Method for remote control of a fleet of self-service vehicles

Abstract

The invention relates to a method for controlling a mobile object (V1), the method comprising steps consisting in: receiving by at least one sensor installed on the mobile object an identification signal transmitted by light radiation from a transmission installation (LS), the identification signal transmitting data comprising a transmitter identifier; locating the mobile object by a processing unit (CU) of the mobile object, according to the data, and controlling by the processing unit, an electromechanical member (CC) of the mobile object according to the location of the mobile object. Figure 1

Description

Title of the invention: Method for remotely controlling a fleet of self-service vehicles Technical field

[0001] The present invention relates to the control of a set of mobile objects, such as a fleet of vehicles. The vehicles may be, for example, bicycles, scooters or mopeds, equipped or not with a motor, for example electric. State of the art

[0002] Today, many cities are equipped with automated rental systems that provide the public with a fleet of vehicles that can be used for a limited period, for example less than a day, to make a journey. This solution aims in particular to relieve congestion on public transport and reduce car traffic within cities. The fleet of vehicles can be deployed with or without parking stations installed in different locations within an area where the vehicles in the fleet are used. Each of these stations includes terminals for locking vehicles between two rental periods and, for example, for recharging the batteries of the vehicles if they have an electric motor.

[0003] In the case of a fleet deployed without stations, the vehicles are in communication with a central system to transmit their respective geographical positions. The vehicles also have their own locking means controlled by the central system. The central system transmits to users wishing to rent a vehicle the positions of the available vehicles. The start and end of a vehicle rental are determined and stored by the central system when a user requests it from the central system, which then controls the unlocking or locking of the vehicle.

[0004] However, the development of this type of service is compromised by a minority of users who are disrespectful of other users of public spaces and traffic rules. Indeed, it is common for a vehicle, particularly a scooter, to be used inappropriately, for example in a pedestrian zone or on sidewalks, or without respecting traffic lights and the direction of traffic. In the case of a fleet deployed without stations, it is also common for a vehicle to be abandoned in the middle of a sidewalk or at the exit of a building. The geographical location means fitted to the vehicles are insufficiently precise to allow the central system to determine whether the vehicle is parked in an inconvenient location. In the case of a bicycle or a scooter, it is also not possible for the central system to determine whether the vehicle is standing or lying down. Furthermore, it It turns out that public authorities can only oppose such incivility to a very limited extent and their actions penalize the managers of this type of service and users who behave appropriately.

[0005] It is therefore desirable to be able to remotely control the movements of a fleet of vehicles. It may also be desirable to be able to ensure that the vehicles are returned at the end of the rental period to specific locations, and if possible, correctly parked in the case of a vehicle sharing system without reserved parking spaces. Summary of the invention

[0006] Embodiments relate to a method for controlling a mobile object, the method comprising steps consisting of: receiving by at least one sensor of a set of sensors installed on the mobile object an identification signal transmitted by light radiation from a transmission installation, the identification signal transmitting data comprising a transmitter identifier; locating the mobile object by a processing unit of the mobile object, as a function of the data, and controlling by the processing unit, an electromechanical member of the mobile object as a function of the location of the mobile object.

[0007] Thanks to these provisions, it is possible to remotely control a mobile object depending on its location near a power source such as a lighting installation. This control can be carried out with few means, while being able to be deployed on a larger scale to cover a wider territory. This control can be applied to any type of mobile object, such as vehicles, whether motorized or not. The term "location" is used here in a broad sense covering not only a geographical location, but also a determination of the proximity or presence of the mobile object at a place having a specific function such as a parking place, or a place in which certain rules must be applied.

[0008] According to one embodiment, the reception of the identification signal is performed by several sensors of the sensor assembly installed at different positions on the moving object, the method comprising steps of: comparing identification signal intensities received by the sensors of the sensor assembly on the moving object; and determining a direction of a preferred axis of movement of the moving object in a movement plane of the vehicle, based on a result of comparing the intensities of the identification signal, the control being determined based on the direction of the preferred axis of movement of the moving object.

