FR3138101A1 - Method and device for controlling a SALC system of a vehicle based on the quality of the ground marking lines - Google Patents

Abstract

The present invention relates to a method and a device for controlling a SALC system of a vehicle (10) traveling on a traffic lane (100) delimited laterally on one side by a lateral ground marking line (111). For this purpose, data representative of the line (111) are received from a camera on board the vehicle (10). Local quality indicators of a line layout (111) are obtained from the data, each indicator being associated with a road segment (1001 to 1004) defined in front of the vehicle (10), a weighting coefficient being associated with each segment (1001 to 1004). A global quality indicator of the drawing of the line (111) is determined based on an average of the local quality indicators weighted by the weighting coefficients. The SALC system is monitored according to the overall quality indicator. Figure for abstract: Figure 1

Description

Method and device for controlling a SALC system of a vehicle based on the quality of the ground marking lines

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 quality of one or more ground marking lines laterally delimiting a vehicle lane. 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.

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.

Another object of the present invention is to improve the consideration of the quality of the drawing of the ground marking lines.

According to a first aspect, the present invention relates to a method for controlling a semi-automatic lane change system, called SALC system, of a vehicle traveling on a lane, the lane being delimited laterally on one side of the traffic lane by a lateral ground marking line, the method comprising the following steps:

- reception, from a camera on board the vehicle, of data representative of the ground marking line;

- obtaining, from the data, a set of local quality indicators for a route of the ground marking line,

a portion of the traffic lane located in front of the vehicle being divided into a plurality of spatially successive segments,
a local quality indicator of the whole being associated with each segment of the plurality of segments,

a weighting coefficient being associated with each segment of the plurality, a value of the weighting coefficient being a function of a distance between each segment and the vehicle;

- determination of an overall quality indicator for the layout of the ground marking line based on an average of the local quality indicators weighted by the weighting coefficients;

- control of the SALC system according to the overall quality indicator.

The calculation of a single overall trace quality indicator for each ground marking line laterally delimiting the vehicle's lane allows more effective control of the SALC system. Furthermore, the use of the distance between the vehicle and each road segment considered for the calculation of the overall quality indicators makes it possible to take into account the quality of the data obtained from the camera, the latter being better for the acquisition of images of elements of the scene close to the vehicle than for the acquisition of elements further away.

According to a variant, the determined value of the weighting coefficient associated with each segment increases when the distance decreases.

According to another variant, the control of the SALC system comprises a comparison of the overall quality indicator with a determined threshold value, the control of the SALC system being a function of a result of the comparison.

According to an additional variant, the control of the SALC system comprises an inhibition of a semi-automatic lane change from the current traffic lane to a traffic lane adjacent to the current traffic lane on the side of the road marking line when the overall quality indicator is lower than the determined threshold value.

According to yet another variant, the plurality of segments contains 4 segments called first segment, second segment, third segment and fourth segment, the first segment being the closest to the vehicle, the fourth segment being the furthest from the vehicle, the second segment being interspersed between the first segment and the third segment, the third segment being interposed between the second segment and the fourth segment.

According to an additional variant, a first weighting coefficient associated with the first segment is equal to 4, a second weighting coefficient associated with the second segment is equal to 3, a third weighting coefficient associated with the third segment is equal to 2 and a fourth coefficient weighting associated with the fourth segment is equal to 1.

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 support 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 an environment of a vehicle, according to a particular and non-limiting embodiment of the present invention;

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

Description of the implementation examples

A method and a device for controlling a semi-automatic lane change system, called the SALC system, of a vehicle 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 throughout the description which follows.

According to a particular and non-limiting example of embodiment of the present invention, the control of a SALC system of a vehicle traveling on a traffic lane delimited for example on a first side by a first ground marking line and/or on a second side by a second ground marking line comprises the reception, from a camera on board the vehicle, of data representative of the first ground marking line and the second ground marking line, if applicable.

These data include for example or make it possible to determine a first set of first local quality indicators of a layout of the first ground marking line and/or, where appropriate, a second set of second local quality indicators of a layout of the second ground marking line. The first and second local quality indicators are associated with a set of segments of the traffic lane extending successively in front of the vehicle, with each segment being associated with a first local indicator and a second local indicator. A weighting coefficient is also associated with each segment, the value of a weighting coefficient being a function of the distance between the segment with which it is associated and the vehicle.

