Method and device for rendering a lane change authorization message

Abstract

The present invention relates to a method and a device for rendering a message authorizing a lane change between a current traffic lane (110) and an adjacent side lane (111), for a vehicle (10) in a road environment (1). For this purpose, first data representative of a lane change command are received at a first instant, and second data representative of the road environment (1) are received at a second instant separated by a time interval from the first instant. The time interval is compared with a threshold value, and third data representative of a possibility or impossibility of changing lane are determined. The lane change authorization message is then rendered as a function of the third data and a result of the comparison. Figure for abstract: Figure 1

Description

Title of the invention: Method and device for rendering a lane change authorization message Technical field

[0001] The present invention relates to methods and devices for driving assistance. The present invention also relates to a method and device for semi-automatic lane change of a vehicle, in particular an autonomous vehicle. The present invention also relates to a method and device for alerting a vehicle. Technological background

[0002] Road safety is one of the major challenges facing our societies. With the increasing number of vehicles on the world's road networks, regardless of traffic conditions, the risk of accidents and incidents caused by traffic conditions has never been greater.

[0003] Some contemporary vehicles are equipped with functions or system(s) or driving assistance, known as AD AS (from the English “Advanced Driver-Assistance System” or in French “Advanced Driving Assistance System”).

[0004] Among these systems, the semi-automatic lane change system, called the SALC system (from the English "Semi-Automatic Lane Change") has the primary function of assisting the driver of a vehicle when the driver wishes to change lanes. Upon detecting the activation of the turn signals on one side of the vehicle to indicate its intention to change lanes from a current lane to a target lane on the side where the turn signals have been activated by the driver, the SALC system operates the lane change after having carried out some checks.

[0005] SALC systems embedded in a vehicle are implemented based on data on the vehicle's environment, instructions entered by the vehicle user and control parameters defined for example during the design of these SALC systems.

[0006] If the SALC system judges, at a given moment, that the area towards which the driver wishes to make a lane change, i.e. the target traffic lane, is not available, the lane change is not carried out. The driver is for example informed of the refusal to change lane via an on-board human machine interface, called HMI.

[0007] Under certain conditions, in particular when the target traffic lane includes another vehicle traveling at a speed significantly different from that of the vehicle carrying the SALC system, the difference between an authorization or refusal to change lane can be made over a very limited time interval. The SALC system can thus return a refusal to change lane at a given moment, while the lane becomes available a few milliseconds apart. Such a result then generates a misunderstanding for the driver of the vehicle, and forces him to initiate a second lane change command.

[0008] This behavior therefore leads to frustration and additional effort on the part of the vehicle driver, on the part of a system aimed at minimizing his interventions.

[0009] Summary of the present invention

[0010] An object of the present invention is to solve at least one of the problems of the technological background described above.

[0011] Another object of the present invention is to improve the management of lane changes of a vehicle, in particular in the context of an autonomous vehicle.

[0012] According to a first aspect, the present invention relates to a method for rendering a message authorizing a lane change between a current traffic lane and an adjacent side lane, for a vehicle traveling on a current traffic lane of a road environment comprising a plurality of lanes having the same direction of travel, the method being implemented by a computer, the method comprising the following steps: - reception, at a first instant, called the previous instant, of first data representative of a command to change lane between the current traffic lane and the adjacent side lane, from at least one system on board the vehicle; - reception, at a second instant, called the later instant, the later instant being separated from the earlier instant by a time interval, of second data representative of the road environment from at least one sensor on board the vehicle; - comparison of the time interval with a threshold value representative of a maximum delay; - determination, based on the first data and the second data, of third data representative of a possibility or impossibility of changing lane; and - rendering a lane change authorization message to a vehicle occupant based on the third data and a comparison result.

[0013] It is understood here that the lane change command corresponds to an activation of a lane change indicator, by the driver of the vehicle, for example the activation of the turn signals on one side of the vehicle. The side of the vehicle thus corresponds to the side of the adjacent side lane.

[0014] It will further be understood within the meaning of the present invention that the time interval may be non-zero or zero. Thus, the later time and the earlier time may be substantially identical, the steps of the method being carried out directly after receiving the first data, or separated by a time interval. The method according to the invention repeats, for example, the steps of receiving the second data, of comparing, of determining and of rendering according to a given frequency, for example until a possibility of changing lanes is determined or until the time interval exceeds the threshold value.

