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

Abstract

The invention relates to an embedded vehicle control system for autonomous or semi-autonomous road vehicles (4) and a fixed infrastructure (10) located in a level crossing zone (1) intersecting a road (2). The system and the infrastructure cooperate by means of at least one message transmitted by the infrastructure via wireless communication and received by the embedded system. According to the invention, said at least one message comprises one or more pieces of information relating to a signaling and / or protection system installed in said level crossing zone (1) and / or relating to one or more structural components (5-9) of said signaling and / or protection system. The embedded system is configured to manage vehicle control based on said one or more pieces of information extracted from said at least one received message. (See Fig. 1 for abbreviations.)

Description

Title of the invention: 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 control of movement of this type of vehicle around a level crossing. Technological background

[0002] In order to increase road safety, certain motor vehicles, known as semi-autonomous, are equipped with partial automation systems or advanced driver assistance systems (known by the acronym AD AS in English terminology), in particular systems performing, in place of the driver, lateral control and / or longitudinal control of the vehicle, or at least alerting the driver of a potentially dangerous situation to enable him to react in time. It is also planned to make motor vehicles completely autonomous, i.e. driverless.

[0003] The general function of driving assistance systems is thus to alert the driver of a situation requiring his vigilance and / or to define the trajectory that the vehicle must follow to reach a given destination, and consequently to enable the control of the steering, braking and / or acceleration control devices of the vehicle, so that this trajectory is effectively followed automatically. The trajectory must be understood here in its mathematical definition, that is to say as being the set of successive positions that must be occupied by the vehicle over time. Thus, the driving assistance systems must define not only the path to take, but also the speed profile to be respected.To do this, they are equipped with at least one detection module which detects a lot of information on the immediate environment of the vehicle (presence of obstacles such as pedestrians, cycles or other motorized vehicles, road signs, road configuration, ground marking lines, etc.), coming from one or more environmental perception sensors fitted to the vehicle, such as cameras, radars and / or lidars, as well as information linked 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, AD AS systems make it possible to temporarily delegate driving in certain traffic conditions, and can be activated or not, depending on the driver's choice. In the case of an autonomous vehicle, the notion of a driver no longer exists, and the systems on board the vehicle must be able to perceive the environment, analyze dangers, decide on the trajectories to follow to reach a destination, and carry out all the necessary longitudinal and lateral controls.

[0005] It is easy to understand that the on-board movement control systems for such semi-autonomous or autonomous vehicles must guarantee a high level of safety for a maximum number of road situations. In other words, since the decisions taken by the semi-autonomous or autonomous vehicles are based on an analysis of the environment as perceived by the various perception sensors, it is understood that it is not only necessary to develop detection modules capable of detecting, from the information delivered by the perception sensors, specific characteristics of the environment that are adapted to specific road situations, but also essential to propose solutions that make it possible to increase the overall confidence index that can be attributed to these perception modules concerning their performance in detecting the specific characteristics for which they were designed.

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

[0007] Certain developments in recent years have focused solely on the problem linked to the risks of collision with a train. Thus, document DE 10 2016 202 508 A1 discloses a system for securing a level crossing particularly suited to level crossings without a barrier, the system comprising a determination device for determining a state of railway traffic on the railway line, a communication device for a road user (such as a pedestrian or an autonomous or non-autonomous motor vehicle), and wireless communication means for communicating the state of railway traffic determined by the determination device to the communication device. In one of the embodiments provided 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-car communication system.The safety system allows the motor vehicle to know whether to give priority to the passage of the train, even if a suitable sensor to detect an approaching railway vehicle is not available on that vehicle or cannot be used.

[0008] However, the risk of collision between a semi-autonomous or autonomous motorized vehicle and a train is not the only problem associated with securing a de- positioning of the vehicle near a level crossing.

[0009] It is indeed also very desirable to allow the on-board control system to be able to perceive and understand the scene which is presented to it at the moment when the vehicle arrives at the level crossing area and / or at the moment when it controls the crossing of the level crossing, and this, independently of the imminence of a train passing.

