Interaction system between autonomous vehicles and color-blind pedestrians or cyclists

Abstract

A system for implementing interaction between a semi-autonomous or autonomous motor vehicle (Vh1) and at least one vulnerable user (U1, U2, U3, U4) of a lane (9) on which the motor vehicle is traveling, wherein vulnerable users may cross the lane on a passage (90), pedestrians and cyclists being considered vulnerable users, the system comprising: an ambient sensor (3); a computer (4) which processes data received from the ambient sensor; a display device (1) which is directed to the outside of the vehicle and is controlled by the computer; the display device (1) being formed as a horizontal strip (11) and occupying the longitudinal ends of the vehicle, including each cm 2 A matrix panel having at least four pixels, the display device being configured to provide visual indications to vulnerable users (U1, U2, U3, U4) present in the vehicle's surroundings about whether they can cross the road in the lane, and to convey indications encouraging crossing or conversely prohibiting crossing, the indications having pictograms, respectively having a stationary posture and a moving posture, the pictograms being swept by at least one contrasting line (61-65, 71-73), the brightness of the pixels forming the pictograms being inverted on both sides of the contrasting line, so that the vulnerable users can obtain undoubted information that the semi-automatic or autonomous driving motor vehicle has taken their presence into account even if they cannot perceive colors normally.

Description

Technical Field

[0001] The present invention relates to an interaction system between an autonomous vehicle (or a semi-autonomous or partially autonomous vehicle) and one or more road users (eg pedestrians or cyclists). Background Art

[0002] Autonomous or semi-autonomous vehicles are guided to travel on lanes that are dedicated lanes or open public roads.

[0003] In both cases, these lanes include protected passages for pedestrians and other users known as "vulnerable users". These include cyclists, pedestrians, adults or children or elderly people, users of various baby strollers, scooters, skateboards and other balance vehicles, unicycles, etc.

[0004] The question that arises for vulnerable users is whether they are actually being sensed and taken into account by the autonomous vehicle, and incidentally, whether the autonomous vehicle will stop and let the vulnerable user pass when the vulnerable user is about to cross the road.

[0005] There appears to be a need for a solution that enables an autonomous vehicle to give a clear, intuitive and unambiguous message to one or more vulnerable users, which reflects a decision made by the vehicle's on-board electronics (similar to the intention of a conventional driver). There also appears to be a need for a solution that can be adapted for vulnerable users (pedestrians or cyclists) who have color defects in their visual perception, especially those who are characterized as "color blind". In the literature, several color defects are grouped under the common term "color blindness", in particular the following: achromatopsia (total lack of color vision), deuteranopia and protanopia (inability to detect green), deuteranopia and protanopia (inability to detect red), c-chromatopsia and c-chromatopsia (inability to detect blue). Summary of the invention

[0006] To this end, a system for implementing interaction between a semi-automated or automated motor vehicle and at least one vulnerable user of a lane traveled by the motor vehicle, who may cross the lane on a marked or unmarked path, pedestrians and cyclists being considered vulnerable users, is proposed, the system comprising:

[0007] - at least one surroundings sensor arranged on the vehicle,

[0008] at least one on-board computer of the vehicle, which processes the data received from the at least one surroundings sensor,

[0009] - at least one display device arranged on the vehicle, directed to the outside of the vehicle and controlled by a computer,

[0010] - the display device is formed as a horizontal strip and occupies at least one longitudinal end of the vehicle,

[0011] - Display device includes every cm 2 A matrix panel having at least four pixels,

[0012] - The display device is configured to provide vulnerable users present in the vehicle's surroundings, near the passage, with at least one visual indication of whether they can cross the road in the lane, and to convey an indication encouraging crossing or, conversely, prohibiting crossing, the indication having pictograms, respectively having a stationary posture and a moving posture, the pictograms being swept by at least one contrasting line, the brightness of the pixels forming the pictograms being inverted on both sides of the contrasting line, so that pedestrians and cyclists, even if they cannot perceive colors normally, can obtain undoubted information that the semi-automatic or autonomous motor vehicle has taken their presence into account.

