Systems for detecting a change in road type

Abstract

A system for detecting a change in the type of road on which a vehicle (1) is traveling, this system comprising: - a driver assistance device associated with a first type of road; - a navigation device capable of providing, for a position of the vehicle (1) on a road (6), a road type at a first and a second point (P1, P2) of the road (6) downstream of the vehicle (1); - a control unit configured to detect a change in the type of road from the first type of road (t1) at the first point (P1) to a second type of road (t2) at the second point (P2); generating, when this control unit detects said change, a preventive alert to deactivate the driver assistance device when the vehicle (1) is in a section (7) of road upstream of the second point (P2). Figure for the abbreviation: Fig. 2

Description

Title of the invention: Systems for detecting a change in road type

[0001] The present invention relates to the driving assistance or automatic driving functions of a motor vehicle suitable for traffic on a particular type of road, and more particularly to the methods and systems allowing appropriate use of these functions with regard to a change in the type of road on which a motor vehicle is traveling.

[0002] Driver assistance or autonomous driving systems are configured to control the speed and / or position of the motor vehicle within a lane of the road. To do this, these systems use perception data provided by on-board sensors (such as cameras, radar, lidar, or vehicle communication modules) and / or map data provided by a navigation device. This data includes, among other things, the type of road the motor vehicle is traveling on. Indeed, some driver assistance or autonomous driving functions are only suitable for driving on a particular type of road, notably a highway or motorway.

[0003] However, current approaches to detecting a change in the type of road on which a motor vehicle is traveling are not without drawbacks.

[0004] The detection of a change in road type using a front camera is severely limited by the camera's field of view, which can be further reduced in adverse weather, lighting, or traffic conditions. Generally, the detection of a change in road type by means of perceiving the vehicle's environment (such as a highway end sign or road markings) can be compromised by certain atmospheric conditions (fog, for example) and / or when the sensors used are obscured, for example, by the presence of other vehicles.

[0005] Similarly, an imperfect match between the road map data and the actual location of the motor vehicle could lead to the activation or maintenance of a driver assistance or autonomous driving function on a section of road which is not suitable for this function.

[0006] More generally, the non-detection or late detection of a change in the type of road on which the motor vehicle is traveling can lead to inappropriate use of driver assistance or autonomous driving functions in such a way as to endanger the safety of the driver and that of other road users.

[0007] One object of the present invention is to overcome at least in part the aforementioned disadvantages.

[0008] To this end, it is proposed, firstly, a system to detect a change in the type of road on which a motor vehicle is moving, this system comprising: - a driving assistance device capable of controlling at least partially the movement of the motor vehicle, this driving assistance device being associated with a first type of road; - a navigation device capable of providing, for a position of the motor vehicle on a road, data including a type of road at a first point and at a second point of the road downstream of the motor vehicle with respect to the direction of travel of said motor vehicle, the first point being closer, following the path of the road, to the motor vehicle than the second point; - a computer configured to detect, in the data provided by the navigation device, a change in the type of road from the first type of road at the first point to a second type of road at the second point; - the computer being, moreover, configured to generate, when this computer detects said change, a preventive alert to deactivate the driving assistance device when the motor vehicle is in a section of road of predefined length upstream, in relation to the direction of movement of the motor vehicle, of the second point.

[0009] Various additional features may be provided, alone or in combination: - the length of said road section is associated with a speed limit applicable to the position of the motor vehicle, the speed of the motor vehicle, the first type of road, data relating to the motor vehicle, and / or data relating to climatic conditions at the first point and / or the second point of the road; - the distance between the motor vehicle and the first point is associated with the first type of road, the speed limit applicable to the position of the motor vehicle, and / or the speed of movement of the motor vehicle; - the distance between the first point and the second point is associated with the type of road, a speed limit applicable to the position of the motor vehicle, and / or the speed of movement of the motor vehicle; - the section of road is at least partially of the first type of road; - the preventative alert includes an invitation to resume manual driving of the motor vehicle; - The preventative alert includes a remaining distance to travel in the road segment and / or a remaining distance to travel to reach the second point of the road.

[0010] Secondly, a motor vehicle comprising the system presented above is proposed.

[0011] Other features and advantages of the invention will become clearer and more concrete upon reading the following description of embodiments, which is made with reference to the accompanying drawings in which:

[0012] Figure [Fig.1] schematically illustrates a motor vehicle equipped with a system for detecting a change in the type of road on which this motor vehicle is traveling according to various embodiments;

[0013] Figure [Fig.2] schematically illustrates a use of the aforementioned system according to various embodiments.

[0014] With reference to the attached figures, a motor vehicle 1 is shown comprising a system 2 for detecting a change in the type of road on which this motor vehicle 1 is traveling.

[0015] The system 2 includes a driver assistance device 3 capable of at least partially controlling the movement of the vehicle 1 (its speed and / or its position in a lane of the road 6). In other words, this driver assistance device 3 allows for at least partial delegation of the driving of the vehicle 1. This delegation of driving can range from assisting the driver by freeing them from one or more tasks (semi-autonomous driving) to complete automation of driving (autonomous vehicle). By way of non-limiting examples, the driver assistance device 3 includes adaptive cruise control, lane positioning assist, lane change assist, automatic lane change system, speed limiter, lane departure warning system, automatic parking system, and / or intelligent speed assist.