[0015] Thus, according to the present invention, the rendering of a lane change authorization message, after receiving a lane change command, can be modulated over time and adapted according to the evolution of traffic conditions. The rendering illustrates, for example, the possible evolution of the possibility or impossibility of changing lanes, between the previous instant and the expiry of the maximum time limit. This design makes it possible in particular to avoid an instantaneous rejection of the lane change, and to propose a rendering more suited to the rapid evolution of traffic conditions.

[0016] According to one variant, the rendering comprises: - a return of authorization when changing lanes is possible; - rendering of a waiting message when changing lanes is not possible and when the time interval is less than the threshold value; - rendering a ban when changing lanes is impossible and when the time interval is greater than the threshold value.

[0017] According to an additional variant, the method further comprises the following steps: - determining a set of vehicle trajectory control parameters based on the first data and the second data when lane change is possible; and - control of a semi-automatic lane change system, known as SALC system, of the vehicle, according to the set of control parameters.

[0018] According to another variant, the rendering further comprises a request for activation of the SALC system, the control being further carried out as a function of a response to the request.

[0019] According to an additional variant, the determination of the third data comprises the following steps: - determination of information representative of an object associated with the adjacent lateral channel based on the second data; - determination of information representative of a risk of collision between the vehicle and the object, the third data being determined based on the risk of collision.

[0020] According to another variant, the method further comprises the following steps: - receiving information representative of a speed of the vehicle from at least one on-board sensor; - receiving information representative of a capture range of on-board systems of the vehicle; and - determination of the threshold value based on information representative of speed and capture range.

[0021] According to a second aspect, the present invention relates to a device for rendering a message authorizing a lane change between a current traffic lane and an adjacent side lane, the device comprising a memory associated with a processor configured for implementing the steps of the method according to the first aspect of the present invention.

[0022] According to a third aspect, the present invention relates to a vehicle, for example of the automobile type, comprising a device as described above according to the second aspect of the present invention.

[0023] According to a fourth aspect, the present invention relates to a computer program which comprises instructions adapted for executing the steps of the method according to the first aspect of the present invention, in particular when the computer program is executed by at least one processor.

[0024] According to a fifth aspect, the present invention relates to a computer-readable recording medium on which is recorded a computer program comprising instructions for carrying out the steps of the method according to the first aspect of the present invention.

[0025] On the one hand, the recording medium may be any entity or device capable of storing the program. For example, the medium may comprise a storage means, such as a ROM memory, a CD-ROM or a microelectronic circuit type ROM memory, or a magnetic recording means or a hard disk.

[0026] Furthermore, this recording medium may also be a transmissible medium such as an electrical or optical signal, such a signal being able to be conveyed via an electrical or optical cable, by conventional or hertzian radio or by self-directed laser beam or by other means. The computer program according to the present invention may in particular be downloaded from an Internet-type network.

[0027] Alternatively, the recording medium may be an integrated circuit in which the computer program is incorporated, the integrated circuit being adapted to perform or to be used in performing the method in question. Brief description of the figures

[0028] Other characteristics and advantages of the present invention will emerge from the description of the particular and non-limiting exemplary embodiments of the present invention below, with reference to the appended figures 1 to 3, and in which:

[0029] [Fig.l] schematically illustrates a vehicle traveling in a road environment comprising a plurality of traffic lanes, according to a particular and non-limiting exemplary embodiment of the present invention;

[0030] [Fig.2] schematically illustrates a device configured to render a lane change authorization message for the vehicle of [Fig.1], according to a particular and non-limiting exemplary embodiment of the present invention;

[0031] [Fig.3] schematically illustrates a flowchart of the different steps of a method for rendering a lane change authorization message from the vehicle of [Fig.1], according to a particular and non-limiting exemplary embodiment of the present invention.

[0032] Description of the examples of embodiment

[0033] A method and a device for rendering a vehicle lane change authorization message will now be described in the following with joint reference to Figures 1 to 3. The same elements are identified with the same reference signs throughout the description which follows.