[0013] The autonomous vehicle decides whether to stop and give way if necessary, while displaying instructions, or to continue forward without allowing passage, based on an analysis of the surroundings and the presence of vulnerable users.

[0014] Advantageously, by analogy with pedestrian signals at traditional protected corridors, the autonomous or semi-autonomous vehicle provides indications to vulnerable users present in the surroundings of the nearby vehicle that encourage crossing or, conversely, prohibit crossing, in particular but not exclusively by using contrasting lines between dark and light parts and by using unambiguous pictograms. In this way, vulnerable users (pedestrians or cyclists) with color defects in visual perception can easily perceive and understand the message conveyed by the autonomous vehicle.

[0015] The level of information delivered to the vulnerable user can be more or less finely tailored, as described below. However, it should be noted that the information presented on the display device is different from an optical reproduction of the scene. In this way, the vulnerable user knows the intention of the autonomous or semi-autonomous vehicle and can calmly cross the road in front of the vehicle.

[0016] In various embodiments of the present invention, one or other of the following settings or features may also be relied upon when necessary, and they may be adopted alone or in combination.

[0017] According to one aspect, a plurality of contrasting lines are provided in the display device, which are arranged vertically and move in the horizontal direction. This results in a scroll from left to right or from right to left, which a weak user perceives as encouraging traversal.

[0018] According to one aspect, a plurality of contrast lines are provided in the display device, which are arranged horizontally and move in the vertical direction. Thus, there is a scroll from top to bottom or from bottom to top, and weak users perceive such a movement as discouraging traversal.

[0019] According to one aspect, only vertically arranged contrast lines are used in the display device to indicate instructions that encourage crossing, or only horizontally arranged contrast lines are used to indicate instructions that prohibit crossing. Thus, messages that encourage crossing and messages that prohibit crossing are clearly distinguished. The clearly distinguished geometric appearance helps vulnerable users (including users with color vision problems) perceive instructions that are understandable and unambiguous to the user.

[0020] According to one aspect, one or more contrast lines continuously move from one edge to another opposite edge of the display device, and the moving speed significantly increases in the first half and then significantly decreases in the second half.

[0021] This makes the message more intuitive and understandable.

[0022] According to one aspect, if the gap between two adjacent contrasting lines is considered, it can be proposed that the gap increases and then decreases when the contrasting lines move from one edge to the other opposite edge of the display device.

[0023] According to one aspect, the display device is configured to display a scene representation including a protected corridor, wherein the users at the protected corridor are symbolically represented by stationary or moving avatars. Thus, vulnerable users recognize that the autonomous driving vehicle has indeed analyzed and "understood" the current situation and has indeed taken the presence of the one or more vulnerable users into account. Such a symbolic representation of the scene improves the comprehensibility of messages to vulnerable users.

[0024] This symbolic representation of the scene improves the comprehensibility of the messages for vulnerable users, in particular by referring to the learning mechanisms carried out in the subject's childhood, in which character identities are acquired, including their own, and the image perceived in the mirror is made to correspond to the image perceived directly (taking into account symmetry). The scene representation carried out by the display device reproduces this mirror effect to a certain extent, making the displayed message intuitive and easy to understand.

[0025] According to one aspect, in the animation presented in real time by the display device, the number of avatars corresponds to the number of people actually detected in the surrounding environment.

[0026] This enhances the representativeness of the presentation on the display device relative to the real world.

[0027] In this way, it is easier for vulnerable users to recognize that what is symbolically represented on the vehicle's display is indeed the scenario actually taken into account by the computer.

[0028] According to one aspect, the presence of one or more vulnerable users in the surrounding environment of the vehicle near the protected channel is presented by a display device in real time, and the avatar representing the user reflects the reality with a delay time of less than 1 second, preferably less than 600ms, relative to the corresponding position of the protected channel.

[0029] It is actually a depiction of the real scenario represented and since it is perceived by the vulnerable user in real time, this makes it more intuitive to realize that the considerations of the vehicle's onboard electronics are correct and correspond to the actual situation experienced by the vulnerable user. This enhances the comprehensibility of the message.