[0010] In a more general context of recent developments, so-called cooperative intelligent transport systems (Cooperative ITS in English terminology) have introduced inter-vehicular communications (communications known by the English acronym "V2V") or between vehicles and the road infrastructure (communications known by the English acronyms "V2I" or "I2V"), ​​which aim to prevent accidents. To guarantee the interoperability of the systems, a set of standards has been developed. Some standards, such as ISO / TS 19091, ETSI TS 103 301, SAE J2735 describe standardized messages of the "MAPEM" type, and other standards, such as ETSI EN 302 637-3, describe standardized messages of the "DENM" type (an English acronym for "Decentralized Environmental Notification Message").

[0011] In the context of the application of these standards to the problem of level crossing, it is currently planned that MAPEM type messages emitted by an infrastructure installed in a level crossing area 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, leaving and crossing the level crossing, as well as the number of railway tracks; • the width, direction of travel of each of the road traffic lanes and railway tracks and the angle of positioning of the rails in relation to the road tracks; • a series of three-dimensional positions in a global reference system (for example GPS coordinates or coordinates of the WGS84 system) making it possible to identify, on the one hand, a section of railway track at the intersection, and on the other hand, at least three sections of road tracks per direction of travel making it possible to characterize 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 sent by an infrastructure installed in a level crossing area can inform a vehicle: • of the presence of a level crossing via a specific variable named “eventType” for which the variable is set equal to an identifier cor responding to the presence of a level crossing; • a map of the road network including the level crossing through a series of three-dimensional positions in a global reference system (for example coordinates of the WGS84 system) making it possible to identify the sections of roadways crossing railway lines 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 only relates to the geometry of the railway tracks and road traffic lanes affected by a level crossing. They are currently insufficient to enable a control system on board a semi-autonomous or autonomous vehicle to perceive and fully understand, on the sole basis of the messages transmitted by an infrastructure, the scene that is presented to it at the moment when the vehicle arrives at the level crossing area and / or at the moment when it controls the crossing of the level crossing, and consequently, to be able to decide on the best way, in terms of safety, to manage the control of the movement of the vehicle. 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 on-board movement 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 reception module configured to receive, via wireless communication, at least one message transmitted by a fixed infrastructure located in a level crossing zone crossing a road on which said vehicle is moving,and a processing module configured to automatically control the movement of the motorized road vehicle on the basis of either characteristics detected by said at least one detection module, or 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 message received 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 management of the movement control on the basis of said one or more pieces of information, extracted.

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

[0017] In a possible embodiment, said one or more extracted information comprises 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, barriers, ground marking lines, traffic signs, signaling beacons, level crossing platforms, audible warning devices, emergency call terminals, gauge gantries.

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

[0019] In a possible embodiment, said processing module is configured to assist said at least one detection module so that it detects structural characteristics corresponding to one or more pieces of information extracted from said at least one received message.

[0020] For example, the processing module may be further configured to determine an entry boundary and / or an exit boundary and / or a 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 signaling 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 crossing of the 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 crossing 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 able to include, in at least one message to be transmitted, one or more pieces of information relating to a signaling and / or protection system installed in said area at the level crossing, and / or relating to one or more structural components of said signaling and / or protection system. Brief description of the figures

[0024] The description which follows with reference to the appended drawings, given as non-limiting examples, will make it clear what the invention consists of and how it can be implemented. In the appended figures:

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

[0026] [Fig.2] [Fig.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 embodiment(s)

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

[0028] However, any level crossing area is generally equipped with its own signaling and / or protection system, the configuration of which is more or less elaborate. To date, level crossings are classified into a number of categories, including the following non-limiting categories: • Level crossing at Croix de Saint André (PN XSA), for which the crossing is carried out under the full responsibility of the road user and absolute priority is given to rail traffic. • Level crossing with Automatic Light Signaling without barrier (PN S AL 0), equipped with two or four red lights (R24 lights) whose flashing commands road users to stop completely, and which can be equipped with an audible signaling device. • Automatic Lighted Level Crossing with two half-entry 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. • Level crossing with Automatic Light Signaling with two half-entry barriers and two half-exit barriers (PN SAL 4) also equipped with red lights (R24 lights) whose flashing controls the road users to a complete stop, and which may be equipped with an audible signaling device.