[0034] According to a particular and non-limiting example of embodiment of the present invention, a method for rendering a message authorizing a lane change between a current traffic lane and an adjacent side lane, for a vehicle traveling on a current traffic lane of a road environment comprising a plurality of lanes having the same direction of travel, comprises the reception, by a computer on board the vehicle, of first data representative of a lane change command from at least one system on board the vehicle. The on-board computer corresponds for example to a computer of an AD AS or SALC system configured to control the AD AS or SALC system, the rendering of the message being integrated into the control of the AD AS or SALC system.The lane change command corresponds, for example, to the activation of a lane change indicator of the vehicle, for example an activation of indicator lights on one side of the vehicle, via a command on the vehicle dashboard. The reception of the first data is carried out at a first instant, called . previous moment, corresponding for example to the moment of activation of the vehicle's indicator lights.

[0035] At a second instant, called the later instant, second data representative of the road environment are received from at least one sensor on board the vehicle. The second data are for example received from a set of cameras and / or radars on board the vehicle, and make it possible for example to count, delimit and position the plurality of lanes relative to each other and relative to the vehicle, and / or to count, position and characterize any object associated with the plurality of lanes, for example vehicles traveling on the adjacent side lane. The later instant is separated from the earlier instant by a zero or non-zero time interval, corresponding to the delay between the activation of the lane change command and the execution of the subsequent steps of the method. The time interval is then compared with a threshold value, representative of a maximum delay.The steps of the method are for example carried out at a plurality of subsequent times, corresponding to an adaptation of the lane change authorization over time from the same command, until the time interval reaches the maximum delay, i.e. the command has been initiated for a sufficient duration.

[0036] Third data representative of a possibility or impossibility of changing lanes are then determined as a function of the first data and the second data. The first data make it possible, for example, to identify the adjacent side lane among the plurality of lanes, and the second data to identify any obstacle preventing the vehicle from changing lanes.

[0037] Depending on the third data and a result of the comparison, a lane change authorization message is then sent to an occupant of the vehicle, for example to the driver. The authorization message corresponds, for example, to graphic content, displayed on an on-board display device of the vehicle. The display device corresponds, for example, to a Human-Machine Interface, called HMI, on-board the vehicle, for example a display screen arranged in the passenger compartment of the vehicle. According to other examples, the authorization message corresponds to the rendering of an audible and / or haptic signal to the occupant of the vehicle.

[0038] The lane change authorization message is thus rendered both as a function of the traffic conditions at a given instant, derived from the third data, and of the time interval that has elapsed since the lane change command was received. The authorization message can therefore be modulated, not only by determining whether the lane change is possible at a specific instant, but also over time and as traffic conditions change. This design This avoids untimely and incomprehensible refusals for the vehicle's occupants, when changing lanes can be authorized after a short period of time.

[0039] [Fig.l] schematically illustrates a road environment 1 in which a vehicle 10 moves, according to a particular and non-limiting exemplary embodiment of the present invention.

[0040] [Fig.l] illustrates a vehicle 10, for example a motor vehicle, traveling on a portion of road in the environment 1. According to other examples, the vehicle 10 corresponds to a coach, a bus, a truck, a utility vehicle or a motorcycle, that is to say a vehicle of the motorized land vehicle type.

[0041] The vehicle 10 corresponds to a vehicle traveling under the total supervision of a driver or traveling in an autonomous or semi-autonomous mode. The vehicle 10 travels according to a level of autonomy equal to 0 or according to a level of autonomy ranging from 1 to 5 for example, according to the scale defined by the American federal agency which has established 5 levels of autonomy ranging from 1 to 5, level 0 corresponding to a vehicle having no autonomy, the driving of which is under the total supervision of the driver, level 1 corresponding to a vehicle with a minimal level of autonomy, the driving of which is under the supervision of the driver with minimal assistance from an AD AS system, and level 5 corresponding to a completely autonomous vehicle.

[0042] The 5 levels of autonomy of the classification of the federal agency responsible for road safety are: - level 0: no automation, the vehicle driver has full control over the main functions of the vehicle (engine, accelerator, steering, brakes); - level 1: driver assistance, automation is active for certain vehicle functions, the driver retaining overall control over the vehicle's driving; cruise control is part of this level, as are other aids such as ABS (anti-lock braking system) or ESP (programmed electro-stabilizer); - level 2: automation of combined functions, the control of at least two main functions is combined in the automation to replace the driver in certain situations; for example, adaptive cruise control combined with lane centering allows a vehicle to be classified as level 2, as does automatic parking assistance (from the English “Park assist”); - level 3: limited autonomous driving, the driver can cede complete control of the vehicle to the automated system which will then be in charge of critical safety functions; autonomous driving can however only take place in certain specific environmental and traffic conditions (only on motorways, for example); - level 4: fully autonomous driving under certain conditions, the vehicle is designed to ensure all critical safety functions on its own over a complete journey; the driver provides a destination or navigation instructions but is not required to make himself available to take back control of the vehicle; - level 5: completely autonomous driving without driver assistance in all circumstances.