[0030] According to one aspect, the strip can occupy substantially the entire width of the front surface of the vehicle and / or the entire width of the rear surface of the vehicle. Thus, on the one hand, a larger area is provided to display a clear message, and on the other hand, the message can be received by vulnerable users on each side of the vehicle.

[0031] It is not excluded that the strip of the display extends for a distance on each side of the vehicle in a folded sideways direction; this maximizes the visibility of the display for vulnerable users nearby.

[0032] According to one aspect, the vehicle may include display means on its front and rear surfaces, preferably over the entire width. Advantageously, for a vehicle with a preferred direction of travel, the display means on the rear surface will be used for vehicles following it to indicate, for example, that overtaking is not recommended or prohibited because there is a vulnerable user crossing the road in front of the autonomous vehicle. Furthermore, for a two-way shuttle vehicle, when the shuttle vehicle changes the primary direction of travel, the role of the front and rear displays will be reversed, and the two displays will be used in a symmetrical manner.

[0033] According to one aspect, the computer is configured to classify entities sensed by one or more ambient sensors. This classification enables identification and separation of people or animals; conversely, the classification enables removal of urban utility elements such as trash cans, utility poles, guardrails, and plant elements such as bushes, or the like.

[0034] In this way, the scene representation makes it possible to highlight people in particular and partially or completely ignore stationary objects that are crossing the road without any intention.

[0035] Furthermore, the scene representation can highlight the classification of various entities through discriminative representations, such as pedestrians, cyclists, scooter users, stroller users, and possible representations of the size of the person, such as adults versus children. It is also possible to distinguish the gender of the person: female, male, or even neutral.

[0036] The avatars reflect each entity class and facilitate a realistic and understandable appearance of the display, rather than an optical reproduction of the scene of interest.

[0037] According to another optional aspect, each avatar can have features representing the entity classification according to the classification reflecting the type of vulnerable user: character size, moving direction, static posture, low speed, high speed. It can also represent accessories used by the character, such as bicycles, skateboards, strollers, scooters, pets, etc.

[0038] According to another optional aspect, each avatar reflecting each vulnerable user present in the scene is generally represented at the geographic location that it is in, and this is over time and in real time. The position of pedestrians, or more generally vulnerable users, in the representation of the scene of interest changes over time, which makes it easy for pedestrians to understand that the autonomous vehicle understands and tracks their real-time changes.

[0039] According to one aspect, the display device is arranged at a height defined by a bottom line of the display located 1 meter above the ground and a top line of the display located 1.40 m below the ground.

[0040] This attempts to approximate as closely as possible the visual interaction that occurs between a conventional vehicle driver and a pedestrian in a conventional situation where a human is driving a vehicle. This high-ground placement corresponding to the facial area of ​​a conventional driver enables vulnerable users to move into mixed traffic environments, where there are both conventional vehicles driven by a driver and semi-automated or delegated driving vehicles with or without a driver.

[0041] In other words, the display device is positioned in the interval [1m-1.4m]; it is noted that this facilitates reading for an average user and provides similarity to the conventional case (human driver).

[0042] According to one aspect, the display device is configured to display an indication that the vehicle is ready to start again and drive through the protected corridor.

[0043] This results in a clear and unmistakable warning / notification that the vehicle is about to move.

[0044] According to an optional aspect, the surrounding environment sensors arranged on the vehicle are configured to capture the surrounding environment of the road on both sides of the lane to the front, so as to react according to the vulnerable users that may exist on each side of the road. In other words, the processing can be advantageously symmetrical about both sides of the road.

[0045] According to an optional aspect, the vehicle may also include an audio source that serves as a supplement to the display device and is controlled by the computer to communicate that crossing is permitted or encouraged.

[0046] In this way, for disadvantaged users with significant visual impairments or users with low vision, the audible signal supplements the visual signal to provide them with an intuitive and understandable indication as to whether or not the crossing is possible.

