Method and device for communicating data by selecting at least one radar from a plurality of radars of a vehicle

Abstract

The present invention relates to a communication method and a device for a communication method implemented by a first vehicle carrying a millimetre-wave radar system comprising one or more radars (101 to 104). To this end, at least one event associated with the first vehicle travelling in a road environment (1) is detected. One or more radars of the radar system of the first vehicle (10) are selected depending on the detected traffic event(s). The first vehicle (10) then initiates the transmission of data to one or more second vehicles (11, 12, 13) via the selected radar(s) in a vehicle-to-vehicle communication mode, referred to as V2V.

Description

[0001] DESCRIPTION

[0002] Title: Method and device for communicating data by selecting at least one radar from a plurality of radars of a vehicle

[0003] Technical field

[0004] The present invention claims priority from French application 2201602 filed on 23.02.2022, the content of which (text, drawings and claims) is incorporated herein by reference. The present invention relates to communication methods and devices for vehicles, in particular automobiles. The present invention also relates to a communication method and device using one or more radars fitted to a vehicle, in particular in the context of V2X type communication(s).

[0005] Technological background

[0006] Contemporary vehicles are increasingly equipped with means of communication which often require specific components (antennas, transmitters, receivers), complicating the electronic architecture of the vehicle and increasing its manufacturing cost.

[0007] For example, new technologies are emerging that allow the exchange of information between vehicles and / or between vehicles and the infrastructure surrounding them, these communication technologies being grouped under the name V2X (Vehicle to Everything). Thus, new information and communication technologies applied to the field of transport have appeared, such as ITS G5 (Intelligent Transportation System G5) in Europe or DSRC (Dedicated Short Range Communications) in the United States of America, both of which are based on the IEEE 802 standard.11 p or even the technology based on cellular networks called C-V2X (from the English "Cellular - Vehicle to Everything") which relies on 4G based on LTE (from the English "Long Term Evolution" or in French "Evolution à long terme") or 5G.

[0008] V2X communication technologies also use the 5.9 GHz frequency band, which results in a maximum data rate of 6 Mbps. This maximum rate may not be sufficient for vehicle communication needs, particularly in the context of autonomous vehicles.

[0009] Summary of the present invention

[0010] An object of the present invention is to solve at least one of the problems of the technological background described above.

[0011] Another object of the present invention is, for example, to reduce the diversity of certain components implemented by the communication means of a vehicle.

[0012] Another object of the present invention is, for example, to improve communication between vehicles.

[0013] According to a first aspect, the present invention relates to a communication method for a first vehicle, the first vehicle carrying a millimeter wave radar system comprising at least one radar, the method comprising the following steps:

[0014] - detection of at least one event associated with the movement of the first vehicle in a road environment;

[0015] - selection of at least one radar from the radar system based on at least one detected event;

[0016] - transmission of data to at least one second vehicle in the road environment via at least one radar selected according to a vehicle-to-vehicle communication mode, known as V2V.

[0017] Using vehicle radar(s) to transmit or receive data in a V2V communication mode reduces the number of components required (antenna, transmitter, receiver) for V2X communications by using the vehicle's detection radars rather than dedicated components.

[0018] Since the frequency band used by radars is between 76 and 81 GHz, the maximum rate allowed for data communication is much higher than that allowed by the frequency band allocated to V2X or V2V communications.

[0019] Selecting one or more radars in the radar system to communicate with one or more other vehicles allows communications to be distributed spatially across the selected radar(s), allowing for more directional communication beams.

[0020] According to a variant, the at least one event belongs to a set of events comprising:

[0021] - detection of at least one second vehicle; and

[0022] - activation of a turn signal from the first vehicle.

[0023] According to another variant, when the event corresponds to the detection of at least one second vehicle, the method comprises a step of determining a position of the at least second vehicle relative to the first vehicle, the at least one selected radar corresponding to the radar of the radar system comprising the position in its coverage area for transmission and / or reception of V2V communication signals, each radar of the radar system having a different coverage area.

