Control of the movement of a semi-autonomous or autonomous motorised road vehicle approaching a level crossing

Abstract

The invention relates to an on-board movement control system for an autonomous or semi-autonomous motorised road vehicle (4) and to a fixed infrastructure (10) located in a level crossing zone (1) crossing a road (2), the system and the infrastructure cooperating by means of at least one message transmitted by the infrastructure via wireless communication and received by the on-board system. In accordance with the invention, the at least one message comprises one or more items of information relating to a signalling and / or protection system installed in the level crossing zone (1) and / or relating to one or more structural components (5-9) of the signalling and / or protection system. The on-board system is configured to decide on movement control management of the vehicle on the basis of the one or more items of information extracted from the at least one message received.

Description

Control of the movement of a semi-autonomous or autonomous motorized road vehicle approaching a level crossing technical field

[0001] The present invention relates to the general field of semi-autonomous or autonomous motorized road vehicles, and is more particularly concerned with securing the movement control of this type of vehicle in the vicinity of a level crossing. Technological background

[0002] To improve road safety, some motor vehicles, known as semi-autonomous vehicles, are equipped with partial automation systems or advanced driver assistance systems (ADAS), particularly systems that perform lateral and / or longitudinal control of the vehicle in place of the driver, or at the very least alert the driver to a potentially dangerous situation so they can react in time. There are also plans to develop fully autonomous vehicles, that is, vehicles without a driver.

[0003] The general function of driver assistance systems is to alert the driver to situations requiring their attention and / or to define the trajectory the vehicle must follow to reach a given destination. Consequently, these systems control the vehicle's steering, braking, and / or acceleration mechanisms to ensure that this trajectory is followed automatically. The trajectory should be understood here in its mathematical definition, that is, as the set of successive positions the vehicle must occupy over time. Therefore, driver assistance systems must define not only the path to be taken but also the speed profile to be maintained.To do this, they are equipped with at least one detection module which detects a lot of information about the immediate environment of the vehicle (presence of obstacles such as pedestrians, cycles or other motorized vehicles, road signs, road configuration, road marking lines...), coming from one or more environmental perception sensors equipping the vehicle, such as cameras, radars and / or lidars, as well as information related to the vehicle itself, such as its. speed, its acceleration, its position given for example by a GPS type navigation system.

[0004] In the case of a semi-autonomous vehicle, ADAS systems allow for the temporary delegation of driving under certain traffic conditions and can be activated or deactivated, depending on the driver's choice. In the case of an autonomous vehicle, the concept of a driver no longer exists, and the vehicle's onboard systems must be able to perceive the environment, analyze hazards, decide on the trajectories to follow to reach a destination, and perform all necessary longitudinal and lateral checks.

[0005] It is easy to understand that the onboard vehicle control systems for such semi-autonomous or autonomous vehicles must guarantee a high level of safety in a wide range of road situations. In other words, since the decisions made by semi-autonomous or autonomous vehicles are based on an analysis of the environment as perceived by various perception sensors, it is clear that it is not only necessary to develop detection modules capable of identifying, from the information provided by the perception sensors, specific environmental characteristics adapted to specific road situations, but also essential to offer solutions that increase the overall confidence level that can be attributed to these perception modules regarding their performance in detecting the specific characteristics for which they were designed.

[0006] Among specific road situations, level crossings (corresponding hereafter to a crossing of a railway line with a road) represent areas with a high risk of accidents and are therefore among the road situations that an on-board control system should be able to manage.

[0007] Some developments in recent years have focused solely on the problem of collision risks with trains. For example, document DE 10 2016 202 508 A1 describes a level crossing safety system particularly suited to barrier-free level crossings; the system includes a device for determining the state of rail traffic on the railway line, and a communication device for road users (such as pedestrians or autonomous or non-autonomous motor vehicles). and wireless communication means for communicating the rail traffic status determined by the determination device to the communication device. In one of the embodiments described in this document, the road user is an autonomous motor vehicle, and the transmission device and the communication device are preferably included in an infrastructure-vehicle communication system. The safety system enables the motor vehicle to know whether it must yield to the passing train, even if a suitable sensor for detecting an approaching rail vehicle is not available on that vehicle or cannot be used.