[0043] According to a particular embodiment, the vehicle 10 travels in a semi-autonomous or autonomous mode, that is to say with a level of autonomy greater than or equal to 2 according to the classification above.

[0044] According to the example of [Fig.l], the vehicle 10 travels on a road or a portion of road comprising a plurality of lanes 110, 111. The vehicle 10 travels on a current traffic lane 110, an adjacent side lane 111 being to the right of the current lane 110 (according to the direction of travel of the vehicle 10).

[0045] The concepts of right and left are defined according to the direction of travel of the vehicle 10. The current traffic lane 110 corresponds for example to the “fastest” lane and the adjacent side lane 111 corresponds according to this example to the “slowest” lane. The “slowest” lane is on the right in countries where vehicles travel in the right-hand lane (countries such as France for example). The “slowest” traffic lane is on the left in countries where vehicles travel in the left-hand lane (countries such as the United Kingdom for example).

[0046] The example in [Fig.l] corresponds to an example in which vehicles travel on the right, as in France. The invention is however not limited to such an example and extends to all road configurations, including those in which vehicles travel on the left.

[0047] A lane 110, 111 of the portion of road corresponds to a traffic lane, that is to say a lane intended for the circulation of vehicles, or to any type of lane, for example an exit lane of a road with regulated access (also called a fast lane), a motorway exit lane or an emergency stopping lane, noted B AU.

[0048] According to the example of [Fig.l], the portion of road corresponds to a portion of expressway road with several traffic lanes for each direction of traffic. According to this particular example, each of the lanes of the plurality of lanes 110, 111 corresponds to a traffic lane.

[0049] Each of the lanes 110 and 111 is materialized or delimited by lateral delimitations 101, 102, 103 which correspond for example to continuous or discontinuous ground marking lines, or to safety barriers (or barriers).

[0050] In this example, the lateral delimitations 101, 102 and 103 are each of the ground marking line type. The ground marking lines are also called horizontal markings and correspond to a set of lines drawn on the ground. The ground marking lines 101, 102 and 103 may be of several types, for example edge lines or center lines, with different characteristics. The ground marking lines may thus be of the continuous line, broken line or mixed line type (comprising a continuous line and a broken line parallel to the continuous line). A broken line may also have different characteristics, with spacing lengths between the lines varying from one type of broken line to another and / or a length of the lines varying from one type to another.

[0051] Thus, according to the example of [Fig. 1], the current traffic lane 110 is delimited on the right by a broken line 102. This broken line 102 marks the separation between the current traffic lane 110 and the adjacent side lane 111 also corresponding to a traffic lane. The current traffic lane 110 is delimited on the left by a first continuous line 101 and the adjacent side lane 111 is delimited on the right by a second continuous line 103.

[0052] The vehicle 10 advantageously incorporates one or more driving assistance systems, called AD AS (from the English “Advanced Driver-Assistance System” or in French “Système d'aide à la conduite supérieur”). The vehicle 10 incorporates in particular a semi-automatic lane change system, called SALC (from the English “Semi-Automatic Lane Change”). Such a system is based in particular on the detection and recognition of the road marking lines to authorize or not the change of lane from a current traffic lane to a traffic lane adjacent to this current traffic lane, and when the change is authorized, to control the maneuver allowing the vehicle 10 to change lane.

[0053] The vehicle 10 advantageously incorporates a ground marking detection system. Such a system is for example coupled to the SALC system or integrated into the SALC system. Such a ground marking detection system receives data from one or more cameras embedded in the vehicle 10 and configured for the acquisition of images of the traffic lane taken by the vehicle 10, for example the portion of road located in front and / or on the sides of the vehicle 10. The ground marking detection system is thus configured to detect the ground markings in the environment of the vehicle 10. Image processing is applied to the images obtained from the camera(s) of the ground marking detection system to determine the presence of lines on the ground and to classify these lines into different categories, for example to determine whether the lines on the ground correspond to lines edge lines or center lines for example. An example of image processing to detect lines on the ground is for example described in document WO2017194890A1. The road marking detection system identifies, for example, lines in solid or dotted lines.