[0029] Furthermore, road signage information (other than R24 lights or the St. Andrew's cross) may also be provided in the level crossing area. Thus, in certain cases, entry and / or exit boundaries of the level crossing areas are marked by ground marking lines, while in other cases, no marking lines are used to mark these boundaries. In addition, certain legislation may require the use of road signs and / or beacons to announce the arrival at a level crossing, or even the category of level crossing (with or without a barrier).

[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 (known as XK3 barriers in French legislation), • ground marking lines likely to define an entry boundary, and / or an exit boundary of the level crossing area, and / or lateral boundaries (or edge lines) of the road on the level crossing, • traffic signs, whether they are signs specific to the level crossing (for example a St. Andrew's cross, or any sign known 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 (type A7 and A8 signs in French legislation) or information concerning the authorized gauges for crossing a level crossing (type B12 sign in French legislation) • signaling beacons, the number of strips of which depends on the distance from the sign to the level crossing (type J10 beacons in French legislation), • level crossing platforms, • audible alert devices, • emergency call terminals, • gauge gantries (known as type G3 in French legislation).

[0032] Information relating to a signaling 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] In accordance with 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 punctually.

[0034] Furthermore, in accordance with the invention, this information transmitted in the message(s) can be received by a movement control system equipping an autonomous or semi-autonomous road vehicle, this system having a reception 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 message(s) received and subsequently decide the manner in which it will manage the movement control.

[0035] By “movement control management” we mean 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 control to be given back to a driver in the case of a semi-autonomous vehicle.

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

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

[0038] The signaling and / or protection system further comprises a certain number of other components, generally referenced 9 in [Fig.l], corresponding for example to the signaling panels and / or the signaling beacons and / or the emergency call terminals, and / or the aforementioned gauge gantries.

[0039] A fixed infrastructure 10 enabling in particular wireless communications of the I2V type is located in the level crossing zone 1. This infrastructure 10 comprises a transmission module 11 configured to transmit messages via a wireless communication link. The communications are for example according to any of the technologies 4G, 5G, LTE-V2X, NR-V2X, WiFi 802.1 lp 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 information relating to the configuration of the signaling and / or protection system.

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

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

[0042] It should be noted that, for most of the aforementioned classes of components, the set of indications may advantageously include a number of components per class and / or the geographical coordinates of each component, and / or a dimension or shape, and / or a type, and / or a visibility index of the component from the road (the visibility may in particular be affected by the presence of trees or other obstacles). For example, in the case of [Fig. 1], said at least one broadcast 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 geographical coordinates (GPS or WGS84) of their connection with their respective support 6.

[0043] For certain classes, other indications may be added. By way of non-limiting examples: • for the class of barriers and / or for the class of traffic lights and / or for the class of emergency call terminals and / or for the class of audible warning devices, it may be provided to include in the message(s) status information to indicate whether the component concerned (barrier, light, emergency call terminal, and / or audible warning device) is broken or operational. • For the barrier class, it may be interesting to also include in the message(s) an indication of the angular speed of opening and / or closing of the barrier, and / or on the angle of inclination of the barrier in relation to the horizon when the barrier is in the maximum opening or maximum closing position, and / or on the angle of the barrier in relation to the road layout in the horizontal plane, and / or on the height of the barrier in relation to the ground, and / or on a duration of lowering of the barriers and / or on a duration of opening of the barriers. Other indications relating to the physical appearance of the barrier may also be interesting to add in the message(s), especially since the physical appearance may differ according to the legislation of the countries (for example, color in red and white checkerboard or in yellow and red checkerboard...). • For the class of sound alert devices, an indication of the sound frequency and / or the sound intensity, and / or variations in sound frequency / intensity over time, and / or the active or inactive status of the alert device may be included (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 synchronism or, on the contrary, alternation of flashing in relation to another traffic light in the system, and / or of the physical appearance, which may differ according to the legislation of the countries. • For the decking class, it is possible to include indications relating to the physical aspect (color and / or level of contrast with the road and rails), and / or indications on the material used (rubber, concrete, etc.).