[0024] According to an additional variant, when the event corresponds to the activation of a turn signal, the method comprises a step of determining a side of the first vehicle for which the turn signal is activated, the at least one selected radar being positioned on the side of the first vehicle.

[0025] According to a further variant, the radar system comprises 4 corner radars, each corner radar being arranged along an axis forming an angle of 45° relative to a longitudinal axis of the first vehicle, the coverage area associated with each radar of the radar system corresponding to an angular sector around the axis. According to an additional variant, each radar of the radar system is configured for object detection in the road environment and for establishing at least one communication according to the V2V communication mode.

[0026] According to a second aspect, the present invention relates to a vehicle communication device carrying a millimeter wave radar system comprising at least one radar, the device comprising a memory associated with a processor configured to implement the steps of the method according to the first aspect of the present invention.

[0027] According to a third aspect, the present invention relates to a vehicle communication system comprising the device as described above according to the second aspect of the present invention and a millimeter wave object detection radar system comprising a plurality of radars spatially arranged on the vehicle and connected to the device as described above according to the second aspect of the present invention.

[0028] According to a fourth 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 or a system as described above according to the third aspect of the present invention.

[0029] According to a fifth aspect, the present invention relates to a computer program which comprises instructions adapted for executing 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.

[0030] Such a computer program may use any programming language, and may be in the form of source code, object code, or intermediate code between source code and object code, such as in a partially compiled form, or in any other desirable form.

[0031] According to a sixth aspect, the present invention relates to a computer-readable recording medium on which is recorded a computer program comprising instructions for carrying out the steps of the method according to the first aspect of the present invention.

[0032] On the one hand, the recording medium can be any entity or device capable of storing the program. For example, the medium may include a storage medium, such as a ROM memory, a CD-ROM or a microelectronic circuit type ROM memory, or a magnetic recording medium or a hard disk.

[0033] Furthermore, this recording medium may 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 hertzian radio or by self-directed laser beam or by other means. The computer program according to the present invention may in particular be downloaded from a network such as the Internet.

[0034] Alternatively, the recording medium may be an integrated circuit in which the computer program is incorporated, the integrated circuit being adapted to perform or to be used in performing the method in question.

[0035] Brief description of the figures

[0036] Other characteristics and advantages of the present invention will emerge from the description of the particular and non-limiting exemplary embodiments of the present invention below, with reference to the appended figures 1 to 4, in which:

[0037] [Fig. 1] schematically illustrates a communication environment for vehicles, according to a particular and non-limiting exemplary embodiment of the present invention;

[0038] [Fig. 2] schematically illustrates a communication device for a first vehicle of FIG. 1, according to a particular and non-limiting exemplary embodiment of the present invention;

[0039] [Fig. 3] schematically illustrates a communication system for a first vehicle of Figure 1 and comprising the device of Figure 2, according to a particular and non-limiting exemplary embodiment of the present invention; [Fig. 4] illustrates a flowchart of the different steps of a communication method for a first vehicle of Figure 1, according to a particular and non-limiting exemplary embodiment of the present invention.

[0040] Description of examples of implementation

[0041] A method and a communication device for a vehicle carrying a radar system comprising at least one radar will now be described in the following with joint reference to figures 1 to 4. The same elements are identified with the same reference signs throughout the description which follows.

[0042] According to a particular and non-limiting example of embodiment of the present invention, a communication method implemented by a first vehicle carrying a millimeter wave radar system comprising one or more radars comprises the detection of at least one event associated with the circulation of the first vehicle in a road environment. Such an event corresponds for example to the activation of one or more indicators of the first vehicle, for example to indicate a change of lane, and / or to the detection of one or more second vehicles also circulating in the road environment (the detection being obtained from the radar system). One or more radars of the radar system of the first vehicle are selected according to the traffic event(s) detected. The first vehicle then initiates the transmission of data to one or more second vehicles in its environment using the selected radar(s).The data is advantageously transmitted using a vehicle-to-vehicle communication mode, known as V2V (from the English “Vehicle-to-Vehicle”).

