FR3133002A1 - Vehicle environment perception data communication method and device - Google Patents

Abstract

The present invention relates to a vehicle communication method and device. To this end, a first vehicle (11) on board one or more object detection sensors receives from a second vehicle (12) connected in communication to the first vehicle (11) in V2X a first request for transmission of perception data of the environment (1). The first request includes first information representative of identification of at least a first object. In response to this first request, the first vehicle (11) selects first data representative of the detection of this or these first objects from among a set of object detection data obtained from the on-board object detection sensor(s). The first vehicle (11) transmits these first data as a response to the first request in V2X. Figure for abstract: Figure 1

Description

Method and device for communicating environment perception data for vehicle

The present invention relates to communication methods and devices for vehicles, particularly automobiles. The present invention also relates to a method and a device for communicating data for perception of a vehicle environment in the context of a service known as collective perception of the environment, in particular in the context of vehicle type communication(s). towards everything, called V2X.

Technology background

The data communication needs of contemporary vehicles are increasing over time, particularly with the development of so-called autonomous or semi-autonomous vehicles. To this end, vehicles are required to exchange data of different types with each other, for example data relating to their dynamic behavior, their perception of their environment, etc.

For example, new technologies are emerging that allow the exchange of information between vehicles and/or between vehicles and the infrastructure that surrounds them, these communication technologies being grouped under the name V2X (from the English “Vehicle to Everything” or in French “Véhicule vers tout”). Thus, new information and communication technologies applied to the field of transport have appeared, such as ITS G5 (from the English “Intelligent Transportation System G5” or in French “Système de transport intelligent G5”) in Europe or DSRC (from the English “Dedicated Short Range Communications” or in French “Communications dedicated to short range”) in the United States of America which are both based on the IEEE 802.11p standard or even technology based on cellular networks called C-V2X (from the English “Cellular – Vehicle to Everything” or in French “Cellulaire – Véhicule vers tout”) which is based on 4G based on LTE (from the English “Long Term Evolution” or in French “Long-term evolution”) or 5G.

These technologies are for example used within the framework of a so-called collective perception service of the environment, denoted CPS (from the English “Collective Perception Service” or in French “Service de perception collective”). Such a service implemented by vehicles in a V2X type communication environment aims to exchange, between these vehicles, information on the objects in the environment detected by these vehicles. Such a CPS service is for example described in the normative document under the reference ETSI TR 103 562 V2.1.1, published in December 2019 by ETSI (from the English “European Telecommunications Standards Institute” or in French “European Institute of Standards telecommunications").

The V2X communication technologies used in particular as part of such a CPS service use the 5.9 GHz frequency band, which induces a maximum rate of 6 Mbits/s for data communication. Such a maximum throughput may prove insufficient to meet the communications needs of vehicles, particularly in the context of autonomous vehicles.

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, for example, to improve communication between vehicles.

Another object of the present invention is, for example, to reduce the bandwidth requirements of communicating vehicles.

According to a first aspect, the present invention relates to a communication method for a first vehicle, the first vehicle carrying at least one object detection sensor, the first vehicle circulating in an environment comprising a set of vehicles comprising the first vehicle, the process comprising the following steps:

- reception of a first request for transmission of environmental perception data, the first request being transmitted by a second vehicle of the set of vehicles, which second vehicle being connected in communication with the first vehicle according to a communication mode vehicle to everything, called V2X, the first request comprising first information representative of identification of at least one first object;

- selection of first data representative of detection of the at least one first object identified from the first information in a set of object detection data obtained from the at least one object detection sensor;

- transmission of environmental perception data according to the V2X communication mode, the perception data comprising the first data.

Such a method has the advantage of limiting the volume of environmental perception data by limiting the data exchanged to data relating to the objects identified in a request. This reduces the bandwidth requirements of vehicles communicating with each other by reducing the amount of data exchanged.

According to a variant, the first data are transmitted in at least one collective perception message, called CPM message, in a collective perception service framework.

According to another variant, the at least one CPM message is transmitted according to a broadcast mode and the first request is sent according to the broadcast mode.

According to an additional variant, the transmitted perception data further comprises:

- information representative of the detection capacity of the first vehicle;

- information representative of characteristics of at least one sensor.