[0054] In the process described below, only the detection of the presence of ground marking lines is taken into account. According to a variant, the classification of the detected lines is also implemented, for example to confirm the determination of the type of line as obtained according to the process described below.

[0055] When an occupant of the vehicle 10, for example the driver of the vehicle 10, wishes to change lanes, in particular using the SALC system, the occupant typically activates the turn signals of the vehicle 10, in particular using a control integrated under the steering wheel of the vehicle, called a “commodo” and configured to receive and return a plurality of commands from the user, depending on the changes in position of the commodo. Activating the turn signals then triggers a semi-automatic lane change process using the SALC system, during which the SALC system will check the possibility of carrying out the lane change.

[0056] A problem that arises is that the evolution of traffic conditions in the road environment 1 quickly impacts the feasibility of a lane change maneuver. However, the verification carried out by the SALC system takes place at a given instant, without taking this evolution into account, even during a time interval of a few milliseconds. The SALC system can therefore return a refusal to carry out the lane change maneuver based on the conditions and parameters at the instant of activation of the turn signals of the vehicle 10, while the adjacent side lane 111 becomes free. The driver of the vehicle 10 therefore receives a refusal to change lane while observing an adjacent side lane 111 clear, which generates a lack of understanding on his part and forces him to reactivate the SALC system.

[0057] In order to propose a solution to this problem, a method for rendering a lane change authorization message is advantageously implemented by one or more processors of the vehicle 10, for example a central computer, a set of computers, or even a peripheral computer associated with an AD AS system of the vehicle 10, for example the SALC system of the vehicle 10.

[0058] According to a particular and non-limiting embodiment, such a process is part of a broader process of controlling an AD AS system, for example a SALC system, of the vehicle 10. The vehicle 10 thus implements, in this example, a lane change maneuver as a function of a lane change possibility determined during the execution of the process according to the invention.

[0059] In a first operation carried out at a first instant, called the previous instant, at least one processor of the vehicle, for example a central computer or a set of computers, receives first data representative of a command to change lane between the current traffic lane 110 and the adjacent side lane 111.

[0060] The at least one processor comprises, for example, an intelligent service box or BSI (in English “Built-In Systems Interface”) or a VSM (from the English “Vehicle Supervisor Module” or in French “Module de Supervision de Véhicule”) capable of forming a communication network, for example a multiplexed communication network, in which data is transmitted via a wireless or wired link, for example data received from on-board sensors.The at least one processor or BSI (hereinafter referred to as "BSI") is thus connected to a plurality of peripheral computers and / or to other computers of on-board systems of the vehicle 10, for example AD AS systems of the vehicle 10 and / or an on-board HMI (Human-Machine Interface) system or even an IVI (In-Vehicle Infotainment) system, the BSI communicating for example with a supervisor of the HMI system controlling one or more interfaces of the vehicle 10 including a handset and / or a central display of the vehicle 10. According to another example, the at least one processor corresponds to one or more computers responsible for controlling the SALC system of the vehicle 10.

[0061] The first data are thus received by communication in the multiplexed communication network. The first data are for example received from a computer associated with a switch of the vehicle 10, via one or more communication buses of the on-board system of the vehicle 10, for example a communication bus of the CAN (Controller Area Network) type, CAN FR (Controller Area Network Flexible Data Rate), FlexRay (according to the ISO 17458 standard), Ethernet (according to the ISO / IEC 802-3 standard) or LIN (Local Interconnect Network) type.

[0062] The first data thus make it possible to determine and characterize the lane change command, in particular whether the desired lane change is made to the left or the right of the vehicle 10.

[0063] In a second operation carried out at a second instant, called the later instant and separated from the earlier instant by a time interval, the BSI also receives second data representative of the road environment 1 from at least one sensor on board the vehicle 10.

[0064] According to an alternative embodiment, the second data are at least partially received from one or more sensors of the object detection system(s) on board the vehicle 10.

[0065] By way of example, the sensor(s) associated with these object detection systems correspond to one or more of the following sensors: - one or more millimeter wave radars arranged on the vehicle 10, for example at the front, at the rear, on each front / rear corner of the vehicle; each radar is adapted to emit electromagnetic waves and to receive the echoes of these waves returned by one or more objects (for example the barriers 110), for the purpose of detecting obstacles or other objects and their distances from the vehicle 10; and / or - one or more LIDAR(s) (from the English “Light Detection And Ranging”, or “Light Detection and Distance Estimation” in French), a LIDAR sensor corresponding to an optoelectronic system composed of a laser emitting device, a receiving device comprising a light collector (to collect the part of the light radiation emitted by the emitter and reflected by any object located in the path of the light rays emitted by the emitter) and a photodetector which transforms the collected light into an electrical signal; a LIDAR sensor thus makes it possible to detect the presence of objects (for example barriers 110) located in the emitted light beam and to measure the distance between the sensor and each detected object.

