Method and device for storing a new lateral position of a lane-keeping system

Abstract

The invention relates to a method and a device for storing a new lateral position of a lane-keeping system of an autonomous vehicle, the system being activated, the method being implemented by a processor and comprising the steps of: - receiving (401) a lateral position with respect to a traffic lane in which the vehicle is driving, the lane comprising a left demarcation on a left-hand side of the lane, and a right demarcation on a right-hand side of the lane; - receiving (402) a first signal indicating a first side of the lane; - if, over a predetermined time after receiving the first signal, a second signal indicating the same first side is received (403), the new lateral position is stored (404) as a function of the received lateral position; the method being characterised in that: - the first signal is transmitted by a first human-machine interface, and the second signal is transmitted by a second human-machine interface, the second human-machine interface being different from the first human-machine interface; and - the new lateral position is used by the lane-keeping system.

Description

DESCRIPTION TITLE: Method and device for memorizing a new lateral position of a lane keeping system The present invention claims priority from French application 2306643 filed on 06 / 26 / 2023, the content of which (text, drawings and claims) is incorporated herein by reference. Technical field of the invention

[0001] The invention relates to the field of autonomous vehicle driving assistance systems. In particular, the invention relates to a method and device for storing a new lateral position of a lane keeping system of an autonomous vehicle. State of the art

[0002] A "vehicle" means any type of vehicle such as a motor vehicle, a moped, a motorcycle, a storage robot in a warehouse, etc. "Autonomous driving" of an "autonomous vehicle" means any process capable of assisting the driving of the vehicle. The process may thus consist of partially or totally steering the vehicle or providing any type of assistance to a natural person driving the vehicle. The process thus covers all autonomous driving, from level 0 to level 5 in the OICA scale, for International Organization of Motor Vehicle Manufacturers.

[0003] Systems that assist vehicle driving are also called ADAS (Advanced Driver Assistance Systems), ADAS systems, or driver assistance systems. Lane Keeping Assist, also known as LPA, is a well-known ADAS function.

[0004] The LPA system identifies the boundaries of a traffic lane on which the vehicle is traveling. LPA steers the vehicle within this lane to maintain a lateral position chosen by the driver. To do this, the system uses a camera located on the upper part of the windshield. The system is activated by pressing a dedicated button, the button being close to the driver of the vehicle.

[0005] Upon activation, the LPA system determines the lateral position chosen by the driver. This position is not necessarily the center of the lane. The lateral position is a lateral deviation from one of the lane boundaries, the left boundary and the right boundary. If the driver activates the LPA when the vehicle is, for example, ten centimeters from the right lane boundary, the LPA system will keep the vehicle 10 centimeters from the right lane boundary.

[0006] As soon as the LPA regulation is activated, a green pictogram is displayed on a display device. Said pictogram represents the left and right boundaries of the lane. Also, the regulation, by small actions on the steering, directs the vehicle and maintains it in the position chosen by the driver, in the traffic lane.

[0007] The driver must hold the steering wheel correctly. The driver must exert a torque on the steering wheel below a predetermined threshold in order for the LPA system to perceive the steering wheel movements. At any time, by exerting a torque on the steering wheel above the predetermined threshold, the driver can modify the position of the vehicle by acting on the steering wheel and define a new lateral position. The predetermined threshold depends on the vehicle (size, weight, etc.) and the vehicle speed. For example, this threshold, expressed in steering wheel torque, varies from 1 to 1.2 Nm. As soon as the driver considers that the position of the vehicle is suitable, while keeping their hands on the steering wheel, they must release the force to let the system determine this new position. A released force corresponds to approximately -0.2 Nm compared to the predetermined threshold.However, for drivers who hold the steering wheel very rigidly (close to the predetermined threshold), the system often determines new lateral positions that cause unintentional decentering relative to the lane center. In addition, the level of the predetermined threshold is not known by the driver. Also, in certain situations such as those that generate a lateral force on the vehicle, for example a sloping road or lateral acceleration, a measurement of a force on the steering wheel by the driver is biased. Drivers do not understand why sometimes a new position is memorized and sometimes it is not.

[0008] Also known, for example from FR 3 122 391 A1, are devices for monitoring an occupant of a vehicle, in particular devices for analyzing the driver's gaze and monitoring their attention. These devices are capable of determining the direction of the gaze and determining an area focused by the driver's gaze. This area may be a location located on the driver's seat, such as a predetermined area of ​​a display. This area may also be a location outside the vehicle such as a vehicle traveling in front of the vehicle, a speed limit sign, a left or right side of the lane, a left or right delimitation of the lane in front of the vehicle, etc. These devices are capable of determining one or more attributes related to the focused area. For example, these attributes may be a left or right side of a lane.

[0009] Document FR 3 121 898 A1 discloses a mode of autonomous driving of a vehicle with manual intervention by the driver on the lateral steering. Document US 2012 / 166032 A1 discloses a system and a method for providing adaptive lane centering in an autonomous or semi-autonomous vehicle driving system. Document US2009 / 299573 A1 discloses systems, methods and devices for adaptive steering control of motor vehicles. Summary of the invention

[0010] An object of the present invention is to remedy the aforementioned problem, in particular to allow normal operation of an LPA system when the driver holds the steering wheel too rigidly, the activation of a memorization of a new lateral position is carried out only at opportune moments.

[0011] To this end, a first aspect of the invention relates to a method for storing a new lateral position of a lane keeping system of an autonomous vehicle, said system being activated, said method being implemented by a processor and comprising the steps of: - Receiving a lateral position relative to a traffic lane in which said vehicle is traveling, said lane comprising a left delimitation on a left side of the lane, and a right delimitation on a right side of the lane; - Reception of a first signal indicating a first side of the track; - If, within a predetermined period from said reception of said first signal, a second signal indicating the same first side is received, the new lateral position is stored according to said received lateral position.

[0012] The new lateral position is used by the lane keeping system. This means that a new lateral position is determined less frequently, more reliably, and deterministically. This prevents unintentional decentering, particularly when a driver holds the steering wheel too rigidly, or in certain situations that cause lateral force on the vehicle.

[0013] Advantageously, said first signal is transmitted by a first human-machine interface, and said second signal is transmitted by a second human-machine interface, said second human-machine interface being different from said first human-machine interface.

[0014] Thus, the new lateral position is memorized only upon interaction with one person. Memorization is made reliable by receiving signals from two different means.

[0015] Advantageously, a human-machine interface is a button, a touch screen, a steering wheel or a control located near said steering wheel.

[0016] Therefore, it is not necessarily necessary to exert an effort on the steering wheel greater than a predetermined threshold to trigger memorization.

[0017] Advantageously, said second signal is transmitted from a device for analyzing a gaze of a driver of said vehicle, said device being capable of determining a left or right side of the traffic lane from an area focused by said gaze.

[0018] Thus, the gaze specifies the operating context. The driver does not have to let go of the steering wheel to trigger memorization of the new lateral position. By focusing his gaze on a first predetermined zone, the driver indicates a first side of the lane. By focusing on a second predetermined area, the driver indicates a second side of the lane.

[0019] Advantageously, said focused area is an area of ​​a display, by a display device, of an operation of said system.

[0020] Advantageously, said method further comprises a step of transmitting a signal to said display device, said signal comprising information requesting highlighting of the focused area.

[0021] This gives the driver visual feedback of the determined focus area.

[0022] Advantageously, said focused area is a left delimitation or a right delimitation of the traffic lane.

[0023] This allows the driver to maintain his attention and gaze on the road.

[0024] A second aspect of the invention relates to a device comprising a lane keeping system and a memory associated with at least one processor configured to implement the method according to the first aspect of the invention, said device being able to comprise a first and a second human-machine interface, and / or a device for analyzing a look of a driver of the vehicle.

[0025] The invention also relates to a vehicle comprising the device.

[0026] The invention also relates to a computer program comprising instructions which, when the program is executed by the device according to the second aspect of the invention, cause the latter to implement the method according to the first aspect of the invention. Brief description of the figures

[0027] Other characteristics and advantages of the invention will emerge from the description of the non-limiting embodiments of the invention below, with reference to the appended figures, in which:

[0028] [Fig. 1] schematically illustrates a device, according to a particular exemplary embodiment of the present invention.

[0029] [Fig. 2] schematically illustrates a display of an operation of a lane keeping system by a display device, according to a particular exemplary embodiment of the present invention.

[0030] [Fig. 3] schematically illustrates areas of the display of [Fig. 2] that may be focused, according to a particular exemplary embodiment of the present invention.

[0031] [Fig. 4] schematically illustrates a method for memorizing a new lateral position of a lane keeping system of an autonomous vehicle, according to a particular exemplary embodiment of the present invention. Detailed description of the invention

[0032] The invention is described below in its non-limiting application to the case of an autonomous motor vehicle traveling on a road or on a traffic lane. Other applications such as a robot in a storage warehouse or a motorcycle on a country road are also conceivable.

[0033] Figure 1 represents an example of a device 101 included in the vehicle, in a network (“cloud”) or in a server. This device 101 can be used as a centralized device in charge of at least certain steps of the method described below with reference to Figure 4. In one embodiment, it corresponds to an autonomous driving computer.

[0034] In the present invention, the device 101 is included in the vehicle.

[0035] This device 101 can take the form of a box comprising printed circuits, any type of computer or even a mobile telephone (“smartphone”).

[0036] The device 101 comprises a random access memory 102 for storing instructions for the implementation by a processor 103 of at least one step of the method as described below. The device also comprises a mass memory 104 for storing data intended to be retained after the implementation of the method.

[0037] The device 101 may further comprise a digital signal processor (DSP) 105. This DSP 105 receives data to format, demodulate and amplify, in a manner known per se, this data.

[0038] The device 101 also comprises an input interface 106 for receiving the data implemented by the method according to the invention and an output interface 107 for transmitting the data implemented by the method according to the invention.

[0039] For example, the input interface 106 can receive the following data: position or geographical location of the vehicle, speed and / or acceleration of the vehicle, set or predetermined positions / speeds / accelerations, engine speed, position and / or travel of the clutch, brake and / or acceleration pedal, detection of other vehicles or objects, position or geographical location of the other vehicles or objects detected, speed and / or acceleration of the other vehicles or objects detected, operating states of sensors, confidence index of data from or processed by sensors and / or devices similar to the device 101. For example, the sensors capable of providing data are: GPS associated or not with mapping, tachometers, accelerometers, RADAR, LIDAR, lasers, ultrasound, camera, device for analyzing a gaze, etc.

[0040] In an exemplary embodiment, the input interface receives a lateral position relative to a traffic lane in which the vehicle is traveling, a first signal indicating a first side of the lane, a predetermined duration from said reception of said first signal, a second signal indicating the same first side is received, ...

[0041] For example, the output interface 107 can transmit data similar to the data received by the input interface 106. The output interface 107 can transmit a new lateral position to be stored, a signal comprising information requesting the highlighting of a focused area determination, ...

[0042] [Fig. 2] schematically illustrates a display 201 of an operation of a lane keeping system by a display device of a vehicle, according to a particular exemplary embodiment of the present invention. In this example, the display also comprises displays of pictograms of an ADAS function of the adaptive cruise control type.

[0043] A speed limit 202, a target speed 203 chosen by the driver are displayed, the target speed being taken into account by the cruise control, and a vehicle 204 detected by a cruise control system.

[0044] Also displayed are a left demarcation 205 of a traffic lane on which the vehicle is traveling, and a right demarcation 206 of the lane. When a lane position maintenance function or system, also called LPA or LPA system, is activated, the left demarcation 205, respectively right demarcation 206, is displayed in green if the LPA system has determined the presence of a left demarcation, respectively right demarcation, on the lane.

[0045] [Fig. 3] schematically illustrates areas of the display of [Fig. 2] that may be focused, according to a particular exemplary embodiment of the present invention.

[0046] The white frame 301 illustrates a first area that can be focused by the driver's gaze. The white frame 302 illustrates a second area that can be focused by the driver's gaze.

[0047] In this example, the first zone 301 is a zone representing a left delimitation of the lane. The second zone 302 is a zone representing a right delimitation of the lane. When the display device receives a signal requesting to highlight the left, respectively right, delimitation of the lane, the device, for example, can display the white frame of the zone 301, respectively of the zone 302, display in a color other than green the left delimitation 205, respectively right 206. The white frame can take any other geometric shape as long as a major part of the representation of the delimitation of the lane is surrounded.

[0048] [Fig. 4] schematically illustrates a method for storing a new lateral position of a lane keeping system of an autonomous vehicle, according to a particular embodiment of the present invention. Said vehicle comprises a lane keeping system of an autonomous vehicle (LPA). The LPA is activated. The new lateral position is used by the lane keeping system.

[0049] Step 401, RxP, is a step of receiving a lateral position relative to a traffic lane in which said vehicle is traveling, said lane comprising a left boundary on a left side of the track, and a right boundary on a right side of the track.

[0050] An LPA system, through its sensors or other vehicle sensors, is able to determine the lane on which the vehicle is traveling. With the LPA system activated, the LPA system is able to identify and determine the presence of a left lane boundary and a right lane boundary. This presence can also be determined from image processing of an on-board camera at the top of a vehicle windshield.

[0051] Step 402, RX1, is a step of receiving a first signal indicating a first side of the lane. The first side of the lane may be a left side or a right side. Different sensors present on board the vehicle or devices similar to the device 101 may transmit this information.

[0052] In a preferred mode of operation, said first signal is transmitted by a first human-machine interface. Thus, following a predetermined interaction with a person, the person chooses a left side or a right side.

[0053] Advantageously, a human-machine interface is a button, a touch screen, a steering wheel or a control located near said steering wheel.

[0054] The button does not have to be a button dedicated solely to the LPA system. The button can be a button for another ADAS system, for example, the button can have multiple states, including one state indicating no actuation, one state indicating the left side, and another state indicating the right side. It can also have multiple buttons, one to indicate the left side when that button is actuated by the driver, and another to indicate the right side when that another button is actuated by the driver. A touchscreen can also simulate these button actuations.

[0055] The steering wheel is also a human-machine interface. When the driver turns the steering wheel to the left, it indicates the left side of the lane, and when the driver turns the steering wheel to the right, it indicates the right side of the lane. Very naturally, without letting go of the steering wheel, the driver, who wants to memorize another position in the lane, must turn the steering wheel to put the vehicle in a new position.

[0056] Advantageously, a control located near the steering wheel is an actuator capable of delivering a signal. A steering wheel is a control, a button is a control, a touch input on a touchscreen is a control.

[0057] Step 403, Rx2, is a step of receiving a second signal, the second signal indicating the same first side as the side indicated by the first signal in step 402. Said second signal must be received over a predetermined duration from said reception of said first signal. Thus, for step 403 not to step 404, a delay, of the predetermined duration, must be respected between the last reception of said first signal and the first reception of said second signal. This duration is of the order of 0.1 seconds to 2 seconds. Other values ​​are possible. If, over a predetermined duration from said reception of said first signal, a second signal indicating the same first side is received (403), we move on to step 404.

[0058] Advantageously, said second signal is transmitted from a device for analyzing a gaze of a driver of said vehicle, said device being capable of determining a left or right side of the traffic lane from an area focused by said gaze. The device for analyzing the driver's gaze is capable of determining the direction of the driver's gaze. Associated with maps, this device is capable of determining a zone. A zone represents a delimited region or space. Depending on the area focused by the driver's gaze, for example the left side or the right side relative to the normal longitudinal axis of normal advance of the vehicle, the gaze analysis device is capable of determining a left side and a right side. This determination is transmitted by a signal, here called the second signal, to the device 101 which receives this second signal.

[0059] Advantageously, said focused area is an area of ​​the display 201, by a display device, of an operation of said system. If the gaze analysis device determines that the area focused by the gaze is the area 301, then the gaze analysis device emits a signal to said device 101, said signal indicating the left side of the lane. If the gaze analysis device determines that the area focused by the gaze is the area 302, then the gaze analysis device emits a signal to said device 101, said signal indicating the right side of the lane.

[0060] When the determined focused area is area 301 or 302, advantageously, said method further comprises a step of transmitting a signal to said display device, said signal comprising information requesting highlighting of the focused area.

[0061] Advantageously, said focused area is a left delimitation or a right delimitation of the traffic lane. In this case, the driver's gaze is towards the front of the vehicle, in the normal direction of travel of the vehicle. Since the LPA system is activated, the LPA system is able to determine a position of the left delimitation and the right delimitation of the lane of the road on which the vehicle is traveling. The gaze analysis device is then able to determine whether the driver is focusing his gaze on the left or right delimitation of the lane. Also, the gaze analysis device is able to determine whether the driver's gaze is on the left or right side relative to the longitudinal axis of normal travel of the vehicle. If the gaze is on the left side, the gaze analysis device determines a focus of the driver's gaze on the left delimitation of the lane.If the gaze is on the right side, the gaze analysis device determines that the driver's gaze is focused on the right lane boundary.

[0062] Step 404, MemP, is a step in which the new lateral position is memorized (404) as a function of said received lateral position. In this case, the driver has clearly expressed his need to have a lateral position memorized by the LPA system. The new lateral position is the last measured lateral position. In one operating mode, the last lateral position is a function of the last measured lateral positions. For example, the function of the last measured lateral positions is a filtering function to smooth the measurements.

[0063] The present invention is not limited to the embodiments described above as examples: it extends to other variants.

[0064] For example, the process has been described according to a sequence of steps. Some steps can be carried out in parallel or in a different sequence.

Claims

CLAIMS 1. Method for storing a new lateral position of a lane keeping system of an autonomous vehicle, said system being activated, said method being implemented by a processor (103) and comprising the steps of: - Receiving (401) a lateral position relative to a traffic lane in which said vehicle is traveling, said lane comprising a left delimitation on a left side of the lane, and a right delimitation on a right side of the lane; - Receiving (402) a first signal indicating a first side of the track; - If, within a predetermined period from said reception of said first signal, a second signal indicating the same first side is received (403), the new lateral position is stored (404) as a function of said received lateral position; said method being characterized in that - said first signal is transmitted by a first human-machine interface, and said second signal is transmitted by a second human-machine interface, said second human-machine interface being different from said first human-machine interface; - said new lateral position is used by said lane keeping system.

2. Method according to the preceding claim, in which a human-machine interface is a button, a touch screen, a steering wheel or a control located close to said steering wheel.

3. Method according to one of the preceding claims, in which said second signal is transmitted from a device for analyzing a gaze of a driver of said vehicle, said device being capable of determining a left or right side of the traffic lane from an area focused by said gaze.

4. The method of claim 3, wherein said focused area is an area of ​​a display, by a display device, of an operation of said system.

5. Method according to claim 4, wherein said method further comprises a step of transmitting a signal to said display device, said signal comprising information requesting highlighting of the focused area.

6. Method according to one of claims 3 to 5, in which said focused area is a left delimitation or a right delimitation of the traffic lane.

7. Device (101) comprising a lane keeping system and a memory (102) associated with at least one processor (103) configured to implement the method according to claim 1, said device further comprising a first and a second human-machine interface when the processor implements the method according to one of claims 1 to 2, and said device (101) further comprising the gaze analysis device when the processor implements the method according to one of claims 3 to 6.

8. Vehicle comprising the device according to the preceding claim.

9. Computer program comprising instructions which, when the program is executed by the device (101) according to claim 7, cause the latter to implement the method according to one of claims 1 to 6.

Images