According to yet another variant, the first information belongs to a set of information comprising:

- information representative of a type of object;

- information representative of at least one object characteristic;

- information representative of an object identifier.

According to an additional variant, the method further comprises the following steps:

- reception of a second request for transmission of environmental perception data, the second request being transmitted by a third vehicle of the set of vehicles, which third vehicle being connected in communication with the first vehicle according to the communication mode V2X, the second request comprising second information representative of identification of at least one second object;

- selection of second data representative of detection of the at least one second object identified from the second information in the set of object detection data obtained from the at least one object detection sensor;

- transmission of environmental perception data further comprising the second data.

According to another variant, the V2X communication mode corresponds to a vehicle-to-vehicle communication mode, called V2V, and/or to a vehicle-to-infrastructure communication mode, called V2I.

According to a second aspect, the present invention relates to a communication device for a vehicle, the device comprising a memory associated with a processor configured for implementing 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 attached Figures 1 to 3, in which:

schematically illustrates a communication environment for vehicles, according to a particular and non-limiting embodiment of the present invention;

schematically illustrates a device configured for communication of environmental perception data of the , according to a particular and non-limiting embodiment of the present invention;

illustrates a flowchart of the different stages of a process for communicating environmental perception data from the , according to a particular and non-limiting embodiment of the present invention.

Description of the implementation examples

A method and a device for communicating perception data of a vehicle environment(s) will now be described in what follows with reference jointly to Figures 1 to 3. The same elements are identified with the same reference signs while throughout the description which follows.

According to a first particular and non-limiting example of carrying out a communication method for a vehicle of the present invention, a first vehicle carrying one or more object detection sensors such as a radar, LIDAR and/or a camera receives data. 'a second vehicle (connected in communication to the first vehicle in V2X, for example in V2V or in V2I via a roadside unit) a first request for transmission of environmental perception data, for example in as part of a collective collection service as described in document ETSI TR 103 562 V2.1.1. The first request advantageously comprises first information representative of identification of at least one first object of a set of objects included in the environment (or likely to be present in the environment). In response to this first request, the first vehicle selects first data representative of the detection of this or these first objects from a set of object detection data obtained from the on-board object detection sensor(s). The first vehicle then transmits these first data as a response to the first V2X request, these first data forming all or part of the environmental perception data transmitted by the first vehicle.

The environmental perception data are for example transmitted by the first vehicle in a so-called broadcast mode, that is to say for the benefit of all communication devices ( for example vehicles) listening to the communication channel used in V2X by the first vehicle.

According to a second particular and non-limiting example of carrying out a communication method for a vehicle of the present invention implemented by the second vehicle, the second vehicle transmits or transmits the first request in V2X, for example according to the so-called broadcast mode. . One (or more) first vehicle receiving the first request selects the first data relating to the detection of the first object(s) identified in the first request for transmission as environment perception data. The second vehicle then receives this first data according to the V2X communication mode.

Such a method has in particular the advantage of limiting the volume of environmental perception data by limiting the data exchanged to data relating to the objects identified in a request and detected by the first vehicle.

There schematically illustrates an environment 1 for communication between vehicles, according to a particular and non-limiting embodiment of the present invention.

There illustrates an environment 1 comprising one or more roads and/or lanes on which a set of vehicles 11 to 17 circulate according to the particular example of the . Of course, the number of vehicles is not limited to the example of the but extends to any number, for example 2, 5, 10, 15 or more vehicles.

According to the particular and non-limiting example of the , vehicles 11, 12 and 17 travel on a central traffic lane, one behind the other. On the lane adjacent to the central lane, to the right of the latter, vehicles 13 and 14 are traveling one behind the other. Finally, on the lane adjacent to the central lane, to the left of the latter, vehicles 15 and 16 travel one behind the other.

The vehicles 11 to 17 are for example each configured to communicate using a so-called V2X communication mode, for example based on the 3GPP LTE-V or IEEE 802.11p standards of ITS G5. In such a V2X communication mode, each vehicle has a node to enable vehicle-to-vehicle V2V (vehicle-to-vehicle) and vehicle-to-vehicle-to-infrastructure (V2I) communication. -infrastructure") and/or vehicle-to-pedestrian V2P, the pedestrians being equipped with mobile devices (for example a smartphone) configured to communicate with vehicles.