[0043] Using vehicle radar(s) to transmit or receive data in a V2V communication mode reduces the number of components required (antenna, transmitter, receiver) for V2X communications by using the vehicle's detection radars rather than dedicated components. Furthermore, since the frequency band used by radars is between 76 and 81 GHz, the maximum data rate allowed for data communication is much higher than that allowed by the frequency band allocated to V2X or V2V communications.

[0044] Finally, selecting one or more radars in the radar system to communicate with one or more other vehicles allows communications to be distributed spatially across the selected radar(s), resulting in more directional communication beams.

[0045] Figure 1 schematically illustrates an environment 1 for communication between vehicles, according to a particular and non-limiting exemplary embodiment of the present invention.

[0046] Figure 1 illustrates an environment 1 comprising one or more roads and / or traffic lanes on which a first vehicle 10 and one or more second vehicles 11, 12, 13 circulate.

[0047] According to the particular and non-limiting example of FIG. 1, the second vehicle 11 precedes, for example, the first vehicle 10 on the traffic lane of the first vehicle 10. The second vehicle 11 travels on another traffic lane adjacent to that of the first vehicle 10, this adjacent lane being to the left of the traffic lane of the first vehicle 10 in the direction of travel of the first vehicle 10. The second vehicle 13 travels on a traffic lane adjacent to that of the first vehicle 10, this adjacent lane being to the right of the traffic lane of the first vehicle 10 in the direction of travel of the first vehicle.

[0048] The first vehicle 10 and at least some of the second vehicles 11 to 13 are advantageously configured to communicate using a so-called V2X communication mode, for example based on the 3GPP LTE-V or IEEE 802.11 p standards of ITS G5. In such a V2X communication mode, each vehicle carries a node to enable vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I) and / or vehicle-to-pedestrian (V2P) communication, the pedestrians being equipped with mobile devices (for example a smartphone) configured to communicate with the vehicles.

[0049] According to the present invention, the first vehicle 10 and one or more second vehicles 11 to 13 are in particular configured to communicate or exchange data according to one or more wireless links based on V2V technology.

[0050] The first vehicle 10 is advantageously equipped with a millimeter wave radar system. The system comprises one or more radars, for example 4, 6, 8, 10 radars distributed over the first vehicle 10 to detect objects in the environment around the first vehicle 10. Each radar is adapted to emit electromagnetic waves and to receive the echoes of these waves returned by one or more objects, for the purpose of detecting obstacles and their distances from the first vehicle 10 for example. Each radar, or at least part of the plurality of radars, is further adapted to emit and receive electromagnetic waves to communicate with another entity, for example one or more second vehicles 11 to 16. A radar capable of both detecting objects and enabling radio communication with another entity is for example described in document WO201 2 / 037680 A1, published on March 29, 2012.Such a radar comprises, for example, two modulators, a first modulator for generating waves to detect objects and a second modulator for generating waves having characteristics suitable for carrying communication data. In another example, each radar comprises only one modulator and offers the dual functionality of object detection / communication by implementing a spread spectrum technique, for example direct-sequence spread spectrum (DSSS), frequency-hopping spread spectrum (FHSS) or CDMA (Code Division Multiple Access).According to yet another example, the dual object detection / communication functionality is implemented by using the OFDM (Orthogonal Frequency-Division Multiplexing) technique. The radars of the radar system of the first vehicle 10 are for example used as part of a driver assistance system (ADAS in English, for.

[0051] "Advanced driver-assistance system"). Part of the radars is used, for example, for object detection (other vehicles, obstacles, pedestrians, for example) and another part of the radars for blind spot detection. The ADAS function(s) using the data obtained from the radars correspond, for example, to one or more of the following functions:

[0052] - object detection;

[0053] - vehicle detection in a blind spot;

[0054] - parking assistance;

[0055] - anti-collision;

[0056] - adaptive cruise control.