[0066] The data obtained from this or these sensors vary according to the type of sensor. When it is a radar or a LIDAR, the road environment data corresponds for example to distance data between points of the detected object and the sensor. Each detected object is thus represented by a point cloud (each point corresponding to a point of the object receiving the radiation emitted by the sensor and reflecting at least part of this radiation), the point cloud representing the envelope (or part of the envelope) of the detected object as seen by the sensor and ultimately by the vehicle 10 carrying the sensor.When it comes to a video camera, the road environment data corresponds to data associated with each pixel of the acquired image(s), for example gray level values ​​coded on, for example, 8, 10, 12 or more bits for each color channel, for example RGB (from the English "Red, Green, Blue" or in French "Rouge, vert, bleu").

[0067] The second data correspond for example to data making it possible to characterize the road environment 1 at the subsequent instant. The second data comprise for example information representative of the lateral delimitations 101, 102, 103, making it possible to establish the number, the layout and the profile of the plurality of lanes 110, 111. The second data make it possible for example to establish the presence or absence of an adjacent lateral lane 111 located to the right and / or to the left of the lane of current traffic 110. The second data also makes it possible, for example, to determine the presence and characterize any object 11 associated with the plurality of traffic lanes 110, 111, for example another vehicle traveling on the adjacent side lane 111, as described below. Obviously, the second data makes it possible to characterize the road environment 1 of the vehicle 10 according to the range of the on-board sensors of the vehicle 10. The vehicle 10, for example, has a set of radars and cameras allowing the acquisition of second data over a longitudinal interval of 80 m at the front and rear of the vehicle 10.

[0068] In a third operation, the BSI compares the time interval between the first instant and the second instant with a threshold value representative of a maximum delay. It is understood here that the threshold value corresponds to a duration calibrated to determine, in a reliable manner, the authorization or refusal of lane change, that is to say the delay according to which second subsequent data can be used to determine the authorization of a previous lane change command. This maximum delay also makes it possible to authorize the use of second subsequent data, that is to say not to limit the execution of the method according to the invention to the previous instant of actuation of the lane change command.

[0069] According to an alternative embodiment, the BSI receives information representative of a speed of the vehicle 10 and information representative of a capture range of on-board systems of the vehicle 10, that is to say a range of the on-board sensors from which the second data are received, the threshold value being determined as a function of the speed and the capture range. The threshold value is for example defined (in seconds) as the ratio of the capture range (in meters) by the speed (in m / s) of the vehicle 10. It is understood here that the capture range is information substantially fixed in time, and for example recorded in a memory of a computer of the vehicle 10. According to another example, the threshold value is determined from a minimum speed of the vehicle 10 necessary for the use of the SALC system, for example a speed of 70 km / h for a vehicle 10 traveling with an autonomy level equal to 2.

[0070] According to another variant, the threshold value is recorded in a memory of the vehicle 10, and corresponds to an adjustable parameter of the vehicle 10, for example by interaction with an on-board interface of the vehicle 10. The calibration of the maximum delay then makes it possible to obtain faster processing of the lane change, with a shorter delay, or a wider time window to allow authorization of the lane change, with a longer delay.

[0071] In a fourth operation, third data representative of a possibility or impossibility of changing lanes are determined as a function of the first data and the second data.

[0072] In other words, the BSI processes the first data and the second data in such a way as to obtain information making it possible to authorize or prohibit the lane change, in particular using the SALC system.