A first global quality indicator of the layout of the first ground marking line is determined or calculated as a weighted average of the first local quality indicators, each first local quality indicator being weighted by the weighting coefficient associated with the segment to which this first indicator local quality is associated. In the same way and where appropriate (i.e. when a second ground marking line exists), a second overall quality indicator of the layout of the second ground marking line is determined or calculated as a weighted average of second local quality indicators.

The SALC system is then monitored according to the first global quality indicator and/or the second global quality indicator.

There schematically illustrates an environment 1 in which a vehicle 10 operates, according to a particular and non-limiting 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 portion of the road comprising several traffic lanes 100, 101 and 102. The vehicle 10 travels for example on a so-called current traffic lane 100, the current traffic lane being surrounded by the traffic lanes 101 and 102. The traffic lane 101 is adjacent to the traffic lane 100 and is located on a first side of the traffic lane 100, for example on the left according to the direction of travel of the vehicle 10. The traffic lane 102 is adjacent to the traffic lane 100 and is located on a second side (side opposite the first side) of the traffic lane 100, for example on the right in the direction of movement of the vehicle 10.

The number of traffic lanes of the road portion is arbitrary, for example equal to 2, 3, 4 or 5 lanes.

According to another exemplary embodiment, the vehicle 10 travels on the traffic lane 102 which includes only one adjacent traffic lane, namely the traffic lane 100.

The traffic lanes 100 to 102 are for example delimited laterally by ground marking lines, for example continuous, discontinuous or mixed lines.

For example, the traffic lane 100 is delimited on the first side (on the left according to the example of the ) by a ground marking line 111 of the “dashed line” type (dotted lines). Line 111 marks the delimitation between lane 100 and lane 101. Traffic lane 100 is delimited on the second side (on the right according to the example of the ) by a ground marking line 112 of the “dashed line” type (dotted lines). Line 112 marks the boundary between track 100 and track 102.

The notions of right and left are defined according to the direction of movement of the vehicle 10. The traffic lane 102 corresponds for example to the "slowest" lane and the traffic lane 101 corresponds according to this example to the "slowest" lane. fast ". The “slowest” lane is on the right in countries where vehicles travel in the right lane (countries such as France for example). The “slowest” lane 102 is on the left in countries where vehicles travel in the left lane (countries such as the United Kingdom for example).

The example of the corresponds to an example where vehicles travel on the right, as in France. The invention is, however, not limited to such an example and extends to all road configurations, including those where vehicles travel on the left.

Ground marking lines are also called horizontal markings and correspond to a set of lines drawn on the ground. Ground marking lines can be of several types, for example edge lines or center lines, with different characteristics. The ground marking lines can thus be of the continuous line, discontinuous line or mixed line type (comprising a continuous line and a discontinuous line parallel to the continuous line). A dashed line may also have different characteristics, with line spacing lengths varying from one dashed line type to another and/or line length varying from one dashed line type to another.

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 vehicle 10 advantageously carries one or more cameras having in their field of vision a portion of the road comprising the traffic lanes 100 to 102, which portion is located in front of the vehicle 10 in the direction of movement of the vehicle 10.

Each camera is configured to acquire images of the traffic lane taken by the vehicle 10, for example the portion of road located in front and/or on the sides of the vehicle 10.

The data acquired by each image supplies, for example:

- a floor marking detection system; and or

- a lane separation element detection system.

Such systems are known to those skilled in the art and are not described in more detail in this text. The systems correspond to separate systems (for example each controlled by a different computer) or are combined to form a single system (controlled for example by a single computer).

One or more of the above systems are for example coupled to the SALC system or integrated into the SALC system.

One or more image processing operations are for example applied to the images obtained from the camera(s) to determine information on the presence of lines on the ground, to classify these lines into different categories, for example to determine whether the lines on the ground correspond to "continuous" (with a solid line), "discontinuous" (with a dotted line) or "mixed" type lines and to obtain data or indicators on the quality of the drawing of these lines on the ground. An example of image processing to detect lines on the ground is for example described in document WO2017194890A1.

The current detection system(s) make it possible to obtain quality indicators of the layout of the road marking lines for each road segment of a set of determined road segments, which set includes a plurality of segments.