[0057] These ADAS functions are, for example, implemented by one or more dedicated computers. The data obtained from the radars based on the waves generated by the radars are, for example, transmitted to this or these computers (via one or more data buses, for example) to implement the ADAS functions.

[0058] The first vehicle 10 comprises, for example, 4 radars 101, 102, 103 and 104 adapted to detect objects and transmit (and receive) communication data, for example of the V2V or V2I type, to (from) other communication equipment. The 4 radars correspond for example to corner radars (from the English “Corner radar”) arranged at each “corner” of the vehicle, for example 1 front left radar 101, 1 front right radar 102, 1 rear right radar 103 and 1 rear left radar 104. Each radar is for example arranged on the first vehicle 10 so that the main axis of emission of the electromagnetic waves forms an angle of 45° with the longitudinal axis 100 of the first vehicle 10. Such a main axis of emission 1030 is shown in FIG. 1 for the rear right radar 103, forming an angle a of 45° with the longitudinal axis 100.Each radar 101 to 104 emits waves according to a determined angular sector, for example 90° or 120° around the main emission axis, which makes it possible to cover 360° in transmission / reception around the first vehicle 10. The radars 101 to 104 of the radar system are for example implemented within the framework of a driving assistance system (ADAS in English, for “Advanced driver-assistance system”). The radars are for example used for the detection of objects (obstacles, pedestrians for example) and / or for the detection of blind spots.

[0059] Of course, the number of radars arranged on the first vehicle 10 is not limited to 4 but extends to any number, for example 6, 8, 10 or more radars. The first vehicle 10 comprises for example one or more front radars in addition to the radars 101, 102, one or more rear radars in addition to the radars 103, 104 and / or radars arranged on the exterior mirrors for blind spot detection, etc. The angle between the main transmission axis and the longitudinal axis 100 then depends on the position of the radar.

[0060] The second vehicle(s) 11 to 13 with which the first vehicle 10 communicates in V2V are also equipped with such a radar system configured to transmit and receive electromagnetic waves for data communication. In FIG. 1, as an illustrative example, only the left rear radar 131 is illustrated for the second vehicle 13 and only the right rear radar 121 is illustrated for the second vehicle 12.

[0061] Each radar operates, for example, in the frequency band around 77 GHz, for example in the 76-81 GHz band, according to the EN 302 264 standard.

[0062] A communication process between the first vehicle 10 on the one hand and one or more second vehicles 11, 12, 13 on the other hand is advantageously implemented by the first vehicle 10, that is to say by one or more processors of a computer or a combination of computers of the on-board system of the first vehicle 10, for example by the computer or computers in charge of controlling the radar system and / or a telematic control unit, called TCU (from the English “Telematic Control Unit”).

[0063] In a first operation, one or more events associated with the circulation of the first vehicle 10 in the road environment 1 are detected.

[0064] Such an event corresponds for example to: - the detection of one or more second vehicles 11 to 13 in the environment of the first vehicle 10; and / or

[0065] - detecting the activation of one or more indicators of the first vehicle 10.

[0066] The detection of one or more second vehicles 10 is obtained from data received from one or more radars of the radar system equipping the first vehicle 10.

[0067] For example, the presence of the second vehicle 12 in proximity to the first vehicle 10 (i.e. at a distance less than a threshold from the first vehicle 10) is detected by the radar 101 of the first vehicle 10 and the presence of the second vehicle 13 is detected by the radar 102.