[0008] However, the risk of collision between a semi-autonomous or autonomous motor vehicle and a train is not the only issue related to securing vehicle movement control near a level crossing.

[0009] It is also highly desirable to enable the on-board control system to perceive and understand the scene in front of it when the vehicle arrives at the level crossing area and / or when it controls the crossing of the level crossing, regardless of the imminence of a train passing.

[0010] Within the broader context of recent developments, cooperative intelligent transport systems (ITS) have introduced vehicle-to-vehicle (V2V) communication and vehicle-to-road infrastructure (V2I or I2V) communication, which aim to prevent accidents. To ensure system interoperability, a set of standards has been developed. Some standards, such as ISO / TS 19091, ETSI TS 103 301, and SAE J2735, describe standardized MAPEM messages, while others, such as ETSI EN 302 637-3, describe standardized DENM messages (Decentralized Environmental Notification Message).

[0011] In the context of applying these standards to the issue of level crossings, it is currently planned that MAPEM-type messages issued by an infrastructure installed in a level crossing area will describe, in particular, the geometry associated with the actual intersection of road traffic lanes and railway tracks, namely: • the number of road traffic lanes entering, exiting and crossing the level crossing, as well as the number of railway tracks; • the width, the direction of traffic of each of the road traffic lanes and railway tracks and the angle of positioning of the rails in relation to the road lanes; • a series of three-dimensional positions in a global reference frame (for example GPS coordinates or WGS84 system coordinates) allowing the identification, on the one hand, of a section of railway track at the level of the intersection, and on the other hand, of at least three sections of road tracks per direction of traffic allowing the characterization of a first section upstream of the railway tracks, a second section crossing the railway tracks and a third section downstream of the railway tracks.

[0012] Furthermore, it is currently planned that a DENM-type message issued by an infrastructure installed in a level crossing area can inform a vehicle: • the presence of a level crossing via a specific variable named "eventType" for which the variable is set equal to an identifier corresponding to the presence of a level crossing; • a mapping of the road network including the level crossing through a series of three-dimensional positions in a global reference frame (for example WGS84 system coordinates) allowing identification of road sections crossing railway tracks at a level crossing, as well as different road sections leading to the area including the level crossing.

[0013] The information transmitted in accordance with the aforementioned standards currently relates only to the geometry of the railway tracks and road traffic lanes involved in a level crossing. It is currently insufficient to allow an on-board control system in a semi-autonomous or autonomous vehicle to fully perceive and understand, based solely on the messages transmitted by the infrastructure, the scene before it when the vehicle arrives at the level crossing and / or when it is controlling the crossing, and consequently, to to be able to decide the best way, in terms of safety, to manage the control of vehicle movement. Summary of the invention

[0014] The present invention aims to overcome the drawbacks of the prior art.

[0015] To this end, the present invention relates to an embedded travel control system for an autonomous or semi-autonomous road motor vehicle, the system comprising, at the level of an autonomous or semi-autonomous road motor vehicle, at least one exteroceptive sensor configured to perceive information from an environmental zone located at least in front of the road motor vehicle, at least one detection module configured to detect, on the basis of the information perceived by said at least one exteroceptive sensor, characteristics of the environmental zone, a receiving module configured to receive, via wireless communication, at least one message transmitted by a fixed infrastructure located in a level crossing zone intersecting a road on which said vehicle is traveling,and a processing module configured to automatically control the movement of the road motor vehicle based either on characteristics detected by said at least one detection module, or on said at least one message received by the receiving module, the system being characterized in that it is configured to extract from said at least one received message one or more pieces of information relating to a signaling and / or protection system installed in said level crossing area and / or relating to one or more structural components of said signaling and / or protection system, and in that the processing module is configured to decide on movement control management based on said one or more pieces of extracted information.

[0016] In one possible embodiment, said one or more pieces of information extracted from said at least one received message includes an indication defining the category of the level crossing on which the signaling and / or protection system is installed.

[0017] In one possible embodiment, said extracted information includes a set of indications relating to the structural components of said signaling and / or protection system, said components belonging to one or more of the following classes: traffic lights signage, barriers, ground marking lines, traffic signs, traffic beacons, level crossing platforms, audible warning devices, emergency call boxes, clearance gantries.