[0009] Thus, using several sensors installed on the mobile object, it is possible to determine an orientation in space of the mobile object and to apply to the vehicle a command directly linked to this orientation.

[0010] According to one embodiment, the method comprises steps consisting of: successively receiving by a sensor of the sensor assembly several identification signals transmitted by light radiation from the transmission installation; and comparing with each other intensities of the received identification signals, the control being determined as a function of a variation in the intensity of the successively received identification signals.

[0011] With a single sensor and several successive measurements, it is possible to determine a direction of movement of the mobile object and to apply to the mobile object a command dependent on this direction of movement.

[0012] According to one embodiment, the command belongs to a set of commands comprising: a command to limit the speed of the mobile object, a command to stop the mobile object, and a command to lock the mobile object.

[0013] It is thus possible to remotely control a mobile object such as a vehicle for example to force it to comply with traffic rules, depending on the location of the mobile object, or to force the vehicle to be abandoned in certain predefined places.

[0014] According to one embodiment, the method comprises steps consisting of: determining a position of the mobile object, determining whether the position of the mobile object is located in an authorized parking zone of the mobile object based on the transmitter identifier, and executing an end-of-use command if the mobile object is located in an authorized parking zone, the execution of the end-of-use command comprising locking the mobile object, and transmitting to a remote server an end-of-use notification message, containing location data and an identifier of the mobile object.

[0015] Thus, by illuminating the authorized parking areas with a signal emitting an identifier, it is possible to remotely manage a fleet of mobile objects, such as a fleet of vehicles offered for rental, ensuring that the mobile objects are abandoned only in authorized parking spaces.

[0016] According to one embodiment, the method comprises steps consisting in: receiving the identification signal by several sensors of the sensor assembly, installed in a front position of the mobile object and several sensors of the sensor assembly, installed in a rear position of the mobile object; comparing with each other intensities of the identification signal received by the sensors installed at the front and rear positions of the mobile object; determining a position and an orientation of a spatial reference frame linked to the mobile object in a fixed reference frame linked to the transmission installation; and authorizing or reject a command to end use of the mobile object based on the position and orientation of the spatial reference linked to the mobile object.

[0017] Using several sensors installed on the mobile object, it can be verified that the mobile object is left in a correct position and in an authorized parking location.

[0018] According to one embodiment, the mobile object is located in an area comprising a plurality of identification signal transmitters installed in street lamps, the method further comprising a step of determining a geographical position of the vehicle as a function of the transmitter identifier extracted from the signal received from one of the transmitters.

[0019] By providing a multiplicity of equipped street lamps, it is possible to track and locate separately each mobile object in a fleet of mobile objects.

[0020] According to one embodiment, the identification signal is emitted by modulation of the supply current of a visible light source, belonging to the emission installation.

[0021] According to one embodiment, the modulation of the supply current is of the SPWM type.

[0022] The transmission of information by light signal emitted by a light source can be carried out simply by modulating the supply current of a light source.

[0023] Embodiments may also relate to a device to be installed on a mobile object, the device comprising: a sensor assembly comprising at least one light sensor emitted from a transmission installation, and a processing unit connected to the sensor and to an interface to be connected to a control member of the vehicle, the mobile object being configured to implement the method previously defined.

[0024] According to one embodiment, the sensor assembly comprises several sensors of light emitted from the emission installation, the sensors being connected to the processing unit.

[0025] According to one embodiment, the sensor assembly comprises a front sensor block to be installed in a front position of the mobile object and a rear sensor block and bringing together several sensors of light emitted from the emission installation, the sensors of each of the front and rear sensor blocks having distinct orientations for capturing light rays having distinct orientations.

[0026] According to one embodiment: a sensor or each sensor of at least part of the sensors of the sensor assembly is associated with a shutter limiting an angle of incidence by which the sensor can be illuminated, or a sensor or each sensor of at least a portion of the sensor assembly is installed at the bottom of a well limiting an angle of incidence by which the sensor can be illuminated.