[0047] According to an optional aspect, the vehicle can provide illumination of the passage, for example by means of a floodlight, which is directional if necessary, which has proven useful in night conditions and which enhances the perception and comprehensibility of messages received by vulnerable users from the autonomous vehicle.

[0048] This enhances the visual message, especially for those who are focused on using it. This is of some use to vulnerable users.

[0049] The invention also relates to a method for interaction between a semi-automatic or automatic driving motor vehicle and at least one vulnerable user of a lane traveled by the motor vehicle, the vulnerable user may cross the lane on a marked or unmarked path, pedestrians and cyclists are considered vulnerable users, the vehicle comprising at least one surroundings sensor arranged on the vehicle, at least one onboard computer of the vehicle, at least one display device, the at least one display device being arranged on the vehicle and pointing outside the vehicle and being controlled by the computer, the method providing:

[0050] - surroundings sensors detect entities present in the vehicle's surroundings, in particular entities located in the area in its direction of travel,

[0051] - The computer classifies entities by identifying vulnerable users including pedestrians and cyclists and users of scooters, skateboards or strollers, and the display device provides at least one visual indication to vulnerable users present in the vehicle's surroundings and near the passageway as to whether they can cross the road of the lane and transmits an indication encouraging crossing or conversely prohibiting crossing, the indication having pictograms with a stationary posture and a moving posture, respectively, and / or at least one contrasting line between a light part and a dark part.

[0052] In this way, pedestrians and cyclists, even if they cannot perceive color normally, can receive the unambiguous information that the semi-autonomous or autonomous motor vehicle has taken their presence into account. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Other features, details and advantages will become apparent from a reading of the following detailed description and an analysis of the accompanying drawings, in which:

[0054] - Figure 1 is a schematic diagram of the general concept of an embodiment of the present invention,

[0055] - Figure 2 shows an example of a stereoscopic perspective view on a main display screen,

[0056] - Figure 3 shows a functional schematic diagram of the main display screen,

[0057] - Figure 4 Two example indications are shown, indicating that crossing is permitted or, conversely, prohibited.

[0058] - Figure 5 shows an example of content displayed on a display device,

[0059] - Fig. 6A and Figure 6B shows a display configuration on a strip of a front display device of a vehicle, wherein a pedestrian is crossing in front of the vehicle,

[0060] - Figure 7 Various types of avatars representing pedestrians are shown, the avatars being inserted into a scene representation with their positions and the evolution of each position over time,

[0061] - Figure 8 The display shows the allocation when approaching the end of the crossing queue, indicating that the vehicle will be ready to start again.

[0062] - Fig. 9 and Fig.10 shows two example contents displayed on the display device at two different times when indicating that crossing is encouraged,

[0063] - Fig.11 The display allocated in the case of indicating a prohibited crossing is shown,

[0064] - Fig.12 shows the position and velocity associated with the contrast line used,

[0065] - Fig.13 A specific implementation variant is shown, involving a shuttle-type autonomous driving vehicle. DETAILED DESCRIPTION

[0066] In the various drawings, the same reference numbers refer to the same or similar elements.

[0067] refer to Figure 1 , a semi-automatic or automatic driving motor vehicle Vh1 is traveling on a lane 9, which can be indistinguishably a highway or a street. Figure 1 A pedestrian passageway is shown, designated 90, which in this example is marked by lines drawn on the ground (interlaced black and white stripes 92, 93). However, it should be noted that in some cases, there may be a passageway for pedestrians that is not marked on the ground or is marked in other forms (e.g., crosswalks, pseudo-crosswalks, lines and / or dots). In some cases, this passageway may be characterized as a "protected passageway", but the present invention is not limited to this case.

[0068] In terms of the vehicle, it is an autonomous or semi-autonomous or partially autonomous vehicle, that is, in practice this can correspond to a situation where no one is driving the vehicle and no one is in any driving position (fully autonomous vehicle), or it can correspond to a situation where someone is in the driving position but the driving functions are delegated to driving assistance functions performed by the on-board electronics. Please note that the level of delegation may change over time.