[0018] In one possible embodiment, the embedded system is further configured to extract from said at least one received message one or more geometric information relating to the road traffic lanes and railway tracks intersecting in the level crossing area and / or to the portions of catenary overhead said level crossing.

[0019] In one possible embodiment, said processing module is configured to assist said at least one detection module in detecting structural features corresponding to one or more pieces of information extracted from said at least one received message.

[0020] For example, the processing module can further be configured to determine an entry boundary and / or an exit boundary and / or the presence of the level crossing and / or an open or closed status of the level crossing from at least detected structural characteristics corresponding to one or more pieces of information extracted from said at least one received message and relating to one or more structural components of said signalling and / or protection system.

[0021] In one possible embodiment, said processing module is configured to determine, on the basis of said one or more pieces of information extracted from said at least one received message, whether said at least one exteroceptive sensor and / or said at least one detection module and / or the processing module are capable of managing a level crossing.

[0022] In one possible embodiment, said processing module is configured to determine, on the basis of said one or more pieces of information extracted from said at least one received message, whether said motorized road vehicle is authorized, at least in terms of dimensions and / or weight, to cross the level crossing.

[0023] The present invention also relates to a fixed infrastructure located in a level crossing area intersecting a road, said fixed infrastructure comprising a transmission module configured to transmit messages via wireless communication, said fixed infrastructure being characterized in that the transmission module is capable of including, in at least one message to be transmitted, one or more pieces of information relating to a signalling and / or protection system installed in said area at the level crossing, and / or relating to one or more structural components of said signalling and / or protection system. Brief description of the figures

[0024] The following description, with reference to the accompanying drawings, given by way of non-limiting examples, will clearly explain what the invention consists of and how it can be implemented. Regarding the accompanying figures:

[0025] [fig. 1 ] Figure 1 schematically represents an example of the configuration of a level crossing area corresponding to an intersection between a road and a railway, equipped with a fixed infrastructure according to the invention;

[0026] [fig. 2] Figure 2 schematically illustrates a semi-autonomous or autonomous vehicle equipped with an on-board system capable of controlling the movement of the vehicle according to the invention. Description of method(s) of implementation

[0027] The present invention is based on the observation that the messages transmitted by the infrastructure in accordance with the aforementioned current standards relate only to the geometry of the railway tracks and road traffic lanes defining a level crossing.

[0028] However, every level crossing is generally equipped with its own signaling and / or protection system, the configuration of which varies in complexity. Currently, level crossings are classified into a number of categories, including but not limited to the following: • Level crossing at Croix de Saint André (PN XSA), for which crossing is carried out under the full responsibility of the road user and absolute priority is given to railway traffic. • Level crossing with Automatic Light Signaling without barrier (PN SAL 0), equipped with two or four red lights (R24 lights) whose flashing commands road users to stop completely, and which may be equipped with an audible signaling device. • Level crossing with automatic light signaling and two half-barriers, one per direction of travel (PN SAL 2), also equipped with red lights (R24 lights) whose flashing commands road users to stop completely, and which can be equipped with an audible signaling device. • Automatic Light Signalling Level Crossing with two half-barriers at the entrance and two half-barriers at the exit (PN SAL 4) also equipped with red lights (R24 lights) whose flashing commands road users to stop completely, and which can be equipped with an audible signalling device.

[0029] Furthermore, road signage (other than R24 lights or the St. Andrew's cross) may also be present in the level crossing area. Thus, in some cases, entry and / or exit boundaries for level crossings are marked by road markings, while in other cases, no markings are used. In addition, some regulations may require the use of road signs and / or markers to indicate the approach to a level crossing, or even the type of level crossing (with or without barriers).

[0030] The present invention proposes to make available all or part of the information relating to a signaling and / or protection system installed in a level crossing area and / or to one or more structural components of this system.