According to a first embodiment, the vehicles 11 to 17 are connected in wireless communication with one or more relay antennas 110 of a cellular network of the LTE 4G or 5G type and/or one or more roadside units 110 (UBR) via a wireless connection. In the remainder of the description reference will be made to a roadside unit 110 in the sense of a centralized communication device including any type of device, for example a UBR, a relay antenna or a remote server in the “cloud” ( or “cloud” in French).

According to this first embodiment, the vehicles 11 to 17 communicate for example data with the UBR 110 via a cellular network of the LTE 4G or 5G type. The data communicated by a first vehicle 11 to one (or more) second vehicle(s) 12 to 17 (and vice versa) pass for example via the UBR 110 according to this first embodiment. According to this first embodiment, the vehicles 11 to 17 communicate with each other and/or with the network infrastructure according to a so-called vehicle-to-infrastructure communication mode, denoted V2I (from the English “Vehicle-to-Infrastructure”). Such a first embodiment does not, however, prevent the communication of data from one vehicle to another without going through the UBR 110, according to a so-called direct vehicle-to-vehicle communication mode, denoted V2V (from the English " Vehicle-to-Vehicle").

According to a second embodiment, the vehicles 11 to 17 are not connected to a UBR, the communications between the vehicles 11 to 17 being in a peer-to-peer mode in direct V2V mode.

According to this second embodiment, the vehicles 11 to 17 form for example an ad hoc wireless network (also called WANET (from the English “Wireless Ad Hoc Network”) or MANET (from the English “Mobile Ad Hoc Network” )), i.e. a decentralized wireless network. Unlike a centralized network which relies on an existing infrastructure including, for example, routers or access points linked together by a wired or wireless infrastructure, the ad hoc wireless network is made up of nodes which each participate in the routing data by retransmitting data from one node to another, from the sender to the receiver, depending on the network connectivity and the routing algorithm implemented. The ad hoc wireless network advantageously corresponds to an ad hoc vehicular network (or VANET, from the English “Vehicular Ad hoc NETwork”) or to an intelligent ad hoc vehicular network (or InVANET, from the English “Intelligent Vehicular Ad hoc NETwork"). In such a network, 2 or more vehicles each carrying a network node can communicate with each other as part of vehicle-to-vehicle V2V communication.

The data communicated or exchanged between the vehicles 11 to 17 are thus for example via a UBR 110 of the network infrastructure (according to a vehicle-to-everything communication mode, called V2X) and/or according to a direct communication mode, for example according to :

- ITS G5 in Europe or DSRC (Dedicated Short Range Communications) in the United States of America, both of which are based on the IEEE 802.11p standard; Or

- LTE-V Mode 4 (from the English “Long-Term Evolution – Vehicle Mode 4” or in French “Long-term Evolution – vehicle Mode 4”) which allows V2V communications (from the English “Vehicle-to- Vehicle” or in French “Véhicule-à-Véhicule”, also called “sidelink” communications (or in French “lateral link”)) based on a direct LTE communication interface called PC5; such technology is described for example in the article entitled “Analytical Models of the Performance of C-V2X Mode 4 Vehicular Communications”, written by Manuel Gonzalez-Martin, Miguel Sepulcre, Rafael Molina-Masegosa and Javier Gozalvez, and published in 2018 .

Each vehicle 11 to 17 is advantageously equipped with one or more object detection devices or systems. Each object detection system comprises one or more sensors making it possible to obtain data on the environment 1 of the vehicles 11 to 17, for example data on the presence of object(s), an object corresponding to any element present in the environment, for example an obstacle or potential danger present in environment 1 (for example a pedestrian, a pedestrian crossing, another vehicle, a defect in the roadway such as a hole or pothole example), an element of information (for example a marking or line on the ground, a traffic sign, a traffic light), an element relating to the lane (for example a turn), etc.

This or these object detection systems are for example associated with or included in one or more driving assistance systems, called ADAS system(s) (from the English “Advanced Driver-Assistance System” or in French “ Advanced Driver Assistance System").

The sensor(s) associated with these object detection systems correspond for example to one or more of the following sensors:

- one or more millimeter wave radars arranged on the vehicle, 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, with the aim of detecting obstacles and their distances from the vehicle; 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; and or

- one or more cameras (associated or not with a depth sensor) for acquiring one or more images of the environment around the vehicle located in the field of vision of the camera(s).