[0069] It should be noted that the present invention may also be applied to vehicles driven in a conventional manner, but with tinted windows that prevent visual contact between pedestrians and the driver.

[0070] It should be noted that the vehicle in question may be a private car, a minibus, a van, a freight truck, a taxi or a robotaxi. The vehicle in question may also be a tram, a trolleybus, a tram train, etc.

[0071] The vehicle in question can be provided for driving on a lane as a dedicated lane or an open public lane or in a mixed situation, in which it first takes the dedicated lane and then the open public lane, or vice versa.

[0072] As will be seen in more detail below, the vehicle Vh1 is provided with a display device 1 in front of the vehicle (considering the normal driving direction) and, optionally, a further display device 101 is located behind the vehicle.

[0073] A lane can be one-way or two-way. It is not excluded that there are multiple parallel lanes in the same direction, which corresponds to a multi-parallel traffic artery in everyday language.

[0074] Turning now to lane users, those who are not in the passenger compartment of a vehicle are usually defined as “vulnerable users”, and the concept of “vulnerable users” includes pedestrians, cyclists, adults or children or the elderly, users of various strollers, scooters, skateboards, balance bikes, unicycles, etc. The concept of “vulnerable users” can also include pets.

[0075] refer to Figure 1 , showing a pedestrian U1 on the left side of the road from the perspective of the vehicle, a cyclist U2 preparing to cross the road from the left, and two pedestrians, an adult U4 and a child U3, preparing to cross the road from the right side from the perspective of the vehicle.

[0076] like Figure 2 As shown, the display device 1 may be embodied as a main strip 11 extending across the entire width of the vehicle.

[0077] In the illustrated example, the display device 1 is rectangular and has a bottom side 1a, a top side 1d, a right side 1b, and a left side 1c (see FIG. Figure 5 ).

[0078] The display device is arranged at least at one longitudinal end of the vehicle.

[0079] Lateral extensions 12 may be provided on the sides of the vehicle, only on one side or symmetrically on both sides.

[0080] The strip is horizontal, that is to say wider than it is high. It has a generally rectangular shape.

[0081] Typical dimensions of the horizontal strips are a width of at least 1.60 m and a height of 30 cm. Typically, the height H1 will be in the interval [20 cm - 40 cm]. Typically, the width L1 will be in the interval [140 cm - 200 cm].

[0082] The lateral extensions 12 may have the same height or a higher height, and their length in the longitudinal direction may be between 20 and 50 centimeters.

[0083] The height position of the display device is defined by the bottom line of the display located above 0.9 m from the ground and the top line of the display located below 1.50 m from the ground. In other words, the display device is positioned within the interval of [0.9 m - 1.5 m].

[0084] The display device comprises a matrix panel having a resolution of at least 4 pixels / cm 2 Or 25 pixels per square inch. Of course, higher resolutions are entirely possible.

[0085] The display device can be embodied as a matrix of light emitting diodes, a matrix of multi-color light emitting diodes, or an interlaced matrix of single-color light emitting diodes. Primary colors can be used as a basis for generating in particular red and green and other additional colors.

[0086] The vehicle is equipped with one or more surroundings sensors 3. As for the surroundings sensor, it can be a lidar sensor, for example with a coverage of 360°; it can be a radar; it can be a 3D camera; it can be a time-of-flight ("TOF") camera; it can be a combination of multiple sensors.

[0087] As a complement, the use of infrared cameras is also envisaged, which make it possible to detect the temperature of each source, facilitating in particular the classification of entities in order to extract organisms in the surrounding environment.

[0088] For example, Figure 1 A central sensor 3 is shown arranged on the roof, for example a 360° LiDAR. In addition, another sensor 31 is arranged in front of the vehicle, selected from the technologies listed above. In addition, another sensor 32 is arranged at the rear of the vehicle, selected from the technologies listed above.

[0089] according to Fig.13 Another configuration shown may provide a sensor 3 located in the upper front area of ​​the vehicle and sensors 31, 32 arranged in the vehicle bumper, each of which may be of any of the types described above.