[0031] By "structural components" we mean the equipment or means potentially used to signal and / or protect a level crossing area, which can be grouped under the following classes: • traffic lights, for example R24 lights, • barriers (referred to as XK3 barriers in French legislation), • Ground marking lines that may define an entry boundary and / or an exit boundary of the level crossing area, and / or lateral boundaries (or edge lines) of the road at the level crossing, • traffic signs, whether they are signs specific to level crossings (for example a St. Andrew's cross, or any sign designated as type G in French legislation), or road signs placed on the side of the road upstream of the level crossing, for example those representing a barrier or a locomotive (signs of type A7 and A8 in French legislation) or information concerning the dimensions authorized to cross a level crossing (sign of type B12 in French legislation) • signaling markers, the number of bands of which depends on the distance of the sign from the level crossing (J10 type markers in French legislation), • level crossing platforms, • audible alert devices, • emergency call boxes, • clearance gantries (known as type G3 in French legislation).

[0032] Information relating to a signalling and / or protection system may be, for example, an indication defining the category assigned to the level crossing on which the system is installed.

[0033] According to the present invention, all or part of the aforementioned information is transmitted, via wireless communication, by a fixed infrastructure located in a level crossing area crossing a road, preferably within one or more messages broadcast continuously or periodically, or even on an ad hoc basis.

[0034] Furthermore, according to the invention, this information transmitted in the message(s) can be received by a travel control system equipping an autonomous or semi-autonomous road vehicle, this system having a receiving module configured to receive the message(s) via wireless communication, when it arrives near the level crossing area, and being configured to extract this information contained in the received message(s) and decide accordingly how it will manage the travel control.

[0035] "Movement control management" includes, in particular: • longitudinal and / or lateral control which allows the vehicle to stop automatically before crossing the level crossing, or to automatically cross the level crossing, or to determine a new route avoiding crossing the level crossing; a decision allowing a driver to regain control in the case of a semi-autonomous vehicle.

[0036] To better illustrate the principles of the invention, Figure 1 schematically represents a non-limiting example of the configuration of a level crossing zone 1 corresponding to an intersection between a two-way road 2 and a railway track 3.

[0037] Route 2 here comprises two lanes, 20 and 21, for road traffic on which motor vehicles can pass each other, such as the two vehicles 4 illustrated in the example, stopped in their respective lanes upstream of the level crossing. The railway track 3 consists of two rails, 30 and 31, to allow the movement of a train (not shown). A signaling and / or protection system is typically installed in the level crossing area. In this non-limiting example, the level crossing is category PN SAL 2, so the following components are part of the signaling and / or protection system: • two half-entry barriers 5 mounted pivoting on their respective base 6; • at least two red lights 7 (R24 lights) per direction of traffic; • two audible signaling devices 8.

[0038] The signaling and / or protection system also includes a number of other components, collectively referenced as 9 in Figure 1, corresponding for example to the signaling signs and / or signaling beacons and / or emergency call boxes, and / or the aforementioned gauge gantries.

[0039] A fixed infrastructure 10, enabling wireless communications of the I2V type, is located in the level crossing zone 1. This infrastructure 10 includes a transmission module 11 configured to transmit messages via a wireless communication link. The communications may, for example, use any of the following technologies: 4G, 5G, LTE-V2X, NR-V2X, WiFi 802.11p, or WiFi 802.11bd, without this list being exhaustive. According to the invention, the transmission module 11 is capable of including, in at least one message to be transmitted, one or more of the aforementioned pieces of information relating to the configuration of the signaling and / or protection system.

[0040] In the non-limiting case represented in Figure 1, the message may thus include an indication that the level crossing in zone 1 is here a level crossing of category PN SAL 2, and a set of indications relating to the half-barriers 5 and / or the signal lights 7 and / or the audible signaling devices 8, and / or any of the components globally referenced 9.

[0041] For a level crossing whose signalling and / or protection system is different from that shown schematically in Figure 1, an infrastructure similar to infrastructure 10 can be installed, but the content of the message(s) transmitted will be advantageously adapted to the configuration of the associated signalling and / or protection system.

[0042] It should be noted that, for most of the aforementioned component classes, the set of information may advantageously include the number of components per class and / or the geographic coordinates of each component, and / or a dimension or shape, and / or a type, and / or a visibility index for the component from the road (visibility being affected by the presence of trees or other obstacles). For example, in the case of Figure 1, the at least one disseminated message may include the fact that there are two barriers 5 of the "half-barrier" type, the length of each half-barrier 5, and the geographic coordinates (GPS or WGS84) of their connection to their respective support 6.