For this purpose, the portion of road taken by the vehicle 10 is subdivided into several virtual segments, for example 7 segments with 3 segments formed behind the vehicle 10 and 4 segments formed in front of the vehicle 10.

Only the 4 segments formed or drawn in front of the vehicle 10 are represented on the , namely a first segment 1001 corresponding to the segment starting from the vehicle 10 and closest to the vehicle 10. Moving away from the vehicle 10 there is a second segment 1002 spatially succeeding the first segment 1001, a third segment 1003 spatially succeeding the second segment 1002 and a fourth segment 1004 (furthest from the vehicle 10) spatially succeeding the third segment 1003. The 4 segments 1001 to 1004 are continuous and each has the same determined length, for example equal to 5, 10, 15 or 20 m .

Of course, the number of segments is not limited to 7 but extends for example to any number greater than or equal to 3, for example 3, 5, 8, 10.

The number of segments formed in front of the vehicle 10 is not limited to 4 but extends for example to any number greater than or equal to 2, for example 2, 3, 5, 6 or 7.

The segments are generated virtually (i.e. they do not correspond to physical or real segments of the road portion, nor to segments physically drawn on the road portion) as the movement progresses of the vehicle 10, for example by generating a new segment furthest from the vehicle 10 (spatially following the fourth segment 1004) when the vehicle 10 has traveled the first segment 1001.

The first segment 1001 has for example a line transverse to the portion of the road and passing through a reference point of the vehicle 10 corresponding for example to the middle of the rear axle of the vehicle 10, or to the middle of the front axle depending on another example.

A local route quality indicator is determined for each segment 1001 to 1004 and for each ground marking line laterally delimiting the current travel lane of the vehicle 10.

For example, taking the example of , a first local quality indicator is determined for each segment 1001 to 1004 for the first ground marking line 111 (forming a first set of first indicators). A second local quality indicator is determined for each segment 1001 to 1004 for the second ground marking line 112 (forming a first set of first indicators).

Each first local quality indicator is determined from the camera data, according to any method known to those skilled in the art. The processing of data received from the image is for example implemented by the camera (via one or more processors embedded in the camera) or by a computer external to the camera and controlling the camera.

When the current traffic lane is only delimited on one side by a ground marking line, the first local indicators are only determined for this line.

The first and/or second local quality indicators are for example stored in a memory, for example in a FIFO type register (from the English “First-In, First-Out” or in French “First entered, first out” ). Table 1 below illustrates the storage of local quality indicators for each segment.

^1st local indicators ^2nd local indicators First segment 1001 Q1 ₁ Q2 ₁ Second segment 1002 Q1 ₂ Q2 ₂ Third segment 1003 Q1 ₃ Q2 ₃ Fourth segment 1004 Q1 ₄ Q2 ₄

Table 1 is updated as vehicle 10 moves.

Each indicator Q1 ₁ to Q1 ₄ and from Q2 ₁ to Q2 ₄ takes a value between for example 0 and 1.

A weighting coefficient (denoted respectively k1, k2, k3, k4) is advantageously associated with each segment 1001 to 1004 formed or generated in front of the vehicle 10.

Table 2 below illustrates the association between the weighting coefficients k1 to k4 and the 4 segments 1001 to 1004 formed in front of the vehicle 10.

Weighting coefficients First segment 1001 k1 Second segment 1002 k2 Third segment 1003 k3 Fourth segment 1004 k4

The value taken by each weighting coefficient k1 to k4 is advantageously a function of the distance separating the vehicle 10 from the segment 1001 to 1004, respectively, with which the weighting coefficient k1 to k4, respectively, is associated. The function between the weighting coefficients (on the ordinate of a graph) and the distance (on the abscissa of the graph) corresponds for example to a decreasing function, for example a monotonic decreasing function.

For example, the further a segment is from the vehicle 10, the smaller or weaker the value of the weighting coefficient associated with it. Conversely, the closer a segment is to vehicle 10, the higher or higher the value of the weighting coefficient associated with it.

Thus, the value of a weighting coefficient associated with a determined segment increases when the distance between the vehicle 10 and this segment decreases.

As an illustrative and non-limiting example, k1 = 4, k2 = 3, k3 = 2 and k4 = 1.

The weighting coefficients correspond for example to system parameters whose value can be adjusted, for example via a man-machine interface.

