WO2024009015A1

WO2024009015A1 - Method and device for controlling a vehicle driving assistance system by selecting a road portion of an intersection

Info

Publication number: WO2024009015A1
Application number: PCT/FR2023/050794
Authority: WO
Inventors: Soumia NID BOUHOU; Ismail Abouessire; Olivier Deschenes
Original assignee: Stellantis Auto Sas
Priority date: 2022-07-05
Filing date: 2023-06-05
Publication date: 2024-01-11
Also published as: FR3137643B1; FR3137643A1

Abstract

The present invention relates to a method and a device for controlling an ADAS system of a vehicle (10) travelling on a first road portion (101) approaching an intersection with a plurality of second road portions (102, 103). To this end, data representative of the intersection are received, these data comprising the distance between the vehicle and each second road portion and the angle between the first road portion (101) and each second road portion (102, 103). By comparing the intersection data with reference values, it is possible to select a second road portion from the plurality. The ADAS system is controlled on the basis of the second road portion selected.

Description

DESCRIPTION

Title: Method and device for controlling a vehicle driving assistance system by selecting a portion of the road at an intersection

Technical area

The present invention claims the priority of French application 2206828 filed on 05.07.2022, the content of which (text, drawings and claims) is here incorporated by reference. The present invention relates to methods and devices for assisting the driving of a vehicle, in particular a motor vehicle. The present invention also relates to a method and a device for controlling a driving assistance system embedded in a vehicle. The present invention also relates to a method and a device for controlling a vehicle incorporating one or more driving assistance systems, in particular an autonomous vehicle.

Technology background

Road safety is one of the important issues facing our societies. With the increase in the number of vehicles traveling on road networks around the world, regardless of traffic conditions, the risks of accidents and incidents caused by traffic conditions have never been greater.

To improve road safety, certain contemporary vehicles are equipped with driving assistance functions or systems, called ADAS (from English “Advanced Driver-Assistance System” or in French “Advanced Driving Assistance System”). . ADAS systems, for example, implement processes based on knowledge of the road environment in which the vehicle is traveling. Knowledge of this environment is for example obtained from environmental mapping data received for example from a remote device of the type server via a wireless communication network, as the vehicle moves.

These mapping data include in particular data on the intersection(s) located on the path of the vehicle, these intersection data being used by one or more ADAS systems, for example to control the speed of the vehicle approaching an intersection.

Misinterpretation of intersection data by the vehicle and/or errors in the intersection data received result in risks of malfunction of the ADAS system(s) using this data, with a safety risk for the vehicle and its passengers.

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 an ADAS system of a vehicle.

Another object of the present invention is to improve the processing of data on the environment in which the vehicle is traveling.

According to a first aspect, the present invention relates to a method for controlling a driving assistance system, called the ADAS system, of a vehicle, the vehicle traveling on a first portion of road in a road environment, the method including the following steps:

- reception of intersection data representative of intersection between the first portion of road and a set of second portions of road located downstream of a current position of the vehicle, the intersection data comprising for each second portion of road:

• a distance value between the current position of the vehicle and the intersection between the first portion of road and each second portion of road, and • an angle value between the first portion of road and each second portion of road, the same distance value being associated with a plurality of second portions of road of the set, a second portion of road, called continuation, of the plurality of second road portions being identified in the intersection data as corresponding to a continuity of the first road portion;

- comparison of the absolute value of the angle value associated with each second road portion of the plurality with a first determined angle value;

- selection of a reference angle value among the angle value associated with the second portion of continuation road and a second determined angle value;

- selection of a second road portion among the plurality of second road portions based on a result of a comparison of the angle values associated with the plurality of second road portions with the reference angle value;

- control of the ADAS system based on the second portion of the road selected.

According to the invention, the selection of the second road portion is not based solely on the intersection data received, but on a comparison of the angle values received in the intersection data with a determined angle value .

This comparison makes it possible to verify that the second portion of road indicated as being a portion of continuation road must be treated as such or as a portion of road to be selected for control of the ADAS system.

This helps avoid erroneous interpretation of the quality of the continuation route portion and improves control of the ADAS system.

According to a variant, the first determined angle value is equal to 20° and the second determined angle value is equal to 0°.