[0043] For certain classes, additional information may be required. Examples include, but are not limited to: • for the class of barriers and / or for the class of traffic lights and / or for the class of emergency call boxes and / or for the class of audible warning devices, it may be provided for to include in the message(s) a status information allowing to indicate whether the component concerned (barrier, light, emergency call box, and / or audible warning device) is broken or operational. • For the barrier class, it may be useful to also include in the message(s) an indication of the angular speed of opening and / or closing of the barrier, and / or the angle of inclination of the barrier relative to the horizon when the barrier is in the maximum open or maximum closed position, and / or the angle of the barrier by The message(s) should include information about the barrier's shape in relation to the road's horizontal alignment, the barrier's height relative to the ground, the barrier's lowering time, and / or its opening time. Other details regarding the barrier's physical appearance may also be useful, especially since its appearance can vary depending on national legislation (for example, a red and white checkered pattern or a yellow and red checkered pattern). • For the class of sound warning devices, one can include an indication of the sound frequency and / or on the sound intensity, and / or on variations of sound frequency / intensity over time, and / or on the active or inactive status of the warning device (the active or inactive status depending for example on the environmental context (day / night or presence of dwellings). • For the class of traffic lights, it may be possible to include an indication of the flashing frequency and / or an indication of synchronicity or, on the contrary, alternation of flashing with respect to another traffic light in the system, and / or on the physical aspect, which may differ according to the legislation of the countries. • For the deck class, it is possible to include indications relating to the physical appearance (colour and / or level of contrast with the road and rails), and / or indications on the material used (rubber, concrete...).

[0044] Other information to be included in the message(s), still relating to the level crossing configuration, could include the opening and closing sequence (duration of R24 lights activation before barrier lowering, duration of barrier lowering, minimum delay before a train passes) and / or the telephone number associated with the emergency call boxes or the level crossing itself. If there are no road markings, the message could also usefully include information on the structural component(s) of the system that can be used by the vehicle's on-board system as reference points to derive a theoretical entry or exit boundary.

[0045] In possible embodiments, related information, i.e. not relating to the signaling and / or protection system as such, can be added to the message(s). In particular, said transmission module 11 may also be capable of including, in the message(s) to be transmitted, one or more geometric pieces of information relating to the road and railway lanes intersecting in the level crossing area and / or to the sections of overhead contact lines above said level crossing, in a manner analogous to what is currently provided for in MAPEM-type messages. Thus, in the non-limiting example of Figure 1, said at least one message to be transmitted by the fixed infrastructure 10 may also specify information relating to the geometry of the two road lanes 20 and 21, and of the rails 30 and 31 of the single railway track 3.

[0046] Figure 2 schematically illustrates a semi-autonomous or autonomous vehicle 4 equipped with an on-board system capable of controlling the vehicle's movement according to the invention. The vehicle 4 is equipped, in a conventional manner, with control devices 40 (typically a steering wheel and accelerator and brake pedals in the case of a semi-autonomous vehicle to allow maneuvers by a driver 41 of the vehicle, or similar means in the case of a fully autonomous vehicle without a driver).Vehicle 4 is also conventionally equipped with several proprioceptive sensors (generally represented by reference 42), such as a speed sensor, a steering angle sensor, and a GPS navigation system, allowing it to obtain information on its current state (current speed, current acceleration, current heading relative to a vehicle-linked reference frame, current position relative to an onboard HD map containing contextual information such as speed limits, road type, etc.). Finally, vehicle 4 is equipped with an onboard automatic vehicle movement control system 43, designed to act on the control components 40 in place of the driver 41.

[0047] The on-board system 43 comprises one or more exteroceptive sensors 44 (for example, an image sensor and / or a radar and / or a lidar and / or a sound sensor) enabling it to perceive information from an environmental area located at least in front of the vehicle 4, at least one detection module 45 configured to detect, based on the information perceived by the exteroceptive sensor(s) 44, characteristics of the environmental area, and a receiver module 46 configured to receive messages via a wireless link originating from outside the vehicle 4, in particular those from the fixed infrastructure 10 of Figure 1. A processing module 47 receives the outputs from the detection module 45, the proprioceptive sensors 42 and the receiving module 46 so as to be able to automatically control the movement of the vehicle 4 on the basis of either characteristics detected by the detection module(s) 45, or the message received by the receiving module 46, while taking into account the odometry of the vehicle 4.