[0044] Other information to be included in the message(s) and always concerning the configuration of the level crossing may be envisaged such as the closing and opening sequence (duration of activation of the R24 lights before lowering of the barriers, duration of lowering of the barriers, minimum delay before the passage of a train) and / or the telephone number associated with the emergency call terminals or with the level crossing itself. In the absence of marking lines on the ground, the message may also advantageously include an indication of the structural component(s) of the system which may be used by the system on board the vehicle as reference points to derive a theoretical entry or exit boundary.

[0045] In possible embodiments, related information, i.e. information not relating to the signaling and / or protection system as such, may be added to the message(s). In particular, said transmission module 11 may also be capable of also including, in the message(s) to be transmitted, one or more geometric information items relating to road traffic lanes and railways. intersecting in the level crossing area and / or in the portions of catenaries overlooking said level crossing, in a manner similar to what is currently provided in MAPEM type messages. Thus, in the non-limiting example of [Fig.l], 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 traffic lanes 20 and 21, and of the rails 30 and 31 of the single railway track 3.

[0046] [Fig. 2] schematically illustrates a semi-autonomous or autonomous vehicle 4 equipped with an on-board system capable of controlling the movement of the vehicle according to the invention. The vehicle 4 is equipped, in a conventional manner, with control members 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).The vehicle 4 is furthermore conventionally equipped with several proprioceptive sensors (generally represented under the reference 42), such as a speed sensor, a steering angle sensor and a GPS type navigation system, allowing it to have information on its current state (current speed, current acceleration, current heading followed relative to a reference frame linked to the vehicle, current position relative to an on-board HD map containing information linked to the context, such as speed limit regulations, type of road, etc.). The vehicle 4 is finally equipped with an on-board system 43 for automatic control of the movement of the vehicle, designed to act on the control members 40 in place of the driver 4L.

[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) allowing it to perceive information from an environmental zone located at least in front of the vehicle 4, at least one detection module 45 configured to detect, on the basis of the information perceived by the exteroceptive sensor(s) 44, characteristics of the environmental zone, and a reception module 46 configured to receive, via a wireless link, messages originating from outside the vehicle 4, in particular those originating from the fixed infrastructure 10 of [Fig.l].A processing module 47 receives the outputs of the detection module 45, the proprioceptive sensors 42 and the reception module 46 so as to be able to automatically control the movement of the vehicle 4 on the basis either of characteristics detected by the detection module(s) 45, or of the message received by the reception module 46, while taking into account the odometry of the vehicle 4.

[0048] According to the invention, the on-board 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 controlling the movement of vehicle 4.

[0049] The strategies can be very diverse and of course depend 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, on the basis of information extracted from said 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 crossing of the level crossing. Here, the expression “capability” must be understood as meaning that the on-board movement control system 43 has been designed to be able to manage one or more categories of level crossing 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 indeed operational.

[0051] The determination of the capacity / incapacity can be carried out for example on the basis of the category of the level crossing, and / or the status (operational / broken down), and / or the visibility index of at least one component of the signaling and / or protection system, if this information is indeed contained in the message received. Thus, by way of non-limiting example, the processing module 47 can decide on the inability of the system 43 to manage a safe crossing of a level crossing if it is informed, according to the message(s) received, that it is a level crossing of category PN SAL 0 whereas the system 43 has been 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 borders is contained in the message(s) received.The determination of the capacity / incapacity can also be carried out on the basis of the type of level crossing decking, and / or on the distance between an entry barrier and an exit barrier. Other rules allowing the processing module 47 to determine the capacity 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 may optionally be combined with the previous embodiment, the processing module 47 is advantageously configured to determine, still on the basis of information extracted from said at least one received message, whether the vehicle 4 with which it is equipped is indeed authorized to cross the level crossing (even in cases where there is no train whose passage is imminent or in progress). The notion of authorization is distinct from the notion of capacity seen previously, and is linked here to regulatory prohibitions of the highway code, in particular in terms of dimensions and / or weight of the vehicle 4, or even what could be transported by this vehicle 4.