According to another variant, when the absolute value of the angle value associated with each second road portion of the plurality is greater than the first determined angle value, the reference angle value corresponds to the second value of determined angle. According to an additional variant, when the plurality of second road portions comprises 2 second road portions and when the angle value associated with each of the 2 second road portions is greater than the first determined angle value, an intersection between the first portion of road and the 2 second portions of road correspond to a T-shaped intersection.

According to yet another variant, the second portion of road selected in the T-shaped intersection corresponds to the second portion of road located on the side where the vehicle's turn signals are triggered.

According to an additional variant, the ADAS system corresponding to a predictive speed regulation system, called the PCC system, the control of the ADAS system comprises a speed control of the vehicle as a function of the second portion of road selected.

According to a second aspect, the present invention relates to a device for controlling a driving assistance system, called the ADAS system, of a vehicle, the device comprising a memory associated with a processor configured for implementing the steps of the process 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 a computer program is recorded comprising instructions for carrying out 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:

[Fig. 1] schematically illustrates an environment 1 in which a vehicle operates, according to a particular and non-limiting embodiment of the present invention;

[Fig. 2] schematically illustrates a device configured to control a driving assistance system of the vehicle of FIG. 1, according to a particular and non-limiting embodiment of the present invention;

[Fig. 3] illustrates a flowchart of the different stages of a method of controlling a driving assistance system of the vehicle of FIG. 1, 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 driving assistance system, called the ADAS 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 of 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 driving assistance system, called ADAS system, for example a speed regulation system, of a vehicle traveling on a first portion of road and approaching one or more intersections with one or more second portions of road comprises receiving data on this or these intersections, this data being for example received in a set of mapping data of the environment in which the vehicle circulates.

The intersection data advantageously includes for each second portion of road leading to the first portion of road (or onto which the first portion of road leads) a distance value between the current position of the vehicle (corresponding for example to the instant of reception of intersection data) and the intersection considered. The intersection data further includes an angle value between the first road portion and the second road portion considered.

The same distance value is advantageously associated with several second road portions, which means that the same intersection comprises several second road portions, that is to say that the first road portion leads to several road portions forming an intersection with the first portion of road at this location. One of the second road portions of the plurality is advantageously identified in the intersection data received as corresponding to a so-called continuation road portion, that is to say a road portion considered to be in continuity with the first portion of road. The absolute value of the angle value associated with each second portion of road forming the intersection at the same distance from the current position of the vehicle is compared with a first determined angle value and for example equal to 20°.

Depending on the result of the comparison, a reference angle value is selected between the angle value associated with the second portion of so-called continuation road and a second determined angle value, which is for example equal to 0° .

A second road portion of the plurality of second road portions of the intersection is selected according to the result of the comparison between the reference angle value and each angle value associated with the second road portions forming the intersection .

Finally, the ADAS system is controlled based on the second section of road selected.

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

The vehicle 10 corresponds for example to a motor vehicle operating in a road environment 1 comprising one or more roads or portions of road.

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.

The vehicle 10 corresponds for example to a vehicle circulating in an autonomous or semi-autonomous mode. The vehicle travels for example according to a level of autonomy greater than or equal to 2, 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 n 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 assistance minimum of an ADAS system, and level 5 corresponding to a completely autonomous vehicle.

The vehicle 10 carries one or more driving assistance systems, called ADAS (from English “Advanced Driver-Assistance System” or in French “Advanced Driving Assistance System”). Such ADAS systems are configured to assist, or even replace, the driver of the vehicle 10 to control the vehicle 10 on its route.

The vehicle 10 carries for example one or more of the following ADAS systems for this purpose:

- adaptive cruise control system, known as ACC (from the English “Adaptive Cruise Control”); and or

- predictive cruise control, known as PCC system (from English “Predictive Cruise Control”); and or

- intelligent speed adaptation system, known as the ISA system (from the English

“Intelligent Speed Adaptation”); and or

- curve speed adaptation system, called CSA system (from English “Curve Speed Assist”); and or

- electronic stability control system, known as the ESC system (from the English

“Electronic Stability Control” or in French “Controlle supérieur de lastability”), DSC (from the English “Dynamic Stability Control” or in French “Controlledynamic de lastability”) or even ESP (from the English “Electronic Stability Program” or in French “Electronic Stability Program”); and or

- system for maintaining the vehicle in the lane, known as the LKA system (from the English “Lane-Keeping Assist” or in French “Lane Keeping Assistant”) or LPA (from the English “Lane Positioning Assist” or in French “Assistant de positioning dans la queue”); and or

- semi-automatic lane change system (from the English SALC from the English “Semi Automatic Lane Change”).