[0068] Object detection by radar is based on the Doppler effect. For this purpose, electromagnetic waves are emitted by radars, these waves being for example maintained with linear frequency modulation (FMCW or LMCW, from the English "Frequency Modulated Continuous Wave" or "Linear Modulated Continuous Wave"), as is classically the case for radars on board a vehicle. Such modulation makes it possible to obtain information on the distance and speed of detected objects. Once generated on a determined frequency or frequency range, the waves are emitted for propagation in the air at a determined power and in determined radiation conditions.Once reflected by the detected object(s), the reflected waves (echo) are received by the radar for processing and analysis, in order to deduce useful information (distance of the detected object from the radar, speed of the detected object, azimuth of the detected object corresponding to the angle of incidence of the wave in a horizontal plane parallel to the plane of the roadway obtained by several antennas receiving the reflected waves, the azimuth being determined from the phase differences between the received reflected waves).

[0069] The data thus obtained from the radar(s) having detected an object such as a second vehicle 11 to 13 make it possible to determine a position of the second vehicle 11 to 13 detected with respect to the first vehicle 10 (i.e. a relative position). The relative position is for example determined from the distance information between the first vehicle 10 and the second detected vehicle, this distance information being obtained from the radar having detected the second vehicle. According to a variant, the information relating to the radar having detected the second vehicle is also transmitted to the computer in charge of the process. For example, information identifying the radar 101 is for example associated with the distance data obtained between the first vehicle 10 and the second vehicle 12 by this radar 101. This identification information is then transmitted with the distance data to the computer in charge of the radar system.

[0070] The activation of the turn signals is for example detected by the computer(s) in charge of the process upon receipt of data or information representative of the activation of one or more turn signals. The turn signals of the first vehicle 10 are advantageously controlled by one or more computers of the on-board system of the first vehicle 10, which transmit to the computer in charge of the process the information relating to the activation of one or more turn signals. The on-board system of the vehicle comprises a set of computers connected together by one or more communication buses. These computers form for example a multiplexed architecture for the realization of different services useful for the proper functioning of the vehicle and for assisting the driver and / or passengers of the vehicle in the control of the vehicle 10.The computers exchange data between themselves via one or more computer buses, for example a communication bus of the data bus type CAN (from the English "Controller Area Network" or in French "Réseau de contrôles"), CAN FD (from the English "Controller Area Network Flexible Data-Rate" or in French "Réseau de contrôles à débit de données flexible"), FlexRay (according to the ISO 17458 standard) or Ethernet (according to the ISO / IEC 802-3 standard).

[0071] The turn signals are for example activated by the driver via one or more turn signal actuating members arranged in the passenger compartment of the first vehicle 10. Control of the activation and deactivation of each of the turn signal lights is thus a function of control signals received from the control member(s).

[0072] For example, the activation and deactivation of the direction indicators to indicate a change of direction is achieved by actuation of a control lever (corresponding for example to a switch lever), for example arranged near the steering wheel. For example, actuation of the control lever from the neutral position upwards controls the activation of the left direction indicators, actuation of the control lever from the neutral position downwards controls the activation of the right direction indicators, returning to the neutral position deactivating the activated left or right direction indicators.

[0073] In another example, a slight upward or downward pressure controls the activation of the left or right turn signals for a determined time interval (e.g. 1, 2 or 3 seconds), the lever automatically returning to the neutral position and the turn signals automatically deactivating (i.e. turning off) at the end of the determined time interval.

[0074] According to a particular embodiment, the detection of one or more second vehicles is added to the detection of the activation of the indicators (for example on one side of the first vehicle 10 to indicate a change of direction), for example concomitantly or with a time lag between the two detections, for example equal to 0.5, 1, 2 or 3 seconds.

[0075] In a second operation, one or more radars of the radar system of the first vehicle 10 are selected based on the traffic event(s) detected in the first operation.

[0076] According to a first example, when the detected event corresponds to the activation of the indicators on one side of the first vehicle, for example on the right (respectively on the left), then the selected radars correspond to those on the right side (respectively on the left side) of the first vehicle 10, that is to say the radars 102, 103 (respectively the radars 101, 104).