[0048] According to the invention, the embedded system 43 is configured to extract from said at least one message received from the fixed infrastructure 10, one or more pieces of information contained in this message, so that the processing module 47 can decide on a management strategy to adopt in the control of the movement of the vehicle 4.

[0049] Strategies can be very diverse and depend of course on the information contained in the message(s) transmitted by the fixed infrastructure associated with a level crossing area.

[0050] For example, in one possible embodiment, the processing module 47 is advantageously configured to determine, based on information extracted from at least one received message, whether the exteroceptive sensor(s) 44 and / or the associated detection module(s) 45 and / or the processing module 47 are capable of managing a level crossing. Here, the term "capability" should be understood as meaning that the on-board movement control system 43 has been designed to manage one or more categories of level crossings and / or to perceive and detect one or more components of the signaling and / or protection system associated with the level crossing, and / or that the components of this signaling system are operational.

[0051] The determination of capability / incapacity can, for example, be based on the level crossing category, and / or its status (operational / out of order), and / or the visibility index of at least one component of the signaling and / or protection system, provided this information is included in the received message. Thus, as a non-limiting example, processing module 47 can determine that system 43 is incapable of managing a safe crossing of a level crossing if it is informed, based on the received message(s), that it is a level crossing of category PN SAL 0. that the system 43 was designed to manage only level crossings of category PN SAL 2, or if it is informed of a poor visibility index associated with a component, or if no indication relating to ground marking lines delimiting entry, exit, and / or lateral boundaries is contained in the received message(s). The determination of capability / incapacity can also be carried out based on the type of level crossing decking, and / or on the distance between an entry barrier and an exit barrier. Other rules enabling the processing module 47 to determine the capability or incapacity to manage a crossing can of course be followed without departing from the scope of the invention.

[0052] In another possible embodiment, which can optionally be combined with the previous embodiment, the processing module 47 is advantageously configured to determine, again based on information extracted from at least one received message, whether the vehicle 4 it equips is indeed authorized to cross the level crossing (even in cases where there is no train about to pass or in progress). The concept of authorization is distinct from the concept of capacity discussed previously, and is linked here to regulatory prohibitions in the highway code, particularly in terms of the dimensions and / or weight of the vehicle 4, or what it might be carrying.

[0053] The determination of the authorization / prohibition may be carried out in particular on the basis of information relating to certain signposts upstream of the level crossing, and / or an indication of the presence of a clearance gantry associated with the height of the crossbar of this gantry, the list not being exhaustive.

[0054] If the processing module 47 determines that the system 43 is unable to manage the level crossing and / or that the vehicle 4 is not authorized to cross the level crossing, it may decide, for example: • in the case of an autonomous vehicle 4, to generate longitudinal and / or lateral control commands that allow the vehicle to stop automatically before crossing the level crossing, or to determine a new route avoiding crossing the level crossing; in the case of a semi-autonomous vehicle 4, to give control back to the driver (in other words to deactivate the autonomous mode).

[0055] In another possible embodiment, which may optionally be combined with any of the preceding embodiments (or even both), the processing module 47 is advantageously configured to assist the detection module(s) 45 in detecting structural features corresponding to one or more pieces of information extracted from received message(s), by means of the exteroceptive sensor(s) 44.

[0056] For example, if the processing module 47 is informed, according to the message(s) received, that it is a level crossing of category PN SAL 2, the on-board system 43 knows that it must try to detect, via its sensors 44, the associated components.

[0057] A particular advantage of this embodiment is that the onboard system can anticipate the presence of a level crossing, with an increased confidence level due to the significant number of structural features that the information contained in the message(s) allows it to detect via its own sensors. Furthermore, even if one of the messages is of type DENM and already contains, according to standards, direct information about the presence of a level crossing (via the specific variable named "eventType"), the onboard system 43 can combine this direct information with the structural features it has detected, further increasing the confidence level associated with detecting the presence of a level crossing. The onboard system 43 is then advantageously able to better prepare the approach phase by deciding on the best way to manage movement control.