The first data obtained from this or these sensors varies depending on the type of sensor. When it comes to a radar or a LIDAR, the first data correspond for example to distance data between points of the detected object and the sensor. Each detected object is thus represented by a cloud of points (each point corresponding to a point of the object receiving the radiation emitted by the sensor and reflecting at least in part this radiation), the cloud of points representing the envelope (or a part of the envelope) of the detected object as seen by the sensor and ultimately by the vehicle carrying the sensor. When it is a video camera, the first data correspond to data associated with each pixel of the acquired image(s), for example gray level values coded on for example 8, 10, 12 or more of bits for each color channel, for example RGB (from English “Red, Green, Blue” or in French “Rouge, vert, bleu”).

A communication process for a vehicle, for example for the communication of data relating to the perception of the environment 1 in which the vehicle(s) implementing the process are traveling, is advantageously implemented by one or more vehicles of the assembly of vehicles 11 to 17. The process is described below according to a particular mode of implementation by a first vehicle 11, that is to say by one or more processors of a computer or a combination of computers of the system on-board the first vehicle 11, for example by a telematic control unit, called TCU (from the English “Telematic Control Unit”) and/or one or more processors in charge of controlling the object detection sensor(s) on board in the first vehicle 11.

The process described below is for example implemented as part of a collective collection service, denoted CPS, described in document ETSI TR 103 562 V2.1.1.

In a first operation, a first request is received by the first vehicle 11. This first request is for example transmitted or transmitted by a second vehicle 12, for example in “broadcast” according to the V2X communication mode, for example in V2V or in V2I. The first request being sent in “broadcast” mode, one or more vehicles 11, 13, 14, 15, 16 and/or 17 located in environment 1 of the second vehicle 12 are likely to receive such a request, and thus to implement implements the present communication process just like the first vehicle 11.

The first request is sent by the second vehicle 12 to request from any vehicle receiving this first request, for example the first vehicle 11, the transmission of environment perception data 1, for example as part of the CPS service.

The first request advantageously comprises first information representative of identification of one or more first objects on which the second vehicle 12 wishes to obtain data or information.

The first information corresponds for example to one or more of the following information:

- information representative of the type or nature of the object (for example motor vehicle, truck or motorcycle type objects, pedestrian or bicycle type objects, traffic signs and/or danger type traffic signs , etc.) ;

- information representative of at least one object characteristic (for example ground markings with a radius of curvature greater than a determined threshold, moving objects, stationary objects, objects with a greater speed or acceleration (or lower) than a threshold, etc.);

- information representative of an object identifier (corresponding for example to a unique identifier corresponding to a specific object).

According to a variant embodiment, the first request is sent by the second vehicle 12 in a so-called “unicast” mode (or “monocast” in French), that is to say to a single vehicle identified via for example an identifier or an address, or in a so-called “multicast” mode (or “multicast” in French), that is to say intended for several specific vehicles each identified via an identifier or a unique address.

In a second operation, the first vehicle 11 (or each vehicle 11, 13, 14, 15, 16 and/or 17 having received the first request and processing this first request) selects a set of first data representative of the detection of the one or more first objects identified in the first request and detected by one or more of the object detection sensors on board the first vehicle 11. The first data are for example selected from the set of object detection data obtained from the sensor(s) embarked in the first vehicle 11, only the data relating to one of the objects identified in the first request being selected.

The detection data depends for example on the nature of the sensor having detected the required object and/or on the nature of the object required and detected.

The detection data includes for example one or more of the following information, in all possible combinations, the list below not being exhaustive but simply given by way of illustration:

- distance information between the object and the first vehicle 11; and or

- information on the dynamics or kinematics of the object (for example speed and/or acceleration); and or

- information on the dimensions of the object; and or

- information on the nature or type of object; and or

- information on the information associated with or carried by the object (for example a maximum authorized speed when the detected object corresponds to a traffic sign indicating a maximum authorized speed)

In a third operation, the first data selected or collected in the second operation are transmitted by the first vehicle 11 (or by each vehicle 11, 13, 14, 15, 16 and/or 17 having received the first request and processing this first request ) depending on the V2X communication mode, for example V2V or V2I.

These first data are transmitted in response to the first request transmitted by the second vehicle 12, these first data corresponding to the required environment perception data or part of the environment perception data.