[0053] The determination of the authorization / prohibition may be carried out in particular on the basis of information relating to certain traffic signs upstream of the level crossing, and / or an indication of the presence of a gauge 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 crossing of the level crossing and / or that the vehicle 4 is not authorized to cross the level crossing, it can decide for example: • in the case of an autonomous vehicle 4, to generate longitudinal and / or lateral control commands which 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, 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 one of the preceding embodiments (or even both), the processing module 47 is advantageously configured to assist the detection module(s) 45 so that it / they detect structural characteristics corresponding to one or more pieces of information extracted from the received message(s), by means of the exteroceptive sensor(s) 44.

[0056] For example, if the processing module 47 is informed, based on 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 on-board system can in particular anticipate the presence of a level crossing, with an increased confidence indicator due to a significant number of structural characteristics that the indications contained in the message(s) will allow it to detect via its own sensors. Furthermore, even if one of the messages is of the DENM type and already contains, according to the standards, direct information on the presence of a level crossing (via the specific variable named “eventType”), the on-board system 43 can combine this direct information with the structural characteristics that it will have detected, further increasing the confidence indicator linked to the detection of the presence of a level crossing. The on-board system 43 is then advantageously able to better prepare the approach phase by deciding on the best way to manage the movement control.

[0058] In another possible embodiment, the processing module 47 is further configured to determine an entry boundary and / or an exit boundary from at least detected structural characteristics 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 prove complex to determine, whereas these are two crucial data to allow the vehicle 4 either to correctly manage a stop just before the entry boundary if this proves necessary, or to avoid stopping between an entry boundary and an exit boundary when crossing the level crossing.By virtue of the invention, even when no direct information relating to ground marking lines defining entry or exit boundaries of the level crossing zone is contained in the message(s) received, the on-board system 43 can derive an entry boundary and / or an exit boundary from the structural characteristics that it has detected. It is for example 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 the indications contained in a received message relating to the presence of such lights or barriers.Furthermore, even if a received message includes 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 characteristics that it will have detected, further increasing the confidence indicator linked to the determination of the entry boundary and / or the exit boundary.

[0059] It is easily understood that there are a significant number of other possibilities that it is not possible to describe exhaustively, concerning the characteristics that the on-board system 43 can detect with increased reliability via its own sensors thanks to the information contained in the message(s) received, for example a presence of the level crossing and / or an open or closed status of the level crossing.

Claims

Claims

1. On-board system (43) for controlling movement for an autonomous or semi-autonomous road motor vehicle, 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 motorized road 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 area (1) crossing a road on which said vehicle (4) is moving, and - a processing module (47) configured to automatically control the movement of the motorized road vehicle (4) on the basis of either characteristics detected by said at least one detection module (45), or said at least one message received by the reception module (46), the system (43) being 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 to one or more structural components (5-9) of said signaling and / or protection system, the system (43) being characterized - in that said one or more pieces of information extracted from said at least one received message include an indication defining the category of the level crossing on which the signaling and / or protection system is installed, and - in that the processing module (47) is configured to decide on a management of the movement control on the basis of said one or more extracted pieces of information.