[0058] In another possible embodiment, the processing module 47 is further configured to determine an entry boundary and / or an exit boundary based on at least detected structural features corresponding to one or more pieces of information extracted from received message(s) and relating to one or more structural components of said signaling and / or protection system. This constitutes a real advantage because an entry boundary or an exit boundary can be complex to determine, yet these are two crucial pieces of data for enabling vehicle 4 to operate correctly. a stop just before the entry boundary if necessary, or to avoid stopping between an entry boundary and an exit boundary when crossing the level crossing. Thanks to the invention, even when no direct information relating to road markings defining entry or exit boundaries of the level crossing area is contained in the received message(s), the on-board system 43 can derive an entry boundary and / or an exit boundary from the structural characteristics it has detected. For example, it is possible to determine a virtual entry boundary from the position of the R24 lights and / or barriers that the on-board system 43 can detect via its own sensors 44 following indications contained in a received message related to the presence of such lights or barriers.Furthermore, even if a received message contains direct information relating to the position of ground marking lines defining entry or exit boundaries, the on-board system 43 can nevertheless combine this direct information with the structural features it has detected, further increasing the confidence indicator linked to the determination of the entry and / or exit boundary.

[0059] It is easy to understand that there are a significant number of other possibilities that cannot be exhaustively described, concerning the characteristics that the embedded system 43 can detect with increased reliability via its own sensors thanks to the information contained in the received message(s), for example a presence of the level crossing and / or an open or closed status of the level crossing.

Claims

Claims Embedded system (43) for travel control for autonomous or semi-autonomous road motor vehicles, the system (43) comprising, at the level of an autonomous or semi-autonomous road motor vehicle (4), at least one exteroceptive sensor (44) configured to perceive information from an environmental zone located at least in front of the road motor vehicle (4), at least one detection module (45) configured to detect, on the basis of the information perceived by said at least one exteroceptive sensor (44), characteristics of the environmental zone, a receiving module (46) configured to receive, via wireless communication, at least one message transmitted by a fixed infrastructure (10) located in a level crossing zone (1) intersecting a road on which said vehicle (4) is traveling,and a processing module (47) configured to automatically control the movement of the road motor vehicle (4) based either on characteristics detected by said at least one detection module (45), or on said at least one message received by the receiving module (46), the system (43) being characterized in that it is configured to extract from said at least one received message one or more pieces of information relating to a signaling and / or protection system installed in said level crossing area (1) and / or relating to one or more structural components (5-9) of said signaling and / or protection system, and in that the processing module (47) is configured to decide on movement control management based on said one or more pieces of extracted information. Embedded system (43) according to claim 1,wherein said one or more pieces of information extracted from said at least one received message includes an indication defining the category of the level crossing on which the signaling and / or protection system is installed. Embedded system (43) according to any one of the preceding claims, wherein said one or more pieces of information extracted include a set of indications relating to the structural components (5-9) of said signaling and / or protection system, said components belonging to one or more of the following classes: traffic lights (7), barriers (5), lines, road markings, traffic signs, traffic beacons, level crossing platforms, audible warning devices (8), emergency call boxes, clearance gantries. An embedded system (43) according to claim 3, wherein said set of indications comprises, for each class, a number of components and / or, for each component, the geographical coordinates, and / or a dimension or shape, and / or a type, and / or a visibility index from the road. An embedded system (43) according to any one of claims 3 or 4, wherein said set of indications further comprises: • for the barrier class and / or for the traffic light class and / or for the emergency call box class and / or for the audible warning device class: status information indicating whether the component is malfunctioning or operational; and / or • for the barrier class: an angular speed of barrier opening and closing, and / or an angle of inclination of the barrier relative to the horizon when the barrier is in its maximum open or maximum closed position, and / or an angle of the barrier relative to the road alignment on a horizontal plane, and / or a height of the barrier relative to the ground, and / or a duration of lowering and / or opening of the barriers and / or a physical aspect; and / or • for the class of audible warning devices: an indication of the sound frequency and / or the sound intensity and / or variations in frequency or sound intensity and / or the active or inactive status of the warning device; and / or • for the class of traffic lights: an indication of the flashing frequency and / or an indication of synchronization or alternation of flashing relative to another traffic light in the system and / or a physical characteristic; and / or • for the decking class: an indication relating to a physical aspect and / or a material used. Embedded system (43) according to any one of the preceding claims, further configured to extract from said at least one received message or Several geometric information details relating to road traffic lanes (20, 21) and railway tracks (3) intersecting in the level crossing zone (1) and / or to the portions of catenary overhead said level crossing. Embedded system (43) according to any one of the preceding claims, wherein said processing module (47) is configured to assist said at least one detection module (45) in detecting structural features corresponding to one or more pieces of information extracted from said at least one received message.An embedded system (43) according to claim 7, wherein the processing module (47) is further configured to determine an entry boundary and / or an exit boundary and / or the presence of a level crossing and / or an open or closed status of the level crossing based on at least one detected structural feature corresponding to one or more pieces of information extracted from said at least one received message and relating to one or more structural components (5-9) of said signaling and / or protection system. An embedded system (43) according to any one of the preceding claims, wherein said processing module (47) is configured to determine, based on said one or more pieces of information extracted from said at least one received message, whether said at least one exteroceptive sensor (44) and / or said at least one detection module (45) and / or the processing module (47) are capable of managing a level crossing.Embedded system (43) according to any one of the preceding claims, wherein said processing module (47) is configured to determine, on the basis of said one or more pieces of information extracted from said at least one received message, whether said road motor vehicle (4) is authorized, at least in terms of dimensions and / or weight, to cross the level crossing. Fixed infrastructure (10) located in a level crossing area (1) intersecting a road (2), said fixed infrastructure (10) comprising a transmission module (11) configured to transmit messages via wireless communication, said fixed infrastructure (10) being characterized in that the transmission module (11) is capable of including, in at least one message to be transmitted, one or more. information relating to a signalling and / or protection system installed in said area (1) at the level crossing, and / or relating to one or more structural components (5-9) of said signalling and / or protection system.