[0090] The vehicle comprises at least one computer, referenced generally at 4, which may also be referred to as an "electronic control unit" ("UCE").

[0091] The computer 4 processes data received from one or more ambient environment sensors and performs one or more operations to classify entities detected in the image, or more generally, to classify data received from the sensor.

[0092] In particular, an algorithm is provided which enables entities corresponding to human or animal-like beings in the immediate surroundings of the vehicle to be extracted from data or images received from sensors.

[0093] The classification of entities can be carried out with the aid of image content analysis and / or spectral analysis.

[0094] Certain elements can make recognition easier, such as the wheels of a bicycle or a baby carriage, and indeed, recognition of continuous or discontinuous ellipses (multiple elliptical arcs).

[0095] Classification of entities can also be aided by motion analysis, in particular identifying the motion of people in data or images received from sensors.

[0096] After analyzing the data received from the sensors, if it is determined that one or more vulnerable users are preparing to cross the road, the computer can decide to stop the autonomous vehicle and give way to allow the vulnerable users to cross.

[0097] It is important to note that in the case where the vehicle decides to stop to allow pedestrians to cross, the analysis and classification is performed continuously.

[0098] It is important to note that analysis and classification continues during the time when the vulnerable user is crossing the road.

[0099] The display device 1 is configured to provide a vulnerable user present in the vehicle surroundings near the protected lane with at least one visual indication as to whether he or she can cross the road of the lane and to convey an indication encouraging crossing or conversely prohibiting crossing.

[0100] In particular, the visual indication may use a conventional color code, ie green for signaling that crossing is encouraged and red for signaling that crossing is prohibited.

[0101] In particular, the visual indication may reuse all or part of the common pictograms commonly used in passages for pedestrians, i.e. Figure 4 The green pictographic characters and Figure 4 The red pictogram for "no crossing" shown in the middle mark 22. Orange can also be used for pictograms. Conventional pictograms 21, 22 can be displayed in particular on the lateral extension 12 of the display device, similar to the pictograms for the passage for pedestrians.

[0102] exist Figure 5 , an example of display content is shown, depicting two avatars 51, 52 on a pedestrian walkway 90. An adult 52 and a child 51 are shown traveling.

[0103] The display is updated in real time based on the information stream received from the surrounding environment sensors.

[0104] The display device is configured to display a representation of a scene including the protected channel, such as Fig. 6A , Figure 6B and Figure 7 As shown, the users are symbolically represented by stationary or moving avatars.

[0105] Each avatar can have features that represent the entity category based on the category reflecting the vulnerable user: size of the character, direction of movement, static posture, low speed, high speed. Accessories used by the character can also be depicted, such as bicycles, skateboards, strollers, scooters, pets, etc.

[0106] More specifically, if Figure 7As shown, the posture and size of the represented avatars reflect the presence and posture of people actually present near the vehicle, such as an adult 57 in a stationary posture, a child 58 in a stationary posture, two adults 53, 54 crossing together, and a teenager 55 walking.

[0107] exist Fig. 6A , 6B In the figure, the character avatar is in the shape of a cylinder 50.

[0108] Contrast lines are provided in the display; each of these contrast lines separates a light portion from a dark portion of the display. Even a weak user (a pedestrian or a cyclist) with a colorimetric defect in visual perception can perceive the contrast lines between the light and dark portions.

[0109] Depending on the content to be displayed, a light / dark inversion is provided at the contrast lines (inverted video or something like that). Figures 9 to 11 It can be seen that the brightness of the pixels forming the display content is inverted on either side of the contrast line.

[0110] Fig. 9 A plurality of contrast lines, referenced 61, 62, 63, 64, arranged vertically are shown, which move in the horizontal direction. Fig.10 The situation is shown for the same display sequence at a later time.

[0111] The vertical contrast lines 61, 62, 63, 64 move to the right. A vertical contrast line 65 appears on the left. In other words, there are vertical contrast lines rolling from left to right.