A process for controlling the SALC system of the vehicle 10 traveling on the current traffic lane 101 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(s) in charge of controlling the SALC system.

In a first operation, data representative of a portion of the road located in front of the vehicle 10, according to the direction of movement of the vehicle 10, are received from the camera(s) on board the vehicle 10.

These data are for example received from an on-board camera via one or more communication buses of the on-board system of the vehicle 10, for example a CAN data bus type communication bus (from the English “Controller Area Network” or in French “Controller network”), CAN FD (from the English “Controller Area Network Flexible Data-Rate” or in French “Réseau de controllers à rate 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 “Reseau interconnectée local”) connecting the computer controlling the camera to the computer implementing the process.

In a second operation, a set of first local quality indicators of a line layout is obtained from the camera data for each ground marking line.

According to the example of the , a first set of first local quality indicators Q1 ₁ to Q1 ₄ of the route of the first ground marking line 111 are obtained or determined and a second set of second local quality indicators Q2 ₁ to Q2 ₄ of a route of the second ground marking line 112 are obtained, and for example stored in a memory accessible by the computer in charge of the process.

In a third operation, an overall quality indicator of the layout of a ground marking line is determined for each ground marking line from the local quality indicators obtained in the second operation and from the weighting coefficients associated with the segments 1001 to 1004.

According to the example of the , a first global quality indicator, denoted 'IQ1' of the layout of the first ground marking line 111 is determined according to the first local quality indicators Q1 ₁ to Q1 ₄ each weighted by the weighting coefficient k1 to k4 associated with the segment with which each first local indicator Q1 ₁ to Q1 ₄ is associated. In the same way, a second global quality indicator, denoted 'IQ2' of the layout of the second ground marking line 112 is determined based on the second local quality indicators Q2 ₁ to Q2 ₄ each weighted by the weighting coefficient k1 to k4 associated with the segment with which each first local indicator Q2 ₁ to Q2 ₄ is associated.

The function making it possible to determine or calculate IQ1 and/or IQ2 corresponds for example to a weighted average.

Thus, IQ1 is obtained or calculated according to the following equation:

In the same way, IQ2 is obtained or calculated according to the following equation:

In a fourth operation, the SALC system is controlled according to the first global quality indicator IQ1 and/or the second global quality indicator IQ2.

For example, the first indicator IQ1 is compared to a determined threshold value, for example equal to 0.7, 0.75, 0.8 or 0.85 and the second indicator IQ2 is compared to this same determined threshold value (if applicable, i.e. say when two ground marking lines are considered).

The SALC system is then controlled based on the result of the comparison(s).

For example, the SALC system is deactivated or inhibited (if it was previously active) or placed in an inactive or inhibited state preventing its activation when:

- the first overall quality indicator IQ1 is lower than the determined threshold value; and or

- the second overall quality indicator IQ2 is lower than the determined threshold value.

When the first overall quality indicator IQ1 (respectively the second overall quality indicator IQ2) is greater than the determined threshold value, the SALC system is kept active (if it was previously active) or the SALC system is placed in a state authorizing its activation if it is not activated to authorize the semi-automatic change of lane from the current traffic lane 100 to the first traffic lane 101 (respectively towards the second traffic lane 102).

When the traffic lane taken by the vehicle 10 is delimited by two ground marking lines 111, 112, that is to say on each side of the traffic lane of the vehicle 10, the control of the SALC system includes:

- an inhibition of a semi-automatic lane change from the current traffic lane 100 to a first traffic lane 101 adjacent to the current traffic lane 100 on the first side of the current traffic lane 100 when the first global indicator of quality IQ 1 is lower than the determined threshold value; And

- an inhibition of a semi-automatic lane change from the current traffic lane 100 to a second traffic lane 102 adjacent to the current traffic lane 100 on the second side of the current traffic lane when the second overall quality indicator IQ 2 is lower than the determined threshold value.

Such control makes it possible to prevent a semi-automatic lane change under the control of the SALC system on the side where the quality of the line is considered insufficient.

Such a solution makes it possible to differentiate the operation or control of the SALC system according to each side line by authorizing for example the semi-automatic lane change on one side if the quality of the line on this side is sufficient (this is i.e. greater than the threshold value) and by inhibiting or deactivating the semi-automatic lane change on the other side if the quality of the line on this other side is insufficient (i.e. lower than the threshold value).