The examples of ADAS systems in the list above are provided for illustrative purposes and are not exhaustive, this list is not exhaustive. The ADAS systems onboard the vehicle 10 are for example powered by data obtained from one or more onboard sensors, such as for example radars, LIDARs and/or cameras, and/or data received from a communications infrastructure.

According to a particular embodiment, the vehicle 10 carries a communication system configured to communicate with one or more remote devices 111 via an infrastructure of a wireless communication network. The remote device 111 corresponds for example to a “cloud” server 100 (or “cloud” in French). The wireless communication infrastructure includes for example a set of communication devices 110 of the LTE 4G or 5G type cellular network antenna type or of the UBR (Roadside Unit) type.

The communication system of the vehicle 10 comprises for example one or more communication antennas connected to a telematic control unit, called TCU (from the English “Telematic Control Unit”), itself connected to one or more computers of the on-board system of the vehicle 10, in particular one or more computers in charge of controlling the ADAS systems of the vehicle 10. The antenna(s), the TCU unit and the computer(s) form for example a multiplexed architecture for the realization of different useful services for the good operation of the vehicle and to assist the driver and/or passengers of the vehicle in controlling the vehicle 10. The computer(s) and the TCU unit communicate and exchange data with each other via one or more computer buses, for example a communication bus of the CAN data bus type (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 “Flexible Data Rate Controller Network”), FlexRay (according to ISO 17458) or Ethernet (according to ISO/IEC 802-3).

The wireless communication system allowing the exchange of data between the vehicle 10 and the remote device(s) 111 corresponds for example to: - a vehicle-to-infrastructure V2I communication system, for example based on the 3GPP LTE-V or IEEE 802.11 p standards of ITS G5; Or

- a cellular network type communication system, for example an LTE type network (from the English “Long-Term Evolution” or in French “Evolution à long term”), LTE-Advanced (or in French LTE-advanced) LTE 4G or 5G; Or

- a WiFi type communication system according to IEEE 802.11, for example according to IEEE 802.11 n or IEEE 802.11ac.

According to another particular example of embodiment, the vehicle 10 carries a receiver of a satellite geolocation system of the GPS type (from the English "Global Positioning System" or in French "World Positioning System") or the Galileo system by example in communication with a computer of the on-board system of the vehicle 10.

The road environment 1 comprises for example a first portion of road 101 on which the vehicle 10 travels at a current time, the first portion of road 101 opening onto a set of second portions of road 102, 103, the second portions of road 103 , 104 and 105 forming a new intersection with the second portion of road 104 leading to the second portion of road 103.

For example, the road portions 101, 102 and 103 form a T-shaped intersection, with the first road portion 101 forming a first branch of the T, the second road portions 102 and 103 forming the second branch of the orthogonal T or substantially orthogonal to the second branch.

The vehicle 10 traveling on the first portion of road 101 can thus take the second portion of road 102 by turning left (depending on the direction of movement of the vehicle 10) or the second portion of road 103 by turning right (depending on the direction of travel). circulation of the vehicle 10).

If the vehicle 10 takes the second portion of road 103 after the first portion of road 101, the vehicle 10 can then take the second portion of road 104 by turning to the right (depending on the direction of movement of the vehicle 10) or continue straight and continue on the second portion of route 105. Mapping data (or map data) are advantageously received by the vehicle 10, for example as the vehicle 10 moves.

The map data of environment 1 is received, for example via a wireless link from the server 111 via the wireless communication infrastructure and the wireless communication system of the vehicle 10.

These data are for example received as the vehicle 10 moves according to a V2X communication mode (from the English “Vehicle-to-Everything” or in French “Véhicule vers tout”), for example according to an I2V mode (from English “Infrastructure-to-Vehicle” or in French “Infrastructure vers vehicle”).

The mapping data received advantageously includes data representative of upcoming intersections within a determined horizon (for example for each intersection included in a distance interval equal to 1000, 1500, 2000 or 2500 m starting from the position of the vehicle 10 at the 'time of reception of the mapping data).

