Method and device for securing an autonomous driving functionality provided by a driver assistance system of a motor vehicle

Abstract

The invention relates to a method for securing an autonomous driving function provided by a driver assistance system in a motor vehicle (1) by means of a computer device embedded in the vehicle. The invention also relates to a device implementing such a method and to a motor vehicle (1) comprising such a device. Figure 1

Description

Title of the invention: Method and device for securing an autonomous driving functionality provided by a driver assistance system of a motor vehicle. Technical field of the invention

[0001] The present invention relates to the field of autonomous vehicles, particularly autonomous cars. The invention relates specifically to a method for securing an autonomous driving function provided by a driver assistance system in a motor vehicle by means of a computer device embedded in the vehicle. The invention also relates to a device implementing such a method and to a motor vehicle comprising such a device. The invention is applicable to motor vehicles such as motor vehicles, particularly cars. Prior art

[0002] It is known that certain current motor vehicle driver assistance systems, for example those fitted to certain cars, provide functionalities that enable autonomous vehicle guidance in certain specific driving environments. Thanks to these systems, the driver can, if desired, release the steering wheel while remaining vigilant, as long as the driver assistance system takes over vehicle guidance. To provide such functionality, some known driver assistance systems use a model of the vehicle's future trajectory, which they determine based on mapping and the detection of road markings, generally achieved using a camera.This modeling of the vehicle's future trajectory is used, in particular, to estimate the risk of collisions based on the driving environment, especially the presence of moving or stationary objects, and, depending on whether or not a collision risk exists, to enable or disable the provision of autonomous driving functionality. However, it can happen that the detection of road markings malfunctions, leading to an erroneous modeling of the future trajectory and an incorrect assessment of the risk of collision. When this occurs, some known driver assistance systems are configured to react by immediately informing the driver of the need to regain control of the vehicle as quickly as possible, generally by displaying a visual and / or audible warning inside the vehicle.And in order to give the driver time to comply, this indication is broadcast several seconds before the driver assistance system then causes the vehicle to stop on the lane. vehicle. Thus, during this time between the dissemination of the indication and the resumption of control by the driver, the driver assistance system must be able to manage the guidance of the vehicle safely. Summary of the invention

[0003] The invention aims to satisfy this need. The invention specifically aims to provide a method and a device that maximize the safety of an autonomous driving functionality provided by a driver assistance system of a motor vehicle, in particular to allow safe guidance of the vehicle when driver intervention is necessary.

[0004] To achieve this goal, the invention relates, according to a first aspect, to a method for securing an autonomous driving functionality provided by a driver assistance system of a first motor vehicle by means of a computer device embedded in the first vehicle, the method comprising the steps of: i. determine data characterizing the coordinates of several points of the trajectory followed by a second motor vehicle preceding the first vehicle on the same traffic lane using a detection device; ii. determine whether data characterizing an initial model of the future trajectory of the first vehicle, used at the current time by the driver assistance system for providing autonomous driving functionality, implies a risk of collision; and, where it is established that this is the case, iii. trigger the dissemination of a visual and / or audible indication in the passenger compartment of the first vehicle by interacting with a human-machine interface; iv. determine data characterizing a second model of the future trajectory of the first vehicle based on data characterizing the coordinates of several points on the trajectory followed by a second vehicle preceding the first vehicle in the same lane; and v. cause the driver assistance system to use the data characterizing the second model of the future trajectory of the first vehicle for the provision of the autonomous driving functionality.

[0005] According to one variant, step iv) can be carried out as long as the driver of the first vehicle has not placed his hands on the steering wheel and at most for a predetermined period.

[0006] According to another variant, the pre-established duration can be equal to five seconds.

[0007] According to yet another variant, the data characterizing a first model of the future trajectory of the first vehicle can be determined based on data characterizing at least one mapping element determined using a navigation system and data characterizing the location of at least one ground marking element determined using the detection device.

[0008] According to a second aspect, the invention relates to a device for securing an autonomous driving functionality provided by a driver assistance system of a motor vehicle, the device comprising at least one information processing unit, including at least one processor, and a data storage medium configured to implement a method as described above.