[0027] According to one embodiment, at least one sensor of the sensors is an image sensor, the control unit being configured to analyze images provided by the image sensor in order to determine the presence of an image area having a predefined color. Brief description of the figures

[0028] The present invention will be better understood with the aid of the following description of exemplary embodiments, with reference to the appended figures, in which identical reference signs correspond to structurally and / or functionally identical or similar elements.

[0029] [Fig.l] Figure 1 schematically represents a vehicle in a light field transmitting an identification signal, according to one embodiment,

[0030] [Fig.2] Figure 2 schematically represents the vehicle equipped with sensors of light signals, according to one embodiment,

[0031] [Fig.3] Figure 3 is a schematic perspective view of a front sensor block installed on the vehicle, according to one embodiment,

[0032] [Fig.4] Figure 4 is a schematic perspective view of a sensor block rear installed on the vehicle, according to one embodiment,

[0033] [Fig.5] Figure 5 schematically represents a set of circuits installed in the vehicle, according to one embodiment,

[0034] [Fig.6] Figure 6 schematically represents a parking area equipped with a device for emitting a light field, according to one embodiment,

[0035] [Fig.7] Figure 7 schematically represents different areas equipped with devices for emitting a light field, according to one embodiment,

[0036] [Fig.8] Figure 8 represents signal variation curves as a function of time illustrating a method of transmitting data by modulating a light signal, according to one embodiment. Detailed description

[0037] Figure 1 represents a vehicle V1 arranged in a light field LB emitted by a signal transmission device LS, according to one embodiment. The device LS illuminates an area LA on the ground. According to one embodiment, the intensity of the light field LB is modulated to transmit an identification signal. The identification signal comprises an identifier of the transmission device LS. The identification signal may also comprise other data, for example data relating to the illuminated area LA. The modulation is for example carried out in amplitude. The vehicle V1 comprises one or more sensors configured to receive the LB light field and a demodulation circuit to extract the identification signal from the LB light field.

[0038] The LS emission device emits radiation belonging to the wavelength range including visible light, and which propagates in the atmosphere, but not in most solid materials such as materials not transparent to visible light.

[0039] The signal emission device LS may be an urban lighting lamppost or specific urban furniture provided with a light radiation source, and the light field LB may be that emitted by one or more bulbs installed in the lamppost or on a mast or any other construction.

[0040] The shape of the emitted LB light field can be defined by one or more shutters and / or by optical lenses.

[0041] According to one embodiment, the data transmitted by the LB field notably includes data which may belong to the set bringing together the following data:

[0042] an identifier of the zone LA illuminated by the field LB or of the emission device LS,

[0043] a type of area illuminated by the LB field, and

[0044] a list of identifiers of signal emitting devices, illuminating zones adjacent to the zone LA, each adjacent zone being able to be associated with a zone type.

[0045] The zone type can be one of the following:

[0046] a pedestrian zone or a sidewalk,

[0047] a pedestrian crossing,

[0048] an area adjacent to a pedestrian crossing,

[0049] an area adjacent to or including a traffic light,

[0050] an area adjacent to or including a stop,

[0051] a one-way traffic zone,

[0052] an area located on the edge of an authorized traffic zone,

[0053] an area prohibited to the circulation of fleet vehicles,

[0054] a reserved parking area for fleet vehicles.

[0055] Furthermore, the data transmitted by the LB field may vary depending on time, or only be transmitted during certain time slots.

[0056] Figure 2 shows the vehicle VI, according to one embodiment. The vehicle V1 is equipped with sensor assemblies SMI, SM2 configured to receive light signals of the type emitted by the transmission device LS. The sensor assemblies SMI, SM2 comprise a front sensor assembly SMI configured to be installed at the front of the vehicle VI and a rear sensor assembly SM2 configured to be installed at the rear of the vehicle VI. In the example of Figures 1 and 2, the vehicle VI is a scooter. According to one embodiment, the front sensor assembly SMI is installed on the handlebar 11 of the scooter VI, or at the top of the front post 12 supporting the handlebar, and the rear sensor assembly SM2 is installed on or in the mudguard 13 of the rear wheel of the scooter.