The intersection data includes, for example, for each intersection:

- distance information between the current position of the vehicle 10 (at the time of reception of the mapping data) and the intersection;

- angle information between the first portion of road 101 and the second portion of road 102, 103 leading to the first portion of road or onto which the first portion of road leads to form the intersection and/or information about angle between a portion of road 104 opening onto a portion of so-called continuation road 103 or between a portion of road 105 onto which the portion of so-called continuation road 103 opens; and optionally

- identification information (ID) of the type of the second road portion, such information identifying for example the so-called continuation road portions with a determined identifier (for example a value equal to 6), the other road portions being identified with a different identifier (for example a value equal to 5).

A portion of road is said to be a continuation when it is considered that this portion of road forms a continuation of another portion of road. Such a continuation qualification is for example determined by an operator entering the data into a database associated with the server 111, depending on the traffic habits observed (the continuation road portion corresponding for example to the most used portion following the portion of road which precedes it and of which it forms the continuity).

The intersection data are for example received in the form of a table such as table 1 below, giving the distance information relative to the vehicle 10 traveling on the first portion of road 101.

[Table 1]

The mapping data including the intersection data are for example received automatically at regular intervals (for example every 100, 200, 500 ms) or upon request from the vehicle 10. The mapping data are for example received after transmission by the vehicle 10 to the server 111 of current position data of the vehicle 10, for example obtained from the geolocation system on board the vehicle 10.

The distance between the vehicle 10 and the intersection(s) is for example updated by the vehicle 10 between two consecutive receptions of the intersection data, from the dynamic data of the vehicle 10 (for example the speed which makes it possible to determine the distance traveled by measuring the elapsed time) and/or from the position data of the vehicle 10 obtained from the geolocation system on board the vehicle 10.

An example of a problem which arises is that when the vehicle 10 expresses its intention to take a portion of the road, for example the second portion of the road 103 on the right, the system in charge of controlling the ADAS system according to the state of the art retrieves the information necessary for its control of intersection data.

The manifestation of turning right is for example identified or determined via the detection of the indicators of the vehicle 10, the right indicators according to this particular example.

The system checks, for example, which is the next section of road on the right other than a so-called continuation section of road. According to the example in Table 1 above, the next portion of road corresponds to the second portion 104, the second portion 103 being identified as being a portion of continuation road.

This can then lead to an error in the control, for example an incorrect speed control when the ADAS system corresponds to a PCC type system. Indeed, the system is based on a distance before intersection of 250 m according to the example in Table 1 when in reality the next intersection is 100 m away.

The control process below offers a solution to this problem in particular.

A process for controlling an ADAS system of the vehicle 10 is advantageously implemented by the autonomous vehicle 10, for example by one or more processors of one or more computers on-board in the vehicle 10.

In a first operation, intersection data is received by the vehicle 10, this data corresponding for example to the data in Table 1 received at a current time using a wireless connection, as described above for example.

The intersection data advantageously includes for each second portion of road 102, 103, 104, 105 identified within a distance horizon determined from the current position of the vehicle 10:

- a distance value between the current position of the vehicle 10 and the intersection between the first portion of road 101 and each second portion of road 102, 103, and

- an angle value between the first portion of road 101 and each second portion of road 102, 103.

The same distance value is associated with at least 2 second road portions, that is to say the road portions 102, 103 according to the particular example of Figure 1, a second portion of so-called continuation road 103 being identified in the intersection data, for example with a determined identifier (the value 6 according to the particular example in Table 1).

Of course, the number of second road portions forming the intersection with the first road portion 101 is not limited to 2, this number extending for example to 3, 4, 5 or more second road portions.

In a second operation, the absolute value of the angle value associated with each second road portion 102, 103 of the plurality of second road portions forming the intersection with the first road portion is compared with a first value of determined angle.

This comparison is for example triggered when the activation of the indicators on the side on which the driver of vehicle 10 wants to turn is detected by the computer implementing the process. This detection corresponds for example to data representative of the activation received from the computer controlling the indicators of the vehicle 10 via a data bus of the on-board system of the vehicle 10.

According to the example described, the detection corresponds to the detection of the right indicators of the vehicle 10 showing an intention of the driver to turn right to take the second portion of road 103.

The first angle value determined is for example equal to 20°. According to other examples, this first angle value is equal to 15°, 25°, 30° or 35°.

This first angle value corresponds for example to a parameter stored in memory, for example in the memory of the computer implementing the process, this parameter being for example modifiable via a man-machine interface (HMI) on board the vehicle 10.