[0077] According to a second example, when the detected event corresponds to the detection of one or more second vehicles, for example the second vehicles 12 and 13, then the selected radars correspond to those having in their coverage area (the area covered by the emission of the electromagnetic radiation suitable for object detection, which also corresponds to the coverage area for transmission and / or reception of V2V communication signals) the second vehicles 12, 13 detected. Thus, when the second vehicle detected corresponds to the vehicle 12, then the front left radar 101 is selected because the second vehicle 12 is in the coverage area of ​​the radar 101. When the second vehicle detected corresponds to the vehicle 13, then the front right radar 102 is selected because the second vehicle 13 is in the coverage area of ​​the radar 102.

[0078] According to an alternative embodiment, the selected radar(s) correspond to the radar(s) having detected the second vehicle(s). The selection of the radar(s) is thus implemented based on the information relating to the radar having detected the second vehicle received from the radar system, this information making it possible to directly identify the radar having the second vehicle detected in its coverage area.

[0079] In a third operation, data is transmitted by the first vehicle 10 to at least one second vehicle in the road environment 1 via the radar(s) selected according to the vehicle-to-vehicle communication mode, known as V2V.

[0080] For example, when the detected event corresponds to the activation of the turn signals on one side of the first vehicle 10, data representative of an alert are for example transmitted to all of the second vehicles potentially traveling on the traffic lane adjacent to the current lane of the first vehicle and on the side of the current lane corresponding to the side where the activated turn signals are located. Such data are transmitted by the radars of the first vehicle on the side corresponding to that of the activated turn signals, for example in a broadcast mode. Such data correspond for example to an alert message to alert the second vehicles traveling on this adjacent lane that the first vehicle is going to move towards this adjacent lane.The transmission of such data in broadcast mode via the radars on the side corresponding to that of the lane change of the first vehicle 10 makes it possible to reach all of the second vehicles potentially traveling on this adjacent lane, without needing to detect them individually or to identify them as recipients of the data. According to another example, the data correspond to a request issued by the first vehicle 10 to ask the second vehicles traveling on the adjacent lane to leave a free space so that the first vehicle 10 can enter this adjacent lane without risk.

[0081] According to another example, when the detected event corresponds to the detection of a second vehicle, for example the vehicle 12, the data transmitted by the first vehicle in V2V mode via the selected radar 101, correspond for example to being intended specifically for this second vehicle 12. The data is for example transmitted in unicast mode (or “unicast” in French).

[0082] When several second vehicles 12, 13 are detected via, for example, several radars of the first vehicle 10, the data relating to each second vehicle are, for example, transmitted in unicast mode to each second vehicle by each radar having detected the second vehicle. For example, the data intended for the second vehicle 12 are transmitted in unicast mode via the radar 101 and the data intended for the second vehicle 13 are transmitted in unicast mode via the radar 102.

[0083] When several second vehicles 12, 13 are detected and when the data to be transmitted are the same for each second vehicle, then these data are for example transmitted in multicast mode (or “multidiffusion” in French) or broadcast by all of the selected radars 101, 102.

[0084] The selection of several radars depending on the event(s) detected makes it possible to implement several simultaneous communications in parallel, a different communication sector or spatial zone being associated with each radar of the radar system of the first vehicle, due to the spatial distribution of the radars on the first vehicle 10.

[0085] Depending on the selected radars, an overlap of the spatial areas covered by each selected radar is obtained, for example. In the overlapping area, the data transmission range is then greater than that obtained in a spatial area covered by a single selected radar.

[0086] Electromagnetic waves transmitted for data transport using the V2V communication mode are, for example, transmitted using one of the following channel access methods: - OFDMA, from the English “Orthogonal Frequency Division Multiple Access” or in French “Orthogonal Frequency Division Multiple Access”;

[0087] - TDMA, from the English “Time Division Multiple Access” or in French “Time Division Multiple Access”;

[0088] - CDMA, from the English “Code Division Multiple Access” or in French “Code Division Multiple Access”.