[0009] According to a third aspect, the invention relates to a computer program comprising program code instructions for the execution of the steps of a process as described above when said program is executed by at least one processor.

[0010] According to a fourth aspect, the invention relates to a medium usable in a computer on which a program as described above is recorded.

[0011] According to a fifth aspect, the invention relates to a motor vehicle comprising a device as described above. Brief description of the figures

[0012] Other features and advantages of the invention will become apparent from an examination of the detailed description below, and the accompanying drawings, in which:

[0013] [Fig-1] is a diagram of a vehicle according to the invention evolving in a situation of conduct in which the method according to the invention is implemented;

[0014] [Fig.2] is a functional diagram of a device according to the invention; and

[0015] [Fig.3] is a flowchart of the steps of a process according to the invention. Detailed description of the invention

[0016] Figure 1 illustrates a vehicle 1 according to the invention traveling in a driving situation in which the method according to the invention described below is implemented. The vehicle 1 according to the invention carries a driver assistance system that provides an autonomous driving functionality as mentioned in the preamble and, advantageously, a device for securing an autonomous driving functionality provided by a driver assistance system of a motor vehicle according to the invention described below, which implements the method according to the invention described below. During the implementation of the method according to the invention, the trajectory followed by another vehicle 2 preceding the autonomous vehicle 1 in the same lane of traffic is periodically determined. Then, when it is established that the current model of the future trajectory of the vehicle (TRAJi) which is used by the driver assistance system Driving to provide autonomous driving functionality involves a risk of collision. Therefore, a different model of the future trajectory (TRAJ2), determined based on the past trajectory of the preceding vehicle, is used by the driver assistance system to continue providing autonomous driving functionality for the period of time that allows the driver to regain control. In other words, the vehicle's future trajectory at this stage no longer depends on mapping or the detection of lane markings, but solely on the past trajectory of the preceding vehicle. As long as the driver has not regained control, the driver assistance system thus advantageously guides the vehicle along the trajectory that is undeniably the safest possible, since it is the one followed by the vehicle directly in front.

[0017] The device 100 for securing an autonomous driving functionality provided by a driver assistance system of a motor vehicle according to the invention, which is carried on board the vehicle 1 according to the invention, is illustrated in [Fig. 2]. It is a computer device, which includes at least one information processing unit 101, comprising one or more processors, a data storage medium 102, on which is recorded, in particular, a program which includes program code instructions for the execution of the steps of the process according to the invention described below, and an input and output interface 103 allowing the reception and transmission of data.

[0018] According to one embodiment of the invention, the device 100 according to the invention is hosted on one or more computers, electronic control units, or other telematics units of the vehicle 1. According to the preferred embodiment, that illustrated in [Fig. 2], the device 100 according to the invention is hosted on an independent computer and interacts via its input / output interface 103 and by means of a wired communication network of the vehicle 1 (e.g., CAN, Ethernet) – represented in the figure by the double-headed arrows – with a computer of the vehicle's driver assistance system 200. According to another embodiment, the device 100 according to the invention is an integral part of a computer of the vehicle's driver assistance system 200.Thus, regardless of the embodiment, the device 100 according to the invention is always able to interact, via its input and output interface 103, not only with the vehicle's driver assistance system 200, but also, via the latter, with any other device that equips and / or interacts with the driver assistance system 200. Thanks to these means, the device 100 according to the invention can therefore, in particular, cause the driver assistance system 200 to use data characterizing a particular model of the vehicle's future trajectory to provide the autonomous driving functionality.

[0019] In addition, the vehicle 1 driver assistance system 200 according to the invention conventionally comprises at least one sensing device 201 (e.g. lidar, radar, camera, ultrasonic sensor, etc.), which it uses to perceive the driving environment around the vehicle, including road markings, and one or more computers and / or processors 202, which, based on data generated by the sensing device 201, can control the operation of certain vehicle components that govern its movement (e.g. electronic power steering, electronic stability control, ABS, cruise control, etc.) in order to provide autonomous driving functionality.Preferably, the driver assistance system 200 provides autonomous driving functionality primarily by using a model of the vehicle's future trajectory, which it determines based on data characterizing at least one mapping element determined using the vehicle's navigation system 203, and data characterizing the location of at least one road marking element determined using the detection device 201, preferably a camera. Thus, by interacting with or being an integral part of such a driver assistance system, the device 100 according to the invention is notably able to determine the location of a preceding vehicle traveling in the same lane.Furthermore, it can also determine whether a model of the vehicle's future trajectory used at the current time by the driver assistance system to provide autonomous driving functionality implies a risk of collision.