The first data are for example transmitted in “broadcast” mode, or according to a variant in “unicast” mode to the second vehicle 12 only.

The first data are for example integrated or encapsulated in one or more messages of the collective perception message type, denoted CPM (from the English “Collective Perception Message”) as defined in the ETSI document TR 103 562 V2.1.1.

Such a CPM message includes, for example, a header and several containers carrying environmental perception data, that is to say in particular the first data. The header includes for example information on the version of the communication protocol used, on the type of message and on the vehicle transmitting the message, that is to say an identifier of the first vehicle 11. Information such as the type of transmitter of the message, the reference position of the transmitter and/or the dynamics of the transmitter are for example transported in a particular container.

According to a variant embodiment, a CPM message also includes one or more of the following information:

- information representative of the detection capacity of the first vehicle 11, for example the number and type of on-board sensors;

- information representative of characteristics of the at least one sensor, for example the position of each sensor on the first vehicle 11 (for example with respect to a reference point of the first vehicle 11), the viewing angle(s) /sensor detection.

One or more of the information described above is thus for example included in the environmental perception data transmitted by the first vehicle 11, with the first data.

In a fourth optional operation, the first vehicle 11 further receives a second request similar to the first request, such a second request being for example transmitted by a third vehicle, for example the vehicle 13, according to the V2X communication mode.

This second request is thus for example issued by the third vehicle 13 to request from any vehicle receiving this first request, for example the first vehicle 11, the transmission of environment perception data 1, for example within the framework of the CPS service .

The second request advantageously has the same structure as the first request and includes second information (of the same nature as the first information) representative of identification of one or more second objects on which the third vehicle 13 wishes to obtain data or information.

The fourth operation is for example implemented simultaneously, before or after, from a temporal point of view, to one of the first, second and third operations described above.

In a fifth optional operation, the first vehicle 11 (or each vehicle 11, 12, 14, 15, 16 and/or 17 having received the second request and processing this second request) selects a set of second data representative of the detection of the or second objects identified in the second request and detected by one or more of the object detection sensors on board the first vehicle 11. The second data, like the first data, are for example selected from the set of detection data d object obtained from the sensor(s) on board the first vehicle 11, only the data relating to one of the objects identified in the second request being selected.

The set of second objects identified in the second query is the same as or different from the set of first objects identified in the first query, with possible overlap of the two sets.

Thus, the first data and the second data are identical, different or partially identical depending on whether the first objects and second objects are identical, different or partially identical.

In a fifth optional operation, the first vehicle 11 (or each vehicle 11, 12, 14, 15, 16 and/or 17 having received the second request and processing this second request) transmits the second data in addition to the first data, for example in the same CPM message or in several different CPM messages.

The environment perception data transmitted by the first vehicle 11 thus comprises the first data relating to the detection of one or more first objects and/or the second data relating to the detection of one or more second objects, with in option, additional information on the object detection sensors and/or on the first vehicle 11, as described with regard to the third operation.

The selection of part of the data obtained from the sensor(s) on board the first vehicle on the basis of the objects identified in the request(s) received by the first vehicle 11 (and/or any other vehicle 12 to 17) makes it possible to reduce the quantity of data to be transmitted by the first vehicle 11 (and/or by any other vehicle 12 to 17), which makes it possible to save bandwidth and optimize the processing of this data by the vehicle(s) having transmitted the or queries, the volume of data to decode and process being less.

There schematically illustrates a device 2 configured for the communication of environment perception data, according to a particular and non-limiting exemplary embodiment of the present invention. The device 2 corresponds for example to a device embedded in a vehicle, for example one or more of the vehicles 11 to 17, the device 2 corresponding for example to a computer.

The device 2 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 2 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 TCU (from the English “Telematic Control Unit” or in French “Unité de Control Télématique”), a smartphone (from the English “smartphone”), a tablet, a laptop. The elements of device 2, individually or in combination, can be integrated into a single integrated circuit, into several integrated circuits, and/or into discrete components. The device 2 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 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(s) embedded in the device 2. The processor 20 may 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 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 21.

According to different 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 communications bus or through dedicated input/output ports.