In a third operation, a reference angle value is selected from the angle value associated with the second continuation road portion 103 and a second determined angle value. According to the example in Table 1, the reference angle value is chosen between 90° and the second determined angle value, which is for example equal to 0°. According to another example, the second angle value is equal to 5°.

For example, when the absolute value of the angle value associated with each second portion of road 102, 103 forming the intersection with the first portion of road 101 is greater than the first determined angle value (for example 20°) , the reference angle value then corresponds to the second determined angle value.

Otherwise, that is to say when the absolute value of at least one of the angles associated with the second road portions 102, 103 forming the intersection is less than the first determined angle value (for example 20 °), the reference angle value then corresponds to the angle value associated with the second portion of continuation road 103, that is to say 90° according to the example in Table 1.

According to the example in Table 1, the absolute value of the angle value associated with the second portion of road 102 (i.e. 90°) is greater than 20° and the absolute value of the angle value associated with the second portion of route 103 (i.e. 90°) is also greater than 20°. According to this example, the value of the reference angle corresponds to the second determined angle value (for example 0°).

When the number of second road portions 102, 103 is equal to 2 (such as in the example of Figure 1) and when the absolute value of the angle value associated with each second road portion 102, 103 forming the the intersection with the first portion of road 101 is greater than the first determined angle value (such as in the example described with regard to Figure 2) then the type of intersection is determined as corresponding to an intersection in the form by T.

In a fourth operation, a second road portion among the plurality of second road portions 102, 103 forming the intersection is selected according to a result of a comparison of the angle values associated with each second road portion forming the intersection with the reference angle value.

Thus, according to the example above, the value of the angle associated with the second portion of road 102 (that is to say - 90°) is compared with the reference angle value, this is -has- say 0°, and the value of the angle associated with the second portion of road 103 (i.e. 90°) is compared with the reference angle value, i.e. 0° .

If the right turn signals of vehicle 10 are activated, the selected road portion corresponds to that whose associated angle is greater than the reference angle value.

If the left turn signals of vehicle 10 are activated, the selected road portion corresponds to that whose associated angle is less than the reference angle value.

According to the example described above (right turn signals activated), the second portion of road selected corresponds to the second portion of road 103.

When the intersection is T-shaped, the second portion of road selected corresponds to that which is on the side corresponding to the side of activation of the vehicle's turn signals 10.

When the number of second road portions forming the intersection is greater than or equal to 3, the selection of the second road portion is identical to that described above. When two second road portions among the 3 or more second road portions have an associated angle greater (respectively lower) than the reference angle value, then the second road portion selected is the one which is the most appropriate, for example the second rightmost portion of the road or the one with the highest angle (respectively the leftmost or the one with the lowest angle (or the highest if we consider the absolute value of this angle) ).

In a fifth operation, the ADAS system is controlled according to the second portion of road selected in the fourth operation.

For example, in the case of a PCC system, the speed and/or acceleration of the vehicle 10 are regulated automatically when an intersection is detected, depending on the distance between the vehicle 10 and the start of the second portion of selected road indicated in Table 1 and/or as a function of the angle associated with the second portion of selected road which is indicated in Table 1. For example, the speed of the vehicle 10 is reduced automatically as the vehicle 10 approaches the intersection, for example stopping or passing under the control of the driver when the associated angle is greater than a threshold. . Figure 2 schematically illustrates a device 2 configured for controlling one or more ADAS systems of a vehicle, for example the vehicle 10, 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 Figure 1 and/or the steps of the method described with regard to Figure 3. 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 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 the 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 “Unité de Control Télématique”), for example via a communication bus or through input ports / dedicated output.

According to a particular and non-limiting example of embodiment, the device 2 comprises a block 22 of interface elements for communicating with external devices, for example a remote server or the “cloud”, other nodes of the ad hoc network. 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);

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

Data are for example loaded to the device 2 via the interface of the block 22 using a Wi-Fi® network such as according to IEEE 802.11, an ITS G5 network based on IEEE 802.11 p or a mobile network such as a 4G network (or 5G) based on the LTE (Long Term Evolution) standard defined by the 3GPP consortium, in particular an LTE-V2X network.

According to another particular and non-limiting example of embodiment, the device 2 comprises a communication interface 23 which makes it possible to establish communication with other devices (such as other computers of the on-board system) 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 ISO 17458) or Ethernet (standardized by ISO/IEC 802-3).