[0112] This movement is perceived by the weak user as encouraging traversal. Depending on the circumstances, the scrolling can be reversed, i.e. the vertical contrast line scrolls from right to left.

[0113] The vertical contrasting lines convey instructions that encourage crossing.

[0114] Fig.11 A plurality of contrast lines for indication of prohibited crossing are shown arranged horizontally, labeled 71, 72, 73, and moving in the vertical direction.

[0115] Following the logic of the previous case, the horizontal contrast line moves continuously in the vertical direction, either upward or downward, but at a varying speed.

[0116] More specifically, if Fig.12 As shown, the contrast line continuously moves from one edge of the display device to the other opposite edge (1a, 1d), and the moving speed increases significantly in the first half and then decreases significantly in the second half.

[0117] exist Fig.12In FIG. 1 , curve CP1 represents the change in position of a comparison line (eg, 61 or 71) over time, and curve CV1 represents the change in moving speed of the same comparison line over time in the same time period.

[0118] Such an acceleration and then deceleration enables the perception of these contrasting lines to be enhanced.

[0119] This makes the message more intuitive and understandable, as this solution is easier to perceive than constant speed movement.

[0120] The inventors have observed that perception is best among weak users.

[0121] A characteristic time of the curve change is preferably selected.

[0122] Regarding timing, the inventors have observed that the changes in the displayed elements have a characteristic duration of about 200ms. Thus it can be proposed that the acceleration of the movement of the line takes place over a duration of 200ms or more, typically between 150ms and 300ms, and the same is true for the deceleration.

[0123] The horizontal scanning duration of a vertical line 61 from one edge of the display to the other edge may be between 1 second and 3 seconds. The vertical scanning duration of a horizontal line 71 from one edge 1a of the display to the other edge 1d may be between 0.4 seconds and 1.5 seconds.

[0124] The computer 4 has access to a map database which enables it to know the locations of documented protected passages, which, however, do not constitute a limiting list. Thus, the level of filtering performed by the computer on the classified human or animal entities may depend on the presence of documented protected passages; in practice, the presence of documented protected passages will facilitate the decision to stop the vehicle to allow pedestrians to pass.

[0125] In a situation where no pedestrians are crossing despite the presence of entities classified as humans on the roadside, the autonomous vehicle may quickly switch from a message encouraging crossing back to a message prohibiting crossing and / or a message indicating that the vehicle is ready to start again.

[0126] like Figure 3 As shown, the computer 4 continuously receives data streams from one or more surrounding environment sensors 3 , 31 , 32 via the vehicle-mounted local area network or wirelessly, and is connected to one or more displays via the vehicle-mounted local area network or wirelessly.

[0127] Furthermore, a sound source may be provided which serves as a supplement to the display means and which is controlled by the computer so as to enhance the information level of the user, as a supplement to the purely visual information which may be useful, for example, for those concentrating on using their is not enough for some vulnerable users.

[0128] As for the sound source, it has been shown that the signal it generates is particularly useful for disadvantaged users with poor vision. For example, it can be provided that when the vehicle decides to stop and a crossing encouragement is displayed, the sound source then emits a series of beeps, which can include multiple frequency components, at least one of which is very sharp. It can also be provided that the frequency of the beeps is increased to indicate that the crossing encouragement will end and the vehicle will be ready to start again. The presence of a beep indicates that crossing is allowed, while the absence of such a beep means that crossing is prohibited.

[0129] Furthermore, a light source may be provided on the vehicle which serves as a supplement to the display device and which is controlled by the computer 4 so as to illuminate a marked or unmarked path on the ground to enhance the perception and comprehensibility of the message given by the display device to a vulnerable user crossing or preparing to cross the road.

[0130] Note that when semi-autonomous or autonomous vehicles stop to let pedestrians pass, they follow a safe distance relative to the marked lane (denoted as DG), as shown in Fig. 6A and 6B The safety distance DG can be parameterized between 1m and 3m and can also depend on specific conditions, such as whether it is day or night, the type of lane or the category of the identified vulnerable user.