[0016] In one embodiment, the driver assistance device 3 is associated with at least one predefined road type, such as a restricted-access road, a fast road (or expressway), a departmental road, a national road, a federal road, a semi-highway, or a motorway. A driver assistance device 3 is, in fact, often intended for use on a predefined type of road 6. For example, a lane-keeping assist system, an automatic lane-change system, and / or an automatic cruise control system are configured and suitable for use on a motorway.

[0017] The system 2 further comprises a navigation device 4 (such as E-Horizon) capable of providing data for a given position of the motor vehicle 1 on road 6 comprising at least one type of road at a first point Pi and at a second point P2 of route 6 downstream of vehicle 1 relative to its direction of travel. The first point Pi is closer, along the route of route 6, to vehicle 1 than the second point P2.

[0018] To this end, the navigation device 4 is, in one embodiment, provided with a digital map of a road network (i.e., a road network map) incorporating the road 6 taken by the vehicle 1 and a location (or geo-positioning) module enabling the determination of the geographical position of the vehicle 1. The navigation device 4 is thus capable of locating the vehicle 1 on the road 6.

[0019] More generally, the navigation device 4 retrieves map data from a digital map of a road network associated with a location module (such as GPS, GLONASS, GALILEO, or BeiDou) allowing the vehicle 1 to be positioned on this map. The retrieved map data includes, among other things, the type of road on which the vehicle 1 is traveling at at least two increasing distances di, d2 to be covered separating the position of the vehicle 1 from two points P1, P2 on the road 6 in front of this vehicle 1.

[0020] In one embodiment, the data provided by the navigation device 4 includes - a first vector of distances to be covered incorporating at least a first distance di and a second increasing distance d 2 (i.e. di <d 2) séparant la position du véhicule 1 automobile, respectivement, d'un premier point P i et d'un deuxième point P 2 de la route 6 en aval du véhicule 1 automobile par rapport à son sens de déplacement; et - a second vector of road types 11, t 2 at points P i, P 2.

[0021] The data provided by the navigation device 4 comprises, in effect, a plurality of pairs (distance to travel, road type) relating to a plurality of points on the road 6 in front of the vehicle 1. The distance to travel is a curvilinear distance following the path of the road 6. As the vehicle 1 moves, the data provided by the navigation device 4 takes the form of two streams: a first stream of curvilinear distances to travel separating the position of the vehicle 1 from a plurality of successive points on the road 6 in front of the vehicle 1, and a second stream of road types at these points.

[0022] The first distance di and / or the distance between the first point P i and the second point P 2 are, in one embodiment, associated with (i.e. chosen according to) the speed limit applicable to the position of the motor vehicle 1, at the speed The distance di and / or the distance between the two points P i and P 2 on road 6 in front of the vehicle 1 are taken into account, as well as data relating to the vehicle 1 (its type such as utility vehicle, truck, or off-road vehicle, its braking performance, its load, or whether it is towing a trailer), data relating to weather conditions at points P i, P 2 on road 6 (heavy rain, wind, poor visibility, black ice, for example), and / or user preferences. This advantageously allows the distance di and / or the distance between the two points P i, P 2 on road 6 in front of the vehicle 1 to be adjusted according to the driving conditions of the vehicle 1.

[0023] A control unit 5 of the system 2 is configured to detect, in the data provided by the navigation device 4, a change in the road type from a first road type 11 at the first point P1 to a second road type 12 at the second point P2, the driver assistance device 3 being associated with the first road type 11. Such a change indicates the end of the first road type 11 (or, equivalently, the beginning of the second road type 12). Thus, the control unit 5 is able to detect, for example, the approaching end of a motorway on which the motor vehicle 1 is traveling.

[0024] When it detects a change in the type of road from a first type of road 11 associated with the driving assistance device 3 to another type of road 12 not associated with the driving assistance device 3, the computer 5 generates a preventive alert to deactivate the driving assistance device 3 when the motor vehicle 1 is in a section 7 of road of predefined length upstream, with respect to the direction of travel of the motor vehicle 1, of the second point P 2. As an example, the system 2 detects the end of a motorway and defines before the end of this motorway a section 7 of road in which the driver is alerted to the deactivation of the driving assistance device 3.

[0025] The length of the road segment 7 is, in one embodiment, associated (for example, modulated proportionally) with a speed limit applicable to the position of the motor vehicle 1, the speed of the motor vehicle 1, the type of road 11 at point P i of the road 6, data relating to the motor vehicle 1 (its type such as utility, truck, or off-road, its braking performance, its load or whether it is towing a trailer), and / or data relating to climatic conditions at points P i and / or P 2 of the road 6 (heavy rain, wind, insufficient visibility, black ice for example).