According to a variant, an alert is issued in the vehicle 10 when it is detected that the overall quality indicator of the layout of one or more ground marking lines is lower than the threshold value. According to another example, the alert is issued when the SALC system or part of the functions provided by the SALC system is deactivated or inhibited.

Such an alert is for example issued via a Human-Machine Interface (HMI), for example a graphic HMI displayed on a display screen in the vehicle 10. The alert includes for example the display of a specific icon and/or or an alert text.

According to another example, the alert is audible (for example in addition to the display) with the generation and rendering of a specific sound and/or the rendering by voice synthesis of a voice message.

There schematically illustrates a device 2 configured to control a SALC system, according to a particular and non-limiting embodiment of the present invention. The device 2 corresponds for example to a device on board the vehicle 10, for example 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 telephone smart (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. 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 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 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 method of controlling a semi-automatic lane change system, called SALC system, of a vehicle traveling on a lane, the lane being delimited laterally on a side of the traffic lane by a lateral ground marking line, according to a particular and non-limiting embodiment of the present invention. The method is for example implemented by one or more devices on board the vehicle 10 such as one or more processors of one or more computers, or by the device 2 of the .

In a first step 31, data representative of the ground marking line are received from a camera on board the vehicle.

In a second step 32, a set of local quality indicators of a layout of the ground marking line is obtained from the data received in the first step 31. A portion of the traffic lane located in front of the vehicle being divided into a plurality of spatially successive segments, a local quality indicator of the whole is associated with each segment of the plurality of segments. A weighting coefficient is also associated with each segment of the plurality, a value of the weighting coefficient being a function of a distance between each segment and the vehicle.

In a third step 33, an overall quality indicator of the layout of the ground marking line is determined based on an average of the local quality indicators weighted by the weighting coefficients.

In a fourth step 34, the SALC system is controlled according to the overall quality indicator determined in the third step 33.

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 for determining the quality of a ground marking line which would include secondary steps without departing from 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 2 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 2 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 lane (100), said lane (100) being delimited laterally on a side of said traffic lane (100) by a lateral ground marking line (111), said method comprising the following steps:
- reception (31), from a camera on board said vehicle, of data representative of said ground marking line;
- obtaining (32), from said data, a set of local quality indicators of a layout of said ground marking line (111),
a portion of said traffic lane located in front of said vehicle (10) being divided into a plurality of spatially successive segments (1001 to 1004),
a local quality indicator of said set being associated with each segment of the plurality of segments (1001 to 1004) and a weighting coefficient being associated with each segment of said plurality of segments (1001 to 1004), a value of said weighting coefficient being function of a distance between said each segment and said vehicle (10);
- determination (33) of an overall quality indicator of the layout of said ground marking line (111) based on an average of said local quality indicators weighted by the weighting coefficients;
- control (34) of said SALC system according to said overall quality indicator. Method according to claim 1, for which the determined value of said weighting coefficient associated with said each segment increases when said distance decreases. Method according to one of claims 1 to 2, for which said control of said SALC system comprises a comparison of said overall quality indicator with a determined threshold value, the control of said SALC system being a function of a result of said comparison. A method according to claim 3, wherein controlling said SALC system comprises inhibiting a semi-automatic lane change from said traffic lane (100) to a traffic lane (101) adjacent to said traffic lane (100). on said side of said ground marking line (111) when said overall quality indicator is lower than said determined threshold value. Method according to one of claims 1 to 4, for which said plurality of segments (1001 to 1004) contains 4 segments called first segment (1001), second segment (1002), third segment (1003) and fourth segment (1004), said first segment (1001) being closest to said vehicle (10), said fourth segment (1004) being furthest from said vehicle (10), said second segment (1002) being interposed between said first segment (1001) and said third segment (1003), said third segment (1003) being interposed between said second segment (1002) and said fourth segment (1004). Method according to claim 5, for which a first weighting coefficient associated with said first segment (1001) is equal to 4, a second weighting coefficient associated with said second segment (1002) is equal to 3, a third weighting coefficient associated with said third segment (1003) is equal to 2 and a fourth weighting coefficient associated with said fourth segment (1004) is equal to 1. 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 (2) for controlling a semi-automatic lane change system, called SALC system, of 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 6. Vehicle (10) comprising the device (2) according to claim 9.