[0131] refer to Fig.13 , the front facade of the vehicle is almost vertical, from bottom to top, the bottom is the bumper, then the front body area, then the main display strip 11, then the window glass 18, and above it is a sensor 3.

[0132] It should be noted that the lateral extensions 12 on the sides of the vehicle are located slightly higher than the front center strip 11. For example, the lateral extensions 12 each extend at least 30 cm in the longitudinal direction and have a height of 25 to 40 cm.

[0133] In the example shown, the display device is continuous, i.e. there is no interruption between the lateral extensions 12 and the front central strip 11, which enables the avatar to move continuously from one side to the other without oddities, such as when a vulnerable user crosses. However, it is not excluded to have a front strip and a lateral display that is not a direct extension of the front strip.

Claims

1. A system for implementing interaction between a semi-automated or automated motor vehicle (Vh1) and at least one vulnerable user (U1, U2, U3) of a lane (9) travelled by the motor vehicle, the vulnerable user being able to cross the lane on a marked or unmarked path (90), pedestrians and cyclists being considered vulnerable users, the system comprising: - at least one surroundings sensor (3) arranged on the vehicle, at least one on-board computer (4) of the vehicle, which processes the data received from the at least one surroundings sensor, - at least one display device (1) arranged on the vehicle, directed toward the outside of the vehicle and controlled by a computer, Features: - the display device is formed as a horizontal strip and occupies at least one longitudinal end of the vehicle, - Display device includes every cm 2 A matrix panel having at least four pixels, - The display device is configured to provide vulnerable users present in the vehicle's surroundings, near the passage, with at least one visual indication of whether they can cross the road in the lane, and to convey an indication encouraging crossing or, conversely, prohibiting crossing, the indication having pictograms, respectively having a stationary posture and a moving posture, the pictograms being swept by at least one contrasting line, the brightness of the pixels forming the pictograms being inverted on both sides of the contrasting line, so that pedestrians and cyclists, even if they cannot perceive colors normally, can obtain undoubted information that the semi-automatic or autonomous motor vehicle has taken their presence into account.

2. The system according to claim 1, wherein: A plurality of contrasting lines are provided, arranged vertically and moving in a horizontal direction.

3. The system according to claim 1, wherein: A plurality of contrasting lines are provided, arranged horizontally and moving in a vertical direction.

4. The system according to claim 2 or 3, wherein: In the display device, only vertically arranged contrast lines are used to indicate an indication encouraging crossing, or only horizontally arranged contrast lines are used to indicate an indication prohibiting crossing, on the contrary.

5. The system according to any one of claims 1 to 3, wherein: One or more contrast lines continuously move from one edge of the display device to another opposite edge, and the moving speed significantly increases in the first half and then significantly decreases in the second half.

6. The system according to any one of claims 1 to 3, wherein: Considering the gap between two adjacent contrasting lines, the gap increases and then decreases as the contrasting lines move from one edge of the display device to the other opposing edge.

7. The system according to any one of claims 1 to 3, wherein: The display device is configured to display a scene representation including a protected corridor, and the users are symbolically represented by stationary or moving human avatars, and wherein, in the animation presented by the display device, the number of avatars corresponds to the number of people actually present in the surrounding environment.

8. The system according to any one of claims 1 to 3, wherein: The presence of one or more vulnerable users in the surrounding environment of the vehicle near the protected channel is presented by the display device in real time, and the avatar representing the user reflects the reality with a delay time of less than 1 second relative to the corresponding position of the protected channel.

9. The system according to any one of claims 1 to 3, wherein: The presence of one or more vulnerable users in the surrounding environment of the vehicle near the protected channel is presented by the display device in real time, and the avatar representing the user reflects the reality with a delay time of less than 600ms relative to the corresponding position of the protected channel.

10. The system according to any one of claims 1 to 3, wherein: A sound source is provided which serves as a supplement to the display device and is controlled by the computer to communicate that traversal is permitted or encouraged.

11. Vehicle comprising a system according to one of the preceding claims.

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