[0057] Figure 3 shows the front sensor assembly SMI, according to one embodiment. The front sensor assembly SMI comprises a front sensor SI, two lateral sensors S2, S3 and a zenith sensor S4. Each of the front and lateral sensors SI, S2, S3 comprises lateral shutters OS11, OS12, OS21, OS22, OS31, OS32 arranged so as to limit the width of the field observed by the sensor, according to one embodiment. Similarly, the zenith sensor S4 is arranged at the bottom of a well OS41. The zenith sensor S4 at the bottom of its well OS41 makes it possible to locate the vehicle very precisely in a horizontal plane. Generally speaking, the arrangement of the sensors

[0058] Figure 4 shows the rear sensor assembly SM2, according to one embodiment. The rear sensor assembly SM2 comprises a rear sensor SI 1 and two side sensors S12, S13. Each of the rear and side sensors SU, S12, S13 can be associated with masking elements, for example formed by a cavity at the bottom of which the sensor is arranged, to limit the width of the field observed by the sensor or the angle of incidence by which the sensor can be illuminated. Lenses can also be placed in front of the sensors S1-S4, S11 -S 13 to capture or discriminate certain directions of light rays, and thus make it possible to easily detect, for example, whether the vehicle V1 is standing or lying down.

[0059] Generally speaking, the arrangement of a sensor S1-S4, S11-S13 at the bottom of a well allows the vehicle V1 to be precisely located in a plane perpendicular to the axis of the well. By distributing the sensors and light sources in a suitable manner, it is thus possible to precisely control a motor vehicle to position it in a parking space or garage. More generally, the number and arrangement of sensors as shown as examples in Figures 3 and 4, can vary and are more generally adapted to the configuration of the vehicle and the intended application.

[0060] According to one embodiment, the sensors S1-S4, SI 1-S 13 are simple photovoltaic cells. More generally, the sensors are elements sensitive to the emitted light and provide an electrical signal representative of the variations in intensity or wavelength of the received light signal. Thus, one or more of the sensors S1-S4, SI 1-S 13 may be image sensors, for example cameras. With an image sensor, the command to be executed by the vehicle may be determined as a function of a color appearing in the image provided by the image sensor. According to an example, the image provided by a camera can be analyzed to determine whether a traffic light is visible in the image and is red or green, the command provided to the vehicle V1 being determined accordingly.

[0061] Figure 5 represents an electrical circuit installed in the vehicle VI, according to one embodiment, in the case where the vehicle V1 is driven by an electric motor ENG. The ENG motor of the vehicle V1 is connected to a battery BT via a control circuit CC ensuring the powering up of the motor and the control of the speed of the motor according to the position of a manual accelerator control. According to one embodiment, the electrical circuit of the vehicle VI comprises a control unit CU connected to the sensors S1-S4, S11-S13 of the sensor sets SMI, SM2. The control unit CU is configured to demodulate the signals received by each of the sensors S1-S4, S11-S13 in order to determine the data transmitted by the transmission devices LS located nearby.The control unit CU is also configured to measure and / or compare intensities of the signals received by each of the sensors S1-S4, S11-S13 in order to determine a position V and an orientation or a direction of movement of the vehicle VI, or the position of a spatial reference frame Vxyz linked to the vehicle VI, in a fixed reference frame OXYZ linked to the signal transmission device LS. The control unit CU is configured to control the control circuit CC of the motor ENG according to the position of the reference frame Vxyz in the reference frame OXYZ and the data received from the transmission devices located nearby. In the case where at least one of the sensors is an image sensor, the control unit is configured to analyze the images received from the image sensor in order to determine the presence in the image of areas having a predefined color.