[0089] The selection of radars based on one or more traffic events associated with the first vehicle 10 makes it possible to spatially manage the transmission of data, by covering a complete space around the first vehicle 10 thanks to the arrangement and distribution of the radars on the first vehicle 10.

[0090] Such an arrangement makes it possible to benefit from the advantages of a communication mode called "beamforming" (or "spatial filtering" in French), without however having to configure the phase shift between the different radars, as required by this technology. Indeed, such spatial filtering, known to those skilled in the art, is obtained by combining the elements of a phased array antenna in such a way that in particular directions, the signals interfere constructively while in other directions the interference is destructive.

[0091] The invention makes it possible to benefit from certain advantages of beamforming (for example, more directivity in the emission beams) without implementing this beamforming technology, which is relatively complex in terms of configuration.

[0092] Figure 2 schematically illustrates a device 2 configured to control the communications implemented through a radar system equipping a vehicle, according to a particular and non-limiting exemplary embodiment of the present invention. The device 2 corresponds for example to a device on board the first vehicle 10 to allow data communication between the first vehicle 10 and one or more second vehicles 11, 12, 13 in V2V communication mode. The device 2 is for example configured to implement the operations described with regard to Figure 1 and / or the steps of the method described with regard to Figure 4.Examples of such a device 2 include, but are not limited to, on-board electronic equipment such as a vehicle on-board computer, an electronic calculator such as an ECU, a telematic control unit (TCU), a smartphone, a tablet, a laptop. The elements of the device 2, individually or in combination, may be integrated into a single integrated circuit, into several integrated circuits, and / or into discrete components. The device 2 may be produced in the form of electronic circuits or software (or computer) modules or even a combination of electronic circuits and software modules.According to various particular embodiments, the device 2 is coupled in communication with other similar devices or systems, for example via a communication bus or through dedicated input / output ports.

[0093] 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.

[0094] The computer code of the embedded software(s) comprising the instructions to be loaded and executed by the processor is for example stored in the first memory 21.

[0095] According to a particular and non-limiting 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 devices similar to the device 2 and embedded in vehicles other than the one embedding the device 2. The interface elements of the block 22 comprise one or more of the following interfaces:

[0096] - RF radio frequency interface, for example Bluetooth® or Wi-Fi® type, LTE (Long-Term Evolution), LTE-Advanced;

[0097] - USB interface (from the English “Universal Serial Bus” or “Universal Serial Bus” in French);

[0098] - HDMI interface (from the English “High Definition Multimedia Interface” or “High Definition Multimedia Interface” in French);

[0099] - LIN interface (from the English “Local Interconnect Network”).

[0100] Data is for example uploaded 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 LTE Advanced according to 3GPP release 10 - version 10) or 5G, in particular an LTE-V2X network.

[0101] According to another particular embodiment, the device 2 comprises a communication interface 23 which makes it possible to establish communication with other devices, such as for example the GPS type location system, the mobile communication system (GSM, GPRS, Wi-Fi, Bluetooth, LTE, LTE-V, ITS G5) or the radars of the radar system via a communication channel 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 CAN (Controller Area Network) or CAN FD (Controller Area Network Flexible Data-Rate) type.

[0102] According to an additional particular embodiment, the device 2 can provide output signals to one or more external devices, such as a display screen, one or more speakers and / or other peripherals via output interfaces not shown respectively. Figure 3 schematically illustrates a communication system 3 for a vehicle, for example on board the first vehicle 10, according to a particular and non-limiting exemplary embodiment of the present invention.

[0103] The system 3 advantageously comprises the device 2 as described with reference to FIG. 2 in connection with a plurality of radars forming the radar system. According to the example of FIG. 3, the radar system comprises the 4 corner radars 101, 102, 103 and 104 as described with reference to FIG. 1.

[0104] The device 2 is configured to control the radar system, for example according to the detected traffic event(s) leading to the selection of one or more radars of the radar system of the first vehicle 10.