[0020] Furthermore, to implement at least one step of the process according to the invention described below, the device 100 according to the invention also includes hardware and software means for interacting with a human-machine interface 204 of the vehicle, which conventionally includes a screen 205 and a loudspeaker 206 to enable the dissemination of visual and / or audible indications in the passenger compartment of the vehicle 1. Thanks to these means, the device 100 according to the invention is advantageously able to cause the dissemination of a visual and / or audible indication in the passenger compartment of the vehicle.

[0021] According to the invention, all the elements described above contribute to enabling the implementation of a method for securing an autonomous driving functionality provided by a driver assistance system of a motor vehicle, as described below in relation to figures 1 and 3.

[0022] According to a first step 301 of the method according to the invention, the device 100 according to the invention determines data characterizing the coordinates of several points on the trajectory followed by the second vehicle 2 preceding the first vehicle 1 in the same lane of traffic. To do this, the device 100 according to the invention interacts with the driver assistance system 200, which uses its detection device 201, preferably a radar, to constantly model the driving environment around the first vehicle 1, including static or moving objects in it and, in particular, the second vehicle 2 traveling directly in front of it in the same lane. Thus, by periodically querying the driver assistance system 200, the device 100 according to the invention determines during this first step 301 the coordinates of several points on the trajectory followed by the second vehicle 2, for example the coordinates of the six points illustrated in [Fig. 1].

[0023] Next, according to a second step 302 of the method according to the invention, the device 100 according to the invention determines whether data characterizing an initial model of the future trajectory of the first vehicle, used at the current time by the driver assistance system for providing the autonomous driving functionality, implies a risk of collision. To this end, the device 100 according to the invention interacts again, preferably with the driver assistance system 200. Indeed, at this stage, the latter provides the autonomous driving functionality by using a model of the future trajectory of the first vehicle (TRAJi), which is determined based on mapping and the detection of road marking elements, preferably performed by means of a camera.To continuously determine whether a collision risk exists, the driver assistance system 200 conventionally combines this model of the future trajectory of the first vehicle (TRAJi) with a model of the current driving environment determined by means of the detection device 201, preferably a radar. Thus, the device 100 according to the invention can identify the model of the future trajectory of the vehicle that is currently being used by the driver assistance system 200 to provide the autonomous driving functionality, and as soon as the driver assistance system 200 establishes that a collision risk is induced by this current model of the future trajectory of the first vehicle 1, the device 100 according to the invention also establishes this risk.

[0024] Next, when it has established that a first model of the future trajectory of the first vehicle used at the current time by the driving assistance system 200 for the provision of the autonomous driving functionality implies a risk of collision, the device 100 according to the invention carries out the following steps of the method according to the invention described below.

[0025] According to a third step 303 of the method according to the invention, the device 100 according to the invention causes the dissemination of a visual and / or audible indication in the passenger compartment of the first vehicle 1. To do this, the device 100 according to the invention proceeds conventionally by interacting with the human-machine interface 204. Indeed, as mentioned in the preamble, most known driver assistance systems are already capable of causing the dissemination of indications in the vehicle's passenger compartment, in particular to encourage the driver to take back control. Thus, device 100 according to the invention has established that a risk of collision exists in connection with a current model of the vehicle's future trajectory and, consequently, it conventionally performs a step consisting of alerting the driver.