[0062] Depending on the type of zone appearing in the received data, the command applied by the control unit CU to the control circuit CC may be a command to stop the engine ENG, in particular if the type of zone received is a pedestrian zone or a one-way traffic zone and the direction of travel of the vehicle is opposite to the authorized direction of travel, or if the zone is prohibited to the circulation of vehicles in the fleet. The command applied by the control unit CU to the control circuit CC may be a speed reduction or limitation command associated with a maximum speed, when the type of zone received is an area adjacent to a stop sign, a traffic light or a pedestrian crossing and the direction of travel of the vehicle tends to bring the vehicle closer to the stop sign, the traffic light or the pedestrian crossing.The command applied by the control unit CU to the control circuit CC may be a vehicle locking command linked to the end of the vehicle rental, in particular if the vehicle V1 is not motorized, but is equipped with a locking device capable of being controlled remotely.

[0063] It should be noted that the sensors S1-S4, S11-S13 can receive signals from different transmitting devices, and that some of the sensors can each receive several signals from different transmitting devices LS. The control unit CU is configured to use all these signals and the respective intensities of these signals to determine the position and orientation of the spatial reference frame linked to the vehicle VI, in the fixed reference frame linked to the signal transmitting device LS or to all the transmitting devices detected by the sensors S1-S4, S11-S13 of the vehicle. When the control unit has to execute a command in relation to the received signals, it selects the command corresponding to the received signal having the greatest intensity.

[0064] It should also be noted that the vehicle V1 may only be equipped with two sensors, for example a sensor at the front of the vehicle and a sensor at the rear of the latter, in particular if it is necessary to evaluate only the position V and the direction Vx of the vehicle VI in a movement plane OXY linked to the signal transmission devices. Furthermore, if the aim is only to force users to return the vehicles at the end of their rental to certain parking areas (for example LA), a single sensor installed on the vehicle is sufficient to detect that the vehicle is indeed in one of these areas. The control unit CU may also be configured to analyze the variations in the signal received by a sensor over time.The control unit CU can thus determine whether the vehicle VI is approaching or moving away from a light source LS emitting an identification signal, knowing that the intensity of the light signal received by the sensor increases when the latter approaches the source LS and conversely, decreases when it moves away from the source LS.

[0065] According to one embodiment, the vehicle V1 is equipped with a communication circuit COM connected to the control unit CU to communicate with a remote server CSV, in particular to transmit to it, for example in real time, a vehicle identifier, an identifier of the transmission device LS, for example the last identifier received. The CSV server can thus locate in real time all the vehicles of a fleet. The control unit CU can also transmit to the CSV server the position of the reference frame Vxy of the vehicle VI in the reference frame OXY of the transmission device LS having transmitted the last identifier received by the control unit CU. The communication between the communication circuit COM and the CSV server can be established via a telephone SM, for example of the "smartphone" type, which can be that of the user. The link between the circuit COM and the telephone SM can be of the BLE ("Blutooth Low Energy") type.

[0066] The vehicle V1 can also be equipped with a positioning device by SPC satellite, for example GPS ("Global Positioning System") or Galileo. Such a device can be useful if the vehicle cannot locate itself because it is not not within the LB transmission range of an LS transmission device and if it is not supported by a user or for any other reason.

[0067] Figure 6 represents a parking zone ZI where the vehicles VI, V2, V3, V4 of the fleet can be abandoned at the end of their rental. The parking zone ZI is illuminated by a light source LS illuminating in particular a strip Z2 where the handlebars of the vehicles V1-V4 must be positioned. The control unit CU is configured to detect not only that the vehicle V1-V4 is in a vertical position by comparing the respective intensities of the signals received by the sensors S1-S4, SI 1-S13. By comparing the intensities of signals received by the front SMI and rear SM2 assemblies, the control unit CU can detect that the handlebar of the vehicle V1-V4 is placed in the strip Z2. Thus, in the example of Figure 6, the vehicles VI, V2, V4 have their handlebars positioned in the strip Z2, while the vehicle V3 is detected incorrectly positioned in the parking zone ZI.Furthermore, by comparing the intensities received by the side sensors S2, S3, the control unit CU can determine the direction in which the vehicles are placed. In the example of Figure 6, vehicles VI, V2 are detected placed in the authorized direction, while vehicle V4 is detected placed in an incorrect direction. Under these conditions, the end of rental is only authorized for vehicles VI, V2. Thus, it is possible to impose an orientation of the vehicles in the LB field emitted by the source LS.