According to a particular and non-limiting exemplary embodiment, the device 2 comprises a block 22 of interface elements for communicating with external devices, for example a remote server or the "cloud", or the vehicle 10 when the device 2 corresponds to a smartphone or tablet for example. The interface elements of block 22 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 frequency bands at 2.4, 5 or 5.9 GHz, or of the Bluetooth® type (according to IEEE 802.15.1), in the band frequency at 2.4 GHz, LTE (from the English “Long-Term Evolution” or in French “Evolution à long-term”), 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 2 comprises a communication interface 23 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 230. The communication interface 23 corresponds for example to a transmitter configured to transmit and receive information and/or data via the communication channel 230. 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 2 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 one variant, one or the other of the external devices is integrated into device 2.

There illustrates a flowchart of the different stages of a communication method for a vehicle, in particular for the communication of environmental perception data, according to a particular and non-limiting exemplary embodiment of the present invention. The method is for example implemented by a device on board a vehicle, for example one or more of vehicles 11 to 17, or by device 2 of the .

In a first step 31, a first vehicle of a set of vehicles operating in an environment receives a first request for transmission of environment perception data, the first request being transmitted by a second vehicle of the set of vehicles, which second vehicle being connected in communication with the first vehicle according to a vehicle-to-everything communication mode, called V2X. The first request advantageously comprises first information representative of identification of at least one first object.

In a second step 32, first data representative of detection of the at least one first object identified from the first information are selected from a set of object detection data obtained from the at least one object detection sensor.

In a third step 33, the environment perception data are transmitted according to the V2X communication mode, the perception data comprising the first data.

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

Of course, the present invention is not limited to the exemplary embodiments described above but extends to a method of transmitting environment perception data and to the corresponding method of receiving environment perception data which would each include secondary steps without departing from the scope of the present invention. The same would apply to devices configured for the implementation of such processes.

The present invention also relates to a communication system comprising device 2 of the connected to an antenna system.

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 2 of the or the above communication system.

Claims (10)

Communication method for a first vehicle (11), said first vehicle (11) carrying at least one object detection sensor, said first vehicle (11) circulating in an environment (1) comprising a set of vehicles (11 to 17 ) comprising said first vehicle (11), said method comprising the following steps:
- reception (31) of a first request for transmission of perception data of said environment (1), said first request being transmitted by a second vehicle (12) of said set of vehicles (11 to 17), said second vehicle (12) being connected in communication with said first vehicle (11) according to a vehicle-to-everything communication mode, called V2X, said first request comprising first information representative of identification of at least one first object;
- selection (32) of first data representative of detection of said at least one first object identified from said first information in a set of object detection data obtained from said at least one object detection sensor;
- transmission (33) of said perception data of said environment according to said V2X communication mode, said perception data comprising said first data. Method according to claim 1, for which said first data is transmitted in at least one collective perception message, called CPM message, in a collective perception service framework. Method according to claim 2, for which said at least one CPM message is transmitted according to a broadcast mode and said first request is transmitted according to said broadcast mode. Method according to one of claims 1 to 3, for which said transmitted perception data further comprises:
- information representative of the detection capacity of said first vehicle (11);
- information representative of characteristics of said at least one sensor. Method according to one of claims 1 to 4, for which said first information belongs to a set of information comprising:
- information representative of a type of object;
- information representative of at least one object characteristic;
- information representative of an object identifier. Method according to one of claims 1 to 5, further comprising the following steps:
- reception of a second request for transmission of perception data of said environment, said second request being transmitted by a third vehicle (13) of said set of vehicles (11 to 17), said third vehicle (13) being connected in communication with said first vehicle (11) according to said V2X communication mode, said second request comprising second information representative of identification of at least one second object;
- selection of second data representative of detection of said at least one second object identified from said second information in said set of object detection data obtained from said at least one object detection sensor;
- transmission of said perception data of said environment further comprising said second data. Method according to one of claims 1 to 6, for which said V2X communication mode corresponds to a vehicle-to-vehicle communication mode, called V2V, and/or to a vehicle-to-infrastructure communication mode, called V2I. Computer program comprising instructions for implementing the method according to any one of the preceding claims, when these instructions are executed by a processor. Communication device (2) for a vehicle, said device (2) comprising a memory (21) associated with at least one processor (20) configured for implementing the steps of the method according to any one of claims 1 to 7. Vehicle (11) comprising the device (2) according to claim 9.