[0026] Next, according to a fourth step 304 of the method according to the invention, the device 100 according to the invention advantageously determines data characterizing a second model of the future trajectory of the first vehicle based on data characterizing the coordinates of several points of the trajectory followed by a second vehicle preceding the first vehicle in the same traffic lane. In other words, the device 100 according to the invention proceeds at this stage by using the coordinates of the trajectory followed by the second vehicle 2, which were determined during the first step 301 of the method, to determine a new model of the future trajectory of the first vehicle (TRAJ2), for example by interpolating the six points previously determined illustrated in [Fig. 1].And as we have seen, this has the advantage that the future trajectory of the first vehicle is then based not on mapping and detection of ground marking elements but solely on the past trajectory of the second vehicle 2. .

[0027] Next, according to a fifth step 305 of the method according to the invention, the device 100 according to the invention causes the driver assistance system 200 to use the data characterizing the second model of the future trajectory of the first vehicle for providing the autonomous driving functionality. In other words, the device 100 according to the invention instructs the driver assistance system 200 to use the second model, the one determined in the previous step of the method which depends only on the past trajectory of the second vehicle 2, to guide the vehicle from that moment on. Thus, at the end of this fifth step of the method, the first vehicle 1 is guided along a trajectory that is completely different from the one used until then, not only from the point of view of how it is determined (mapping and road marking elements vs.past trajectory of the preceding vehicle) but also with regard to the detection devices used (camera for road markings vs. radar for the trajectory of the preceding vehicle). Preferably, this fifth step of the process is carried out until the driver places their hands on the steering wheel, a state that the device 100 according to the invention determines, for example, by interacting with a sensor in the steering wheel or a camera in the passenger compartment, and for a maximum of a predetermined duration, for example, five seconds. Then, if the driver has still not regained control, the device 100 according to the invention can, for example, perform an additional step during which it causes the vehicle to stop in the lane (or emergency lane). Thus, during the time period preceding the regaining of control. from the driver's perspective, the first vehicle 1 is advantageously guided along the safest possible trajectory since it is the one that was followed by the second vehicle 2 which is located just in front.

[0028] Thus, thanks to the method and device according to the invention described above, a solution is provided to maximize the safety of an autonomous driving functionality provided by a driver assistance system of a motor vehicle, in particular to enable safe autonomous driving when driver intervention is required.

Claims

Demands

1. A method for securing an autonomous driving functionality provided by a driver assistance system (200) of a first motor vehicle (1) by means of a computer device (100) embedded in the first vehicle, characterized in that the method comprises the steps of: i. determine (301) data characterizing the coordinates of several points of the path followed by a second motor vehicle (2) preceding the first vehicle in the same traffic lane using a detection device (201); ii. determine (302) whether data characterizing an initial model of the future trajectory of the first vehicle used at the current time by the driver assistance system for providing autonomous driving functionality implies a risk of collision; and, where it is established that this is the case, iii. cause (303) the dissemination of a visual and / or audible indication in the passenger compartment of the first vehicle by interacting with a human-machine interface (204); iv. determine (304) data characterizing a second model of the future trajectory of the first vehicle as a function of data characterizing the coordinates of several points on the trajectory followed by a second vehicle preceding the first vehicle in the same lane of traffic, step iv) being carried out as long as the driver of the first vehicle has not placed their hands on the steering wheel and at most for a predetermined duration; and v. cause (305) the use by the driver assistance system (200) of the data characterizing the second model of the future trajectory of the first vehicle for the provision of the autonomous driving functionality.

2. Method according to claim 1, characterized in that the pre-established duration is equal to five seconds.

3. A method according to any one of the preceding claims, characterized in that the data characterizing a first modeling of the future trajectory of the first vehicle are determined based on data characterizing at least one mapping element determined using a navigation system (203) and data characterizing the location of at least one ground marking element determined using the detection device (201).

4. Device (100) for securing an autonomous driving functionality provided by a driver assistance system (200) of a motor vehicle, characterized in that the device comprises at least one information processing unit (101), comprising at least one processor, and a data storage medium (102) configured to implement a method according to any one of the preceding claims.

5. Computer program comprising program code instructions for carrying out the steps of a process according to any one of claims 1 to 3 when said program is executed by at least one processor.

6. A medium usable in a computer, characterized in that a program according to claim 5 is stored thereon.

7. Motor vehicle, characterized in that it comprises a device (100) according to claim 4.

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