12. Fixed infrastructure (10) according to claim 11, wherein said one or more pieces of information included in said at least one message to be transmitted includes an indication defining the category of the level crossing on which the signalling and / or protection system is installed.

13. Fixed infrastructure (10) according to any one of claims 11 or 12, wherein said one or more pieces of information included in said at least one message to be transmitted comprises a set of indications relating to the structural components of said signalling and / or protection system, said components belonging to one or more of the following classes: traffic lights, barriers, road marking lines, traffic signs, signalling beacons, level crossing platforms, audible warning devices, emergency call boxes, clearance gantries.

14. Fixed infrastructure (10) according to claim 13, wherein said set of indications comprises for each class, a number of components and / or, for each component, the geographical coordinates, and / or a dimension or shape, and / or a type, and / or a visibility index from the road.

15. Fixed infrastructure (10) according to any one of claims 13 or 14, wherein said set of indications further comprises: • for the barrier class and / or for the traffic light class and / or for the emergency call box class and / or for the audible warning device class: status information indicating whether the component is malfunctioning or operational; and / or • for the barrier class: an angular speed of opening and closing of the barrier, and / or an angle of inclination of the barrier relative to the horizon when the barrier is in the maximum open or maximum closed position, and / or an angle of the barrier relative to the road alignment on a horizontal plane, and / or a height of the barrier relative to the ground, and / or the duration of the lowering and / or opening of the barriers and / or a physical aspect; and / or • for the class of audible warning devices: an indication of the sound frequency and / or the sound intensity and / or variations in frequency or sound intensity and / or the active or inactive status of the warning device; and / or • for the class of traffic lights: an indication of the flashing frequency and / or an indication of synchronicity or alternation of flashing with respect to another traffic light in the system and / or a physical aspect; • for the deck class: an indication relating to a physical aspect and / or to a material used. Fixed infrastructure (10) according to any one of claims 11 to 15, wherein said transmission module (11) is further capable of including in said at least one message to be transmitted one or more geometric information relating to the road traffic lanes (20, 21) and railway tracks (3) intersecting in the level crossing area and / or to the portions of catenary overhead said level crossing.

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