According to a particular and non-limiting embodiment, the device 2 can provide output signals to one or more external devices, such as a 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.

Figure 3 illustrates a flowchart of the different stages of a method of controlling one or more ADAS systems of a vehicle, for example vehicle 10, 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, for example by one or more processors of one or more computers, or by the device 2 of Figure 2.

In a first step 31, intersection data representative of intersection between the first road portion and a set of second road portions located downstream of a current position of the vehicle are received, the intersection data comprising for each second portion of the road:

• a distance value between the current position of the vehicle and the intersection between the first portion of road and each second portion of road, and

• an angle value between the first portion of road and each second portion of road, the same distance value being associated with a plurality of second portions of road of the set, a second portion of road, called continuation, of the plurality second road portions being identified in the intersection data as corresponding to a continuity of the first road portion.

In a second step 32, the absolute value of the angle value associated with each second road portion of the plurality is compared with a first determined angle value.

In a third step 33, a reference angle value is selected from the angle value associated with the second continuation road portion and a second determined angle value.

In a fourth step 34, a second road portion is selected from the plurality of second road portions as a function of a result of a comparison of the angle values associated with the plurality of second road portions with the value of reference angle.

In a fifth step 35, the ADAS system is controlled according to the second portion of road selected in the fourth step 34.

According to a variant, the variants and examples of the operations described in relation to Figure 1 apply to the steps of the process of Figure 3.

Of course, the present invention is not limited to the exemplary embodiments described above but extends to a method of selecting a portion of road in an intersection which would include secondary steps without thereby 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 an ADAS system comprising device 2 of Figure 2.

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 Figure 2 or the ADAS system above.

Claims

1. Method for controlling a driving assistance system, called the ADAS system, of a vehicle (10), said vehicle traveling on a first portion of road (101) of a road environment (1), said method comprising the following steps:

- reception (31) of intersection data representative of intersection between said first road portion (101) and a set of second road portions (102, 103) located downstream of a current position of said vehicle (10), said intersection data comprising for each second portion of road:

• a distance value between said current position of said vehicle (10) and the intersection between said first portion of road (101) and said each second portion of road (102, 103), and

• an angle value between said first portion of road (101) and said each second portion of road (102, 103), the same distance value being associated with a plurality of second portions of road of said set, a second portion of so-called continuation road, of said plurality of second road portions (102, 103) being identified in said intersection data as corresponding to a continuity of said first road portion;

- comparison (32) of the absolute value of the angle value associated with each second road portion (102, 103) of said plurality with a first determined angle value;

- selection (33) of a reference angle value among the angle value associated with said second portion of continuation road and a second determined angle value;

- selection (34) of a second road portion among said plurality of second road portions as a function of a result of a comparison of the angle values associated with said plurality of second road portions (102, 103) with said reference angle value;

- control (35) of said ADAS system according to said second selected road portion.

2. Method according to claim 1, for which said first determined angle value is equal to 20° and said second determined angle value is equal to 0°.

3. Method according to claim 1 or 2, for which, when said absolute value of the angle value associated with each second portion of road (102, 103) of said plurality is greater than said first determined angle value, said reference angle value corresponds to said second determined angle value.

4. Method according to one of claims 1 to 3, for which, when said plurality of second road portions (102, 103) comprises 2 second road portions and when the angle value associated with each of said 2 second portions of road is greater than said first determined angle value, an intersection between the first road portion (101) and said 2 second road portions (102, 103) corresponds to a T-shaped intersection.

5. Method according to claim 4, for which, the second portion of road selected in said T-shaped intersection corresponds to the second portion of road located on the side of an activation of indicators of said vehicle (10).

6. Method according to one of claims 1 to 5, for which said ADAS system corresponding to a predictive cruise control system, called PCC system, said control of the ADAS system comprises speed control of said vehicle (10) as a function of the second selected road portion.

7. Computer program comprising instructions for implementing the method according to any one of the preceding claims, when these instructions are executed by a processor.

8. Computer-readable recording medium on which is recorded a computer program comprising instructions for executing the steps of the method according to one of claims 1 to 6.

9. Device (2) for controlling a driving assistance system, called the ADAS system, of a vehicle, said device (2) comprising a memory (21) associated with at least one processor (20) configured to the implementation of the steps of the method according to any one of claims 1 to 6.

10. Vehicle (10) comprising the device (2) according to claim 9.