[0068] Figure 7 illustrates different situations that can be managed by the control unit CU. Figure 7 shows a zone Z10 illuminated by a light source LS10. The identifier transmitted by the source LS10 corresponds to a zone where the circulation of vehicles V1 is prohibited. Upon receiving the signal emitted by the source LS10, the control unit CU is configured to stop the engine ENG of the vehicle VL.

[0069] Figure 7 shows a zone ZI 1 illuminated by a light source LSI 1, located at the entrance to a zone Z12 where the speed is limited. Upon receiving the signal emitted by the source LSI 1, the control unit CU is configured to control the ENG motor of the vehicle VI, in order to reduce the speed of the vehicle to reach the maximum authorized speed.

[0070] Figure 7 shows pedestrian crossing zones Z13, Z14, lit respectively by light sources LS 13, LS 14. When receiving the signal emitted by the source LS 13 or LS 14, the control unit CU is configured to control the ENG motor of the vehicle VI, in order to reduce the speed of the vehicle to reach the speed set for crossing the pedestrian crossings.

[0071] Figure 7 shows a zone Z15 illuminated by a light source LS15, located at the entrance to a zone Z16 where vehicles have priority. Upon reception of the signal emitted by the source LS15, the control unit CU is configured to control the ENG motor of the vehicle VI, in order to reduce the speed of the vehicle to reach a speed allowing the immediate stopping of the vehicle in the event of the presence of another vehicle in the zone Z16.

[0072] Figure 7 shows a zone Z17 illuminated by a light source LS17, located at the entrance to a zone Z16 comprising a traffic light or a stop sign. Upon receiving the signal emitted by the source LS 17, the control unit CU is configured to control the ENG motor of the vehicle VI, in order to reduce the speed of the vehicle to reach a speed allowing the immediate stopping of the vehicle at the stop or traffic light.

[0073] According to one embodiment, the signal emitted by the LS emission device is generated by powering a light source such as a LED ("Light Emitting Diode") using a SPWM ("Sinusoidal Pulse Width Modulation") modulated signal whose frequency can be set to a value greater than 1 MHz, the signal having a sinusoidally modulated duty cycle at a frequency between 1 and 22 kHz. Figure 8 shows curves C1, C2, of variation as a function of time, curve C1 corresponding to the power supply signal of the LS source, and curve C2 corresponding to the resulting signal emitted by the LS source, as it can be received by one of the sensors S1-S4, S11-S13 of the vehicle VL. The remanence of the light source makes it possible to obtain a substantially sinusoidal signal when the duty cycle of the power supply signal of the light source is varied in a certain way.Data transmission to the processing unit CU can be carried out by varying the frequency of the sinusoidal signal thus produced.

[0074] It will be clear to those skilled in the art that the present invention is susceptible to various variant embodiments and various applications. In particular, the invention is not limited to the control of a fleet of vehicles in an urban space, but also applies to the control of a single vehicle or more generally, to the control of one or more mobile objects in an open or closed space such as for example inside a building. The invention can also be used in any other space, provided that this space is equipped with at least one source of light radiation. The mobile objects can be for example drones or robots.

[0075] The invention is also not limited to a mobile object equipped with several sensors. Indeed, a single sensor may be sufficient to determine in particular whether the mobile object is in an authorized zone or not, or whether the mobile object is in a parking zone.

[0076] The identification signal which is transmitted in the form of a light signal may simply be an indication of the type of zone, such as parking, pedestrian zone, one-way or no-way street, proximity of a pedestrian crossing, etc.