[0073] According to a variant, the determination of the third data comprises a determination of information representative of an object 11 associated with the adjacent side lane 111 as a function of the second data, for example information on the position and speed of the object 11. In other words, the BSI processes the second data so as to detect and characterize any object 11 associated with the adjacent side lane 111, in particular another vehicle traveling on the adjacent side lane 111. From the information representative of the object 11, the BSI determines a risk of collision between the vehicle 10 and the object 11, if the vehicle 10 implements a lane change maneuver, the third data being determined as a function of the risk of collision. Thus, the possibility or impossibility of changing lanes is determined according to the risk of colliding with the object 11 during the lane change.It is understood here that this risk of collision is highly dependent on the speed of the object 11 relative to that of the vehicle 10. In particular, if the object 11 has a speed significantly lower or higher than that of the vehicle 10, then the risk of collision will only be present for a very short period of time. Execution of the method at a second given time may then result in an impossibility of changing lanes, which is only relevant over a short period of time.

[0074] In a fifth operation, when the possibility or impossibility of changing lane is determined, and the time interval compared with the maximum delay, the BSI renders a message authorizing the lane change to an occupant of the vehicle 10, for example the driver of the vehicle 10.

[0075] The BSI transmits, for example, information representative of the authorization message to the supervisor of the IHM system and / or to the IVI computer, which renders a result based on the representative information according to a human-machine interface embedded in the vehicle 10.

[0076] According to a variant, the human-machine interface on board the vehicle 10 corresponds to another device in communication with the computer, for example a connected device or a smartphone on board the vehicle 10, connected to the communication network formed by the computer and offering a dedicated application intended for the driver.

[0077] According to the on-board HMI system of the vehicle 10, the rendering of the authorization message corresponds to a visual and / or audible signal indicating the possibility or impossibility of changing lanes, for example a message displayed on the central display of the vehicle 10 and / or an indicator light activated on the vehicle's instrument panel.

[0078] It is understood here that the authorization message is modulated as a function of the third data and a result of the comparison. According to a variant, provision is thus made for rendering an authorization when the lane change is possible, as a function of the third data. When the lane change is impossible, the BSI for example renders a waiting message when the time interval is less than the threshold value, that is to say when the method can still be executed at a later time from the same lane change command. The waiting message thus makes it possible to inform the occupant of the vehicle 10 that the lane change procedure is indeed activated following receipt of the lane change command, but that the lane change cannot be immediately authorized.Finally, when the lane change is impossible and the time interval is greater than the threshold value, the BSI issues a lane change ban, i.e. a message refusing to implement the lane change. The driver is therefore informed that the lane change request is refused, only when this lane change has been determined to be impossible during a time interval extending up to the maximum delay.

[0079] Optionally, the waiting message also includes a counter indicating the remaining time before the maximum delay, i.e. the remaining time during which the BSI checks the possibility of changing lanes before issuing a refusal. This design makes it possible to further clarify the behavior of the vehicle 10 for the driver, and allows the driver to better understand the authorization or prohibition of changing lanes.

[0080] According to an alternative embodiment and as stated above, the BSI subsequently performs a check of the SALC system of the vehicle 10 as a function of the third data. Thus, when the lane change is possible, according to the third data, the BSI determines a set of trajectory control parameters of the vehicle 10, in particular as a function of the first data and the second data. The SALC system is then controlled as a function of the set of control parameters. In other words, the BSI determines a trajectory of the vehicle 10 for the lane change, according to the direction determined from the first data and as a function of the road environment 1 as perceived via the second data.The set of control parameters comprises for example a set of parameters representative of a temporal evolution of a lateral position of the vehicle 10 and / or a temporal evolution of a lateral speed of the vehicle 10 and / or a temporal evolution of a lateral acceleration of the vehicle 10 and / or a temporal evolution of a lateral jerk of the vehicle 10.

[0081] Optionally, the rendering carried out by the BSI includes a request for activation of the SALC system, the control of the SALC system being carried out according to a response to the request. In other words, when the lane change is possible, the rendering of the authorization message, for example the authorization described above, is accompanied by a request for activation of the SALC system, for example a request for confirmation of lane change. The control of the SALC system as described above is then only carried out after receiving a response to the request issued during the rendering. This design makes it possible in particular to avoid the triggering of the SALC system following accidental activation of the lane change control, for example incorrect manipulation of the stalk.

[0082] Thus, the method according to the invention makes it possible to avoid the emission of short and untimely refusals when activating a lane change command, by adding a response time for the authorization of the lane change, without reducing the responsiveness of the vehicle. This design allows for more intuitive behavior of the vehicle and avoids forcing the driver of the vehicle to reactivate the lane change command repeatedly. The driver's load is thus minimized for driving in autonomous or semi-autonomous mode of the vehicle.

[0083] [Fig. 2] schematically illustrates a device 2 configured to render a message authorizing a lane change for a vehicle, for example the vehicle 10 of [Fig. 1], according to a particular and non-limiting exemplary embodiment of the present invention. The device 2 corresponds for example to a device on board the vehicle 10, for example a computer.

[0084] The device 2 is for example configured for the implementation of the operations described with regard to [Fig. 1] and / or the steps of the method described with regard to [Fig. 3]. Examples of such a device 2 include, but are not limited to, on-board electronic equipment such as an on-board computer of a vehicle, an electronic calculator such as an ECU (“Electronic Control Unit”), a smartphone, a tablet, a laptop. The elements of the device 2, individually or in combination, can be integrated into a single integrated circuit, into several integrated circuits, and / or into discrete components. The device 2 can be produced in the form of electronic circuits or software (or computer) modules or even a combination of electronic circuits and software modules.

[0085] The device 2 comprises one (or more) processor(s) 20 configured to execute instructions for carrying out the steps of the method and / or for executing the instructions of the software(s) embedded in the device 2. The processor 20 may include integrated memory, an input / output interface, and various circuits known to those skilled in the art. The device 2 further comprises at least one memory 21 corresponding for example to a volatile and / or non-volatile memory and / or comprises a memory storage device which may comprise memory volatile and / or non-volatile, such as EEPROM, ROM, PROM, RAM, DRAM, SRAM, flash, magnetic or optical disk.

[0086] The computer code of the embedded software(s) comprising the instructions to be loaded and executed by the processor is for example stored in the memory 21.

[0087] According to various particular and non-limiting embodiments, the device 2 is coupled in communication with other similar devices or systems and / or with communication devices, for example a TCU (from the English “Telematic Control Unit” or in French “Telematic Control Unit”), for example via a communication bus or through dedicated input / output ports.

[0088] According to a particular and non-limiting exemplary embodiment, the device 2 comprises a block 22 of interface elements for communicating with external devices, for example a remote server or the “cloud”, or the vehicle 10 when the device 2 corresponds to a smartphone or a tablet for example. The interface elements of the block 22 comprise one or more of the following interfaces: - RF radio frequency interface, for example of the Wi-Fi® type (according to IEEE 802.11), for example in the 2.4 or 5 GHz frequency bands, or of the Bluetooth® type (according to IEEE 802.15.1), in the 2.4 GHz frequency band, or of the Sigfox type using UBN (Ultra Narrow Band) radio technology, or LoRa in the 868 MHz frequency band, LTE (Long-Term Evolution), LTE-Advanced; - USB interface (from the English “Universal Serial Bus” or “Universal Serial Bus” in French); - HDMI interface (from the English “High Definition Multimedia Interface” or “High Definition Multimedia Interface” in French); - LIN interface (from the English “Local Interconnect Network”).

[0089] According to another particular and non-limiting exemplary embodiment, the device 2 comprises a communication interface 23 which makes it possible to establish communication with other devices (such as other computers of the on-board system) via a communication channel 230. The communication interface 23 corresponds for example to a transmitter configured to transmit and receive information and / or data via the communication channel 230. The communication interface 23 corresponds for example to a wired network of the CAN (Controller Area Network) type, CAN FD (Controller Area Network Flexible Data-Rate ... flexible data rate”), FlexRay (standardized by ISO 17458) or Ethernet (standardized by ISO / IEC 802-3).

[0090] According to a particular and non-limiting exemplary embodiment, the device 2 can provide output signals to one or more external devices, such as a display screen, touch-sensitive or not, one or more speakers and / or other peripherals (projection system) via respective output interfaces.

[0091] [Fig. 3] illustrates a flowchart of the different steps of a method for rendering a message authorizing a lane change between a current traffic lane and an adjacent side lane for a vehicle traveling along a current traffic lane of a road environment, according to a particular and non-limiting exemplary embodiment of the present invention. The method is for example implemented by a device embedded in the vehicle, for example the device 2 of [Fig. 2],

[0092] In a first step 31 carried out at a first instant, first data representative of a command to change lane between the current traffic lane and the adjacent side lane are received from at least one system on board the vehicle.

[0093] In a second step 32 carried out at a second instant separated from the first instant by a time interval, second data representative of the road environment are received from at least one sensor on board the vehicle.

[0094] In a third step 33, the time interval is compared with a threshold value representative of a maximum delay.

[0095] In a fourth step 34, third data representative of a possibility or impossibