vehicle (10) . A method according to claim 3, further comprising:
- a rendering of a first message representative of an alert of erroneous triggering of the indicators when said second time instant is before said third time instant and when said second information is representative of a heading towards said second side; and or
- a rendering of a second message representative of a request for authorization to trigger the change of lane of said vehicle (10) from the current lane (1000) to said lane adjacent to said current lane and arranged on said first side of said current traffic lane by the SALC system when said second time instant is after said third time instant and when said second information is representative of a heading towards said first side. Method according to claim 2, for which said first side corresponds to the left side in one direction of movement of said vehicle (10) and said second side corresponds to the right side in said direction of movement of said vehicle (10):
- when said second time instant is before said third time instant and when said second information is representative of a heading towards said first side, then said SALC system is controlled so as to continue a change of lane of said vehicle (10) from the current traffic lane (1000) to a traffic lane adjacent to said current traffic lane (1000) and arranged on said first side of said current traffic lane (1000);
- when said second time instant is before said third time instant and when said second information is representative of a heading towards said second side, then said SALC system is controlled so as not to trigger any change of lane of said vehicle (10) ;
- when said second time instant is after said third time instant and when said second information is representative of a heading towards said second side, then said SALC system is controlled so as to trigger a change of lane of said vehicle (10) from the current traffic lane (1000) to a traffic lane adjacent to said current traffic lane (1000) and arranged on said second side of said current traffic lane (1000); And
- when said second time instant is after said third time instant and when said second information is representative of a heading towards said first side, then said SALC system is controlled so as not to trigger any change of lane of said vehicle (10) . A method according to claim 5, further comprising:
- a rendering of a third message representative of an alert of erroneous triggering of the indicators when said second time instant is after said third time instant and when said second information is representative of a heading towards said first side; and or
- a rendering of a fourth message representative of a request for authorization to trigger the change of lane of said vehicle (10) from the current lane (1000) to said lane adjacent to said current lane (1000) and arranged on said second side of said current traffic lane by the SALC system when said second time instant is after said third time instant and when said second information is representative of a heading towards said first side. Computer program comprising instructions for implementing the method according to any one of the preceding claims, when these instructions are executed by a processor. Computer-readable recording medium on which a computer program is recorded comprising instructions for carrying out the steps of the method according to one of claims 1 to 6. Device (4) for controlling a semi-automatic lane change system, called SALC system, of a vehicle (10), said device (4) comprising a memory (41) associated with at least one processor ( 40) configured for the implementation of the steps of the method according to any one of claims 1 to 6. Vehicle (10) comprising the device (4) according to claim 9.