Method for supervising automated vehicles at a public transport station, and associated device and system
Patent Information
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2024-04-12
- Publication Date
- 2026-04-08
AI Technical Summary
Automated vehicles face complexity and expense in prioritizing traffic when a public transport vehicle leaves a station, as they must recognize and respond to driver actions and maintain safe exit protocols.
A method using an electronic supervision device that communicates via radio frequency to instruct nearby automated vehicles to stop or depart, ensuring the public transport vehicle can exit the station safely by identifying and managing the fleet's location and actions.
Simplifies the automation of public transport vehicle departures by efficiently managing traffic priority through electronic supervision, allowing vehicles to exit stations without human intervention.
Smart Images
Figure FR2024050480_05122024_PF_FP_ABST
Abstract
Description
[0001] DESCRIPTION
[0002] TITLE OF THE INVENTION: Method for supervising automated vehicles at a public transport station, associated device and system.
[0003] The present invention claims priority from French application 2305267 filed on 05 / 26 / 2023, the content of which (text, drawings and claims) is incorporated herein by reference.
[0004] [0001 .] The invention relates to automated (in other words: autonomous) motor vehicles.
[0005] [0002.] In a situation where a public transport vehicle leaves a public transport station, in one direction of travel, another vehicle, traveling upstream of the public transport vehicle, in the direction of travel, must give priority to the public transport vehicle when it leaves the station.
[0006] [0003.] Taking such a situation into account by an automated vehicle is particularly complex and costly.
[0007] [0004.] To overcome this drawback, the invention relates to a method for supervising a fleet of automated motor vehicles, characterized in that it comprises the following steps, implemented, for example, by an electronic supervision device:
[0008] - Receiving, from a public transport vehicle (e.g., a bus or a shared car) located at a (public transport) station, via radio frequency communication, information indicating that (in other words: that a) the public transport vehicle has detected an action by a driver of the public transport vehicle on a driving command of the public transport vehicle.
[0009] - Upon (in other words: following) receipt of the information:
[0010] - Sending a first instruction (for implementation by the at least one automated motor vehicle), via radio frequency communication, to at least one automated motor vehicle of the fleet, traveling in a direction of travel, located upstream of the (public transport) station in the direction of travel (the automated automatic vehicle being located, for example, less than a predetermined distance (for example between 0 meters and 500 meters) from the station or the motor public transport vehicle), the first instruction comprising a stop (in other words;a stop instruction) of the at least one automated motor vehicle upstream of the motor public transport vehicle in the direction of travel (in other words: the first instruction comprising a stop of the at least one automated motor vehicle, the at least one automated motor vehicle marking the stop when it implements the first instruction), so as to allow the motor public transport vehicle to leave the (public transport) station (and the method may comprise a step where the at least one automated motor vehicle marks the stop upstream of the motor public transport vehicle, upon receipt of the first instruction, via radio frequency communication (upon implementation of the stop instruction by the at least one automated motor vehicle)),;
[0011] [0005.] Thanks to the invention, the automation of situations where a motor vehicle leaves a public transport station is thus simplified.
[0012] [0006.] According to one embodiment, the action on the driving control indicates that the motor vehicle is leaving the station.
[0013] [0007.] It is extended, for example, that a vehicle is upstream of a geographical location, in the direction of traffic, if the shortest trajectory in the direction of traffic, on a roadway, between the vehicle and the geographical location, is also the shortest trajectory, between the vehicle and the geographical location, on the roadway, in all directions of traffic.
[0014] [0008.] The electronic supervision device is for example a server. [0009.] The radiofrequency communication is for example a mobile telephone communication. Alternatively, it may be other types of radiofrequency communication, for example a communication according to the so-called “WIFI” protocol.
[0015] [0010.] A public transport station (or bus stop) is a place, for example indicated by road markings and / or signs, where the motor public transport vehicle stops and where users board and disembark the motor public transport vehicle.
[0016] [0011.] The station may be a notch station, i.e. comprising a notch in a roadway on which the motor public transport vehicle parks when users board and / or disembark the motor public transport vehicle. Such a notch may not be present.
[0017] [0012.] For example, the automated motor public transport vehicle or the automated motor vehicle is performing a mission when it receives the first instruction and / or the third instruction according to the invention. The first instruction and / or the third instruction may be, for example, an update (or modification) of this mission or a new mission.
[0018] [0013.] For example, a vehicle is understood to be automated by the fact that the vehicle can travel or travels without any (human) driver. An automated vehicle may comprise a driving device configured to drive the vehicle (automatically) based on an instruction (e.g., the first, second or third instruction) or a mission. The vehicle can thus implement the mission or instruction automatically.
[0019] [0014.] According to one embodiment, the motor public transport vehicle and the automated motor vehicles of the fleet travel on a route where all the vehicles traveling are vehicles supervised by the electronic supervision device (for example are automated vehicles of the fleet) or the motor public transport vehicle. The invention therefore also relates to such a route.
[0020] [0015.] The step of sending a first instruction may comprise a step of searching for the at least one motor vehicle in the fleet from a location of the automated motor vehicles of the fleet. For example, the electronic supervision device may store (and maintain) a list comprising a geographical location of the automated motor vehicles of the fleet (received from the automated motor vehicles of the fleet), and the searching step may comprise a search, in the list, for the automated motor vehicles located less than a predetermined distance (for example between 0 meters and 500 meters) from the station or the motor public transport vehicle and upstream of the station of the motor public transport vehicle in the direction of travel. These automated motor vehicles constitute said at least one automated motor vehicle.
[0021] [0016.] Alternatively, the electronic supervision device receives an identifier of at least one automated motor vehicle from a road infrastructure which detects, upstream of the station, said at least one automated motor vehicle in the vicinity of the station.
[0022] [0017.] The stop is for example located at a distance of between 1 meter and 50 meters (or alternatively, more than 50 meters or between 0 and 1 meter), upstream of the motor public transport vehicle or the station, in the direction of travel, which may be sufficient to allow the motor public transport vehicle to leave the station.
[0023] [0018.] According to one embodiment, the method further comprises a step of sending an acknowledgment message to the public transport vehicle, via radio frequency communication upon receipt of the information.
[0024] [0019.] Sending the first instruction is preferably implemented before sending the acknowledgment message.
[0025] [0020.] According to one embodiment, the method further comprises a step of receiving, from the at least one automated motor vehicle, via radio communication, a first acknowledgment of the sending of the first instruction, the sending of the acknowledgment message being implemented upon (in other words; following) the receipt of the first acknowledgment. [0021.] Alternatively, the sending of the acknowledgment message is implemented without waiting for an acknowledgment.
[0026] [0022.] According to one embodiment, the method further comprises the following steps, implemented following the sending of the acknowledgment message:
[0027] - Receiving a third status indicating that the motor transit vehicle has left the station, from the motor transit vehicle, via radio communication, then
[0028] - Upon (following) receipt of the third state, sending a third instruction (for implementation by the at least one automated motor vehicle), via radio communication, to said at least one automated motor vehicle, the third instruction comprising a departure of the at least one automated motor vehicle (following the stop) (in other words: the third instruction comprising a departure of the at least one automated motor vehicle, the at least one automated motor vehicle starting again after the stop when it implements the third instruction) (and the method may comprise a step of implementation of the third instruction by the at least one automated motor vehicle).
[0029] [0023.] The first instruction and / or the third instruction may, for example, further comprise a route to be taken by the vehicle, a speed and / or a destination.
[0030] [0024.] The first state (respectively the third state) may further indicate, for example, a geographical location, a driving speed, a fuel level or an electrical charge level of the automated motor vehicle (respectively the motor public transport vehicle), and / or information according to which the automated motor vehicle (respectively the motor public transport vehicle) has completed an instruction or a mission.
[0031] [0025.] For example, the third state may preferably include a geographical location, the public transport vehicle having left the station if it is located at a distance greater than a threshold (for example between 1 meter and 50 meters).
[0032] [0026.] Alternatively, the first instruction comprises a departure of the automated vehicle following the elapse of a predetermined duration since stopping.
[0033] [0027.] The invention also relates to a supervision system comprising:
[0034] - The electronic supervision device according to the invention,
[0035] - The (in other words: One) at least one automated motor vehicle (of the fleet), the at least one automated motor vehicle being configured to receive, via radio communication, the first instruction, from the electronic supervision device, and to implement (in other words: execute) the first instruction (automatically),
[0036] - The (otherwise known as: A) motor public transport vehicle, the motor public transport vehicle being configured to:
[0037] - Detect an action by a driver of the public transport vehicle on a driving control (for example a manual actuator) of the motor public transport vehicle,
[0038] - Upon detection of the driver's action, send the information to the electronic supervision device, via radio communication,
[0039] [0028.] According to one embodiment, the motor public transport vehicle is configured to implement the following steps:
[0040] - Receive the acknowledgment message, via radio frequency communication, from the electronic supervision device,
[0041] - Upon receipt of an acknowledgment message, return a departure authorization message (for example in the passenger compartment of the public transport vehicle).