2. On-board system (43) for controlling movement for an autonomous or semi-autonomous road motor vehicle, the system (43) comprising, at the level of an autonomous or semi-autonomous road motor vehicle (4),

3. - at least one exteroceptive sensor (44) configured to perceive information from an environmental zone located at least in front of the motorized road 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 area (1) crossing a road on which said vehicle (4) is moving, and - a processing module (47) configured to automatically control the movement of the motorized road vehicle (4) on the basis of either characteristics detected by said at least one detection module (45), or said at least one message received by the reception module (46), the system (43) being 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 to one or more structural components (5-9) of said signaling and / or protection system, the system (43) being characterized in that the processing module (47) is configured to decide on a management of the movement control on the basis of said one or more pieces of information extracted from said at least one received message, in that said processing module (47) is configured to assist said at least one detection module (45) so that it detects structural characteristics corresponding to one or more pieces of information extracted from said at least one received message, and in that said processing module (47) is further configured to determine an entry border and / or an exit border and / or a 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 (5-9) of said signaling and / or protection system. An on-board system (43) according to claim 2, wherein said one or more pieces of information extracted from said at least one received message comprises an indication defining the category of the level crossing on which the signaling and / or protection system is installed.

4. On-board system (43) according to any one of the preceding claims, wherein said one or more pieces of information extracted from said at least one received message comprise 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), ground marking lines, traffic signs, signaling beacons, level crossing platforms, audible warning devices (8), emergency call terminals, gauge gantries.

5. An on-board system (43) according to claim 4, 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 an index of visibility from the road.

6. An on-board system (43) according to any one of claims 4 or 5, wherein said set of indications further comprises: • for the class of barriers and / or for the class of signal lights and / or for the class of emergency call terminals and / or for the class of audible warning devices: status information making it possible to indicate whether the component is faulty or operational; and / or • for the class of barriers: 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 the maximum opening or maximum closing position, and / or an angle of the barrier relative to the alignment of the road 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 an active or inactive status of the warning device; and / or • for the class of signal lights: an indication of the flashing frequency and / or an indication of a synchronism or alternation of flashing in relation to a; other signal light of the system and / or a physical aspect; and / or • for the class of decking: an indication relating to a physical aspect and / or on a material used.

7. On-board system (43) according to any one of the preceding claims, further configured to extract from said at least one received message one or more geometric information items relating to the road traffic lanes (20, 21) and railway tracks (3) intersecting in the level crossing area (1) and / or to the portions of catenaries overhanging said level crossing.

8. Embedded system (43) according to any one of the preceding claims without connection to claim 2, wherein said processing module (47) is configured to assist said at least one detection module (45) to detect structural characteristics corresponding to one or more pieces of information extracted from said at least one received message.

9. On-board system (43) according to claim 8, wherein the processing module (47) is further configured to determine an entry boundary and / or an exit boundary and / or a 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 (5-9) of said signaling and / or protection system.

10. On-board 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 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 crossing of the level crossing.

11. An on-board 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 motorized road vehicle (4) is authorized, at least in terms of dimensions and / or weight, to cross the level crossing.

12. Fixed infrastructure (10) located in a level crossing area (1) crossing 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 pieces of information relating to a signaling 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 signaling and / or protection system, said one or more pieces of information included in said at least one message to be transmitted comprising an indication defining the category of the level crossing on which the signaling and / or protection system is installed.

13. Fixed infrastructure (10) according to claim 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 signaling and / or protection system, said components belonging to one or more of the following classes: traffic lights, barriers, ground marking lines, traffic signs, signaling beacons, level crossing platforms, audible warning devices, emergency call terminals, gauge 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 an index of visibility 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 class of barriers and / or for the class of signal lights and / or for the class of emergency call terminals and / or for the class of audible warning devices: status information making it possible to indicate whether the component is faulty or operational; and / or • for the class of barriers: 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 the maximum open or maximum closed position, and / or an angle of the barrier relative to the alignment of the road 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 sound alert devices: an indication of the sound frequency and / or the sound intensity and / or variations in frequency or sound intensity and / or an active or inactive status of the alert device; and / or • for the class of traffic lights: an indication of the flashing frequency and / or an indication of synchronism or alternation of flashing in relation to another traffic light in the system and / or a physical aspect; • for the decking class: an indication relating to a physical aspect and / or a material used.

16. Fixed infrastructure (10) according to any one of claims 12 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 items relating to the road traffic lanes (20, 21) and railway tracks (3) intersecting in the level crossing area and / or to the portions of catenaries overhanging said level crossing.

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