[0077] The identification signal transmitted in the form of a light signal is not necessarily included in the light signal by modulating the intensity of the latter. Indeed, other types of modulation can be implemented such as frequency modulation or pulse width modulation, the light radiation being emitted in the form of pulse trains.

[0078] Furthermore, the command executed by the vehicle following receipt of a light signal is not necessarily an engine command, or a vehicle lock command, but may simply be the triggering of an audible or light warning signal intended for the user of the vehicle, or any other command defined by the application.

Claims

Claims

1. 1. A method for controlling a mobile object (VI), the method comprising steps of: receiving by at least one sensor of a sensor assembly (S1-S4, S1-S13) installed on the mobile object an identification signal transmitted by light radiation from a transmission installation (LS), the identification signal transmitting data comprising a transmitter identifier, each sensor of the sensor assembly being associated with a respective shutter (OS11, OS12, OS21, OS22, OS31, OS32, OS41), limiting an angle of incidence by which the sensor can be illuminated; extracting, by a processing unit (CU) of the mobile object connected to the sensor assembly, a light source identifier from each received identification signal;determining by the processing unit of the mobile object, a location zone (LA, Z2, Z10, Z11, Z13, Z14, Z15, Z17) as a function of the identifier of each identification signal received, and executing by the processing unit, a command of an electromechanical member (CC) of the mobile object as a function of the location zone of the mobile object.;

2. 2. Method according to claim 1, in which the command belongs to a set of commands comprising: a command for limiting the speed of the mobile object (V1), a command for stopping the mobile object, and a command for locking the mobile object.

3. 3. Method according to claim 1 or 2, comprising steps consisting in: determining by the processing unit whether the location zone of the mobile object (VI) is located in an authorized parking zone of the mobile object according to the transmitter identifier, executing by the processing unit an end-of-use command when the location zone is in an authorized parking zone, the end-of-use command comprising a locking of the mobile object, and a transmission to a remote server (CSV) of an end-of-use notification message, containing location data and an identifier of the mobile object, and not to execute the end of use command by the processing unit until the location zone is in an authorized parking zone.

4. 4. Method according to one of claims 1 to 3, in which the mobile object (VI) is located in an area comprising a plurality of transmitters (LS) of identification signals installed in street lamps of a public lighting system, the method further comprising a step of determining a geographical position of the mobile object as a function of the transmitter identifier extracted from the signal received from one of the transmitters.

5. 5. Method according to one of claims 1 to 4, in which the identification signal is emitted by modulation of the supply current of a visible light source, belonging to the emission installation (LS).

6. 6. Method according to claim 5, in which the modulation of the supply current is of the SPWM type.

7. 7. Device to be installed on a mobile object (VI), the device comprising: a sensor assembly (S1-S4, S11-S13) comprising at least one light sensor emitted from an emission installation (LS), each sensor of the sensor assembly being associated with a respective shutter (OS11, OS12, OS21, OS22, OS31, OS32, OS41) limiting an angle of incidence by which the sensor can be illuminated, and a processing unit (CU) connected to the sensor assembly and to an interface to be connected to a control member (CC) of the mobile object, the device being configured to implement the method according to one of claims 1 to 6.

8. 8. Device according to claim 7, wherein the sensor assembly (S1-S4, S11-S13) comprises a front sensor block (SMI) to be installed at a front position of the moving object (VI) and a rear sensor block (SM2 to be installed at a rear position of the moving object, each of the front and rear sensor blocks being connected to the processing unit (CU) and gathering several light sensors (S1-S4, S11-S13), the sensors of each of the front and rear sensor blocks having distinct orientations for capturing light rays having distinct orientations.

9. 9. Device according to claim 7 or 8, wherein a sensor of the sensor assembly (S1-S4, S1-S13) is installed at the bottom of a

10. well (OS41) limiting an angle of incidence by which the sensor can be illuminated.

10. Device according to one of claims 7 to 9, wherein the set of sensors (S1-S4, S11-S13) comprises an image sensor, the processing unit (CU) being configured to analyze images provided by the image sensor in order to determine the presence of an image area having a predefined color.

Images