[0042] [0029.] For example, the acknowledgment message is displayed on a screen inside the vehicle's passenger compartment. [0030.] For example, the command has a function in addition to triggering the sending of the information.
[0043] [0031.] For example, the action controls the activation of a turn signal light (turn indicator) of the motor transit vehicle (located outside the motor transit vehicle).
[0044] [0032.] Alternatively, the action controls acceleration or the release of a parking brake of the motor public transport vehicle.
[0045] [0033.] For example, the action is an action on a joystick, lever, button, or pedal. Alternatively, the action may be detected by recognizing the voice or gaze of the vehicle driver.
[0046] [0034.] The invention also relates to a computer program comprising instructions, executable by a microprocessor or a microcontroller or a computer, for implementing the steps of the method according to the invention, when it is executed by the microprocessor or the microcontroller or the computer.
[0047] [0035.] The method according to the invention can be implemented by an electronic supervision device. The invention therefore also relates to an electronic supervision device configured to implement the steps of the method according to the invention.
[0048] [0036.] The characteristics and advantages of the computer program, the electronic supervision device, and the supervision system are identical or similar to those of the method according to the invention (without it being necessary to repeat them here).
[0049] [0037.] It is understood that the electronic supervision device, the at least one automated motor vehicle, the motor public transport vehicle or another element is “configured to” (or “capable of”) carrying out or implementing a step or an operation, by the fact that the element comprises means for (in other words “conformed to” or “adapted to”) carrying out the step or the operation. These are preferably electronic means, for example a computer program, data in memory, specialized electronic circuits, wired or wireless connections, a microprocessor and / or a microcontroller. They may also be micromechanical, mechanical or optical means.
[0050] [0038.] When a step or operation is carried out (in other words: implemented) by such an element, this generally implies that the element includes means for carrying out the step or operation.
[0051] [0039.] Other characteristics and advantages of the present invention will appear more clearly on reading the detailed description which follows, comprising embodiments of the invention given as non-limiting examples and illustrated by the appended drawings, in which:
[0052] - [Fig. 1] represents a supervision system and an electronic device according to one embodiment of the invention.
[0053] - [Fig. 2] represents an implementation of the method according to the invention, according to a first exemplary embodiment, by the supervision system and the electronic device of figure 1.
[0054] [0040.] In Figure 1, certain elements are, of course, seen through transparency.
[0055] [0041 .] Detailed description of an exemplary embodiment of the invention.
[0056] [0042.] Figure 1 represents a supervision system 1000 comprising a shared car 300, an electronic supervision device 100, and an automated motor vehicle 200. In a particularly relevant variant according to the invention, the shared car 300 can be a bus.
[0057] [0043.] With reference to Figures 1 and 2, in step S00, the shared car 300 stops in the notched station 430, indicated by floor markings 410 and signs (not shown) and where users board and disembark the shared car 300.
[0058] [0044.] In step S10, the shared car 300 detects an action on a lever (not shown) by a driver of the shared car 300. For example, the action controls the activation of the direction indicator lights 311 and 312 of the shared car 300. [0045.] In step S20, the shared car 300 transmits to the electronic supervision device 100, information indicating that the shared car 300 has detected the action of the driver of the shared car 300.
[0059] [0046.] In step S40, the electronic supervision device 100 receives the information.
[0060] [0047.] According to one embodiment, the shared car 300 and the automated motor vehicles 200 and 600 travel on a route where all the vehicles traveling are vehicles supervised by the electronic supervision device 100 or vehicles having the same characteristics according to the invention as the shared car 300.
[0061] [0048.] The electronic supervision device maintains, for example, a list 110 comprising a geographical location of the automated motor vehicles in the fleet (received from the automated motor vehicles in the fleet via the mobile telephone network 500).
[0062] [0049.] In step S50, the electronic supervision device 100 (for example a server) searches in the list 110 for the automated motor vehicles located upstream of the station 430 in the direction of circulation 420 and less than 250 meters from the station 430.
[0063] [0050.] In Figure 1, for example, this is an automated vehicle 200. The automated vehicle 600 is downstream in the direction of travel 420.
[0064] [0051.] In step S60, the electronic supervision device sends to the motor vehicle 200, via the mobile telephone network 500, a first instruction comprising the stopping STOP1 of the vehicle 200.
[0065] [0052.] In step S70, the automated vehicle 200 receives the first instruction and sends a first acknowledgment of receipt to the electronic supervision device 100, via the mobile telephone network 500.
[0066] [0053.] The automated motor vehicle 200 then marks the STOP1 stop at the appropriate time (i.e. when the automated motor vehicle reaches the STOP1 position). [0054.] In step S80, the electronic supervision device receives the first acknowledgment of receipt (as well as, for example, the geographical location of the automated motor vehicle 200, obtained, for example, by a satellite location module of the automated motor vehicle 200, for example of the so-called “GPS” type) via the mobile telephone network 500, and then sends, via the mobile telephone network 500, to the shared car 300, an acknowledgment message.
[0067] [0055.] In step S90, the shared car 300 receives an acknowledgment message and displays, in step S100, on a screen located in the passenger compartment of the shared car 300, the message “Automated traffic secure, you can leave your station”.
[0068] [0056.] In step S110, the driver of the shared car 300 drives the shared car 300 to leave the station 430, towards a predetermined destination and the shared car 300 communicates, via the mobile telephone network 500, a third state to the electronic supervision device 100 indicating that the shared car 300 has left the station 430. The third state is for example determined by the shared car 300, for example from its location (obtained for example by a satellite location module of the shared car, for example of the so-called “GPS” type).
[0069] [0057.] In step S120, the supervisory device receives the third state and in step S130 sends, via the telephone network 500, to the automated motor vehicle 200, the third instruction comprising a departure of the automated motor vehicle 200 from the stop STOP1.
[0070] [0058.] Alternatively, depending on the traffic conditions, it may be that, at this stage, the automated motor vehicle 200 has not yet arrived at STOP1. In this case, the third instruction would be a cancellation of the stop instruction at point STOP1.
[0071] [0059.] In step S140, the automated motor vehicle 200 leaves the stop STOP1 and executes the third instruction automatically, towards the predetermined destination.
Claims
CLAIMS
1. Method for supervising a fleet of automated motor vehicles characterized in that it comprises the following steps: - Reception (S40), from a public transport vehicle (300) located at a station (430), via radio frequency communication (500), of information indicating that the public transport vehicle has detected an action by a driver of the public transport vehicle on a driving command of the public transport vehicle, - Upon receipt of the information: - Sending a first instruction, (S60), via radio frequency communication (500), to at least one automated motor vehicle (200) of the fleet, traveling in a direction of travel (430), located upstream of the station (430) in the direction of travel (420), the first instruction comprising a stop (STOP1) of the at least one automated motor vehicle (200) upstream of the public transport vehicle (200) in the direction of travel (420).
2. Supervision method according to claim 1 further comprising a step of sending an acknowledgment message to the public transport vehicle (300) via radio frequency communication (500).
3. Supervision method according to claim 1 further comprising a step of receiving, from the automated motor vehicle (200), via a radio communication (500), a first acknowledgment of the sending of the first instruction, the sending of the acknowledgment message (S80) being implemented upon receipt of the first acknowledgment.
4. Supervision method according to any one of the preceding claims, further comprising the following steps, implemented following the sending of the acknowledgment message: - Receipt of a third status (S100) indicating that the public transport vehicle (300) has left the station (430), from the vehicle of automobile public transport (300), via radio communication (500), then - Upon receipt of the third state (S120), sending a third instruction (S130), via radio communication (500), to said at least one automated motor vehicle (200), the third instruction comprising a departure of the automated motor vehicle.
5. Computer program comprising instructions, executable by a microprocessor or a microcontroller, for implementing the method according to any one of claims 1 to 4, when executed by the microprocessor or the microcontroller.
6. Electronic supervision device (100) configured to implement the steps of the method according to any one of claims 1 to 4.
7. Supervision system comprising: - The electronic supervision device (100) according to claim 6, - The automated motor vehicle (200), the automated motor vehicle (200) being configured to receive (S70), via a radio communication (500), the first instruction, from the electronic supervision device (100), and to implement the first instruction, - The motor public transport vehicle (300), the motor public transport vehicle (300) being configured to: - Detecting an action of a driver (S10) of the motor public transport vehicle (300) on a driving command of the motor public transport vehicle (300), - Upon detection of the driver's action (S10), send (S20) the information to the electronic supervision device (100), via radio communication (500). [Claim s] Supervision system (1000) according to the preceding claim in which: The electronic supervision device (100) is configured to implement the steps of the method according to any one of claims 2 to 4 taken as a dependency of claim 2, - The motorized public transport vehicle (300) is configured to implement the following steps: - Receive the acknowledgment message (S90), via radio frequency communication (500), from the electronic supervision device (100), - On receipt of an acknowledgment message (S90), return a departure authorization message (S100).
9. Supervision system (1000) according to claim 7 or 8 in which the action controls the activation of a turn signal light (311, 312) of the motor public transport vehicle (300).