[0105] The device 2 is connected to the radars via a wired connection, for example via a CAN or CAN FD type data bus or via one or more LIN type buses. According to one variant, the device 2 is connected to the radars 101 to 104 via a wireless interface, for example via Bluetooth® or Wifi®.

[0106] Of course, the number of radars in the radar system is not limited to 4 but extends to any number of radars, for example 2, 3, 5, 6, 8, 10 or more radars.

[0107] Figure 4 illustrates a flowchart of the different steps of a communication method implemented by a vehicle carrying a radar system comprising at least one millimeter wave radar, according to a particular and non-limiting exemplary embodiment of the present invention. The method is for example implemented by a device on board the first vehicle 10, by the device 2 of Figure 2 or by the system 3 of Figure 3.

[0108] In a first step 41, at least one event associated with circulation of the first vehicle in a road environment is detected.

[0109] In a second step 42, at least one radar of the radar system of the first vehicle is selected according to the at least one detected event. In a third step 43, data is transmitted to at least one second vehicle in the road environment via the at least one radar selected according to a vehicle-to-vehicle communication mode, known as V2V.

[0110] According to a variant, the variants and examples of the operations described in relation to figures 1 to 3 apply to the steps of the method of figure 4.

[0111] Of course, the present invention is not limited to the exemplary embodiments described above but extends to a method for controlling a radar system used for detecting objects and for communications, for example of the V2X type, and on board a vehicle, and to the device configured for implementing such a method.

[0112] The invention also relates to a vehicle, for example a motor vehicle or more generally a land motor vehicle, comprising the device 2 of figure 2 or the system 3 of figure 3.

Claims

DEMANDS 1. Communication method for a first vehicle (10), said first vehicle (10) carrying a millimeter wave radar system comprising at least one radar (101 to 104), said method comprising the following steps: - detection (41) of at least one event associated with the movement of said first vehicle (10) in a road environment (1); - selection (42) of at least one radar (101, 102) of said radar system according to said at least one detected event; - transmission (43) of data to at least one second vehicle (12, 13) of said road environment (1) via said at least one selected radar (101, 102) according to a vehicle-to-vehicle communication mode, known as V2V.

2. A method according to claim 1, wherein said at least one event belongs to a set of events comprising: - detection of said at least a second vehicle (12, 13); and - activation of a turn signal of said first vehicle (10).

3. A method according to claim 2, wherein when said event corresponds to said detection of said at least a second vehicle (12, 13), said method comprises a step of determining a position of said at least a second vehicle (12, 13) relative to said first vehicle (10), said at least a selected radar (101, 102) corresponding to the radar of said radar system comprising said position in its coverage area for the transmission and / or reception of V2V communication signals, each radar of said radar system having a different coverage area.

4. A method according to claim 2 or 3, wherein when said event corresponds to said activation of a flashing light, said method includes a step of determining one side of said first vehicle (10) for which said flashing light is activated, said at least one selected radar being positioned on said side of said first vehicle.

5. A method according to any one of claims 2 to 4, wherein said radar system comprises 4 corner radars (101 to 104), each corner radar being arranged along an axis forming an angle of 45° with respect to a longitudinal axis (100) of said first vehicle (10), the coverage area associated with each radar of said radar system corresponds to an angular sector around said axis.

6. A method according to any one of claims 1 to 5, wherein each radar (101 to 104) of said radar system is configured for object detection in said road environment and for establishing at least one communication according to said V2V communication mode.

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. Communication device (2) for vehicle carrying a millimeter wave radar system comprising at least one radar, said device (2) comprising a memory (21) associated with at least one processor (20) configured for the implementation of the steps of the method according to any one of claims 1 to 6.

9. Vehicle communication system (3) comprising said device (2) according to claim 8 and a millimeter wave object detection radar system comprising a plurality of radars (101 to 104) spatially arranged on said vehicle and connected to said device (2).

10. Vehicle (10) comprising the device (2) according to claim 8 or said system (3) according to claim 9.

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