[0026] More generally, the length of the road segment 7 is chosen so as to allow sufficient time for the driving assistance device 3 to react (for example, decelerate, brake or reposition the vehicle 1 motor vehicle in the lane) and / or for the driver to be able to regain control of the vehicle 1 motor vehicle. Road segment 7 is at least partially of the first type of road 11, to which the driver assistance device 3 is associated. Road segment 7 leads to point P2. Road segment 7 is constructed starting from point P2 and gradually extending away from it in the opposite direction to the direction of travel of the motor vehicle 1 up to a predetermined length.

[0027] Road segment 7 constitutes an area for anticipating the deactivation of the driver assistance device 3. Deactivating the driver assistance device 3 when the vehicle 1 is located in road segment 7 advantageously allows for anticipating, at the right time, an upcoming incompatibility between the road type and the driver assistance device 3. The control unit 5 detects the approaching end of the road type 11 associated with the driver assistance device 3 and, consequently, anticipates the deactivation of this driver assistance device 3 starting from road segment 7.

[0028] The control unit 5 considers the use of the driver assistance device 3 on a road type 12 not associated with it to be inappropriate and, therefore, deactivates or prevents the use of this driver assistance device 3 on that road type 12, starting, where applicable, from the road segment 7. Advantageously, this results in the control unit 5 determining whether it is appropriate to keep the driver assistance device 3 in its operational state or to allow its use, taking into account the road type ahead of the motor vehicle 1.

[0029] The calculator 5 generates (or triggers) the preventive alert to the driver in the form of an audible signal, and / or visual and / or by vibration in the steering wheel for example.

[0030] In one embodiment, confirmation by the driver of the vehicle 1 that the driver assistance device 3 has been deactivated is required from road segment 7 onwards. For this purpose, the system 2 includes means (a keyboard, a touchscreen keyboard, or a microphone, for example, or more generally, any data input means) enabling the driver to confirm the deactivation of the driver assistance device 3.

[0031] In another embodiment, the preventive alert includes an invitation to the driver to resume manual driving of the vehicle 1. In other words, the control unit 5 asks the driver to take back control of the vehicle 1 before entering the new type of road (a request to transition from an automatic or semi-automatic driving mode to a manual driving mode).

[0032] The preventive alert issued to the driver includes, in one embodiment, information enabling the driver to anticipate the deactivation of device 3 driver assistance and the upcoming driving situation of vehicle 1 motor vehicle such as the remaining distance to travel in section 7 of road, and / or the remaining distance to travel to reach point P 2 of road 6.

[0033] Advantageously, the above-described embodiments of system 2 make it possible to detect any change in the type of road that the vehicle 1 will encounter and to adapt accordingly the management of the driver assistance systems equipping this vehicle 1. This results in improved safety in the use of the driver assistance systems.

Claims

Claims

1. System (2) for detecting a change in the type of road on which a motor vehicle (1) is moving, this system (2) comprising: - a driving assistance device (3) capable of at least partially controlling the movement of the motor vehicle (1), this driving assistance device (3) being associated with a first type of road (6); - a navigation device (4) capable of providing, for a position of the motor vehicle (1) on a road (6), data comprising a type of road (6) at a first point (P i) and at a second point (P 2) of the road (6) downstream of the motor vehicle (1) relative to the direction of movement of said motor vehicle, the first point (P 1) being closer, following the route of the road (6), to the motor vehicle (1) than the second point (P 2);- a computer (5) configured to detect, in the data provided by the navigation device (4), a change in the type of road from the first type of road (t 1) at the first point (P 1) to a second type of road (t 2) at the second point (P 2); - the computer being, in addition, configured to generate, when this computer (5) detects said change, a preventive alert for deactivation of the driving assistance device (3) when the motor vehicle (1) is in a section (7) of road of predefined length upstream, relative to the direction of travel of the motor vehicle (1), of the second point (P 2), characterized in that the distance between the motor vehicle (1) and the first point (P 1) is associated with the first type of road (t 1), with a speed limit applicable to the position of the motor vehicle (1), and / or with the speed of travel of the motor vehicle (1).

2. System (2) according to the preceding claim, characterized in that the length of said section (7) of road is associated with a speed limit applicable to the position of the motor vehicle (1), to the speed of movement of the motor vehicle (1), to the first type of road (t 1), to data relating to the motor vehicle (1), and / or to data relating to climatic conditions at the first point (P 1) and / or to the second point (P 2) of the road (6).

3. System (2) according to any one of the preceding claims, characterized in that the distance between the first point (P 1) and the second point (P 2) is associated with the first type of road (ti ), with a speed limit applicable to the position of the motor vehicle (1), and / or with the speed of movement of the motor vehicle (1).

4. System (2) according to any one of the preceding claims, characterized in that the section (7) of road is at least partially of the first type of road (ti).

5. System (2) according to any one of the preceding claims, characterized in that the preventive alert comprises an invitation to resume manual driving of the motor vehicle (1).

6. System (2) according to any one of the preceding claims, characterized in that the preventive alert comprises a remaining distance to be covered in the section (7) of road and / or a remaining distance to be covered to approach the second point (P 2) of the road (6).

7. Motor vehicle (1) comprising the preventive alert system (2) of any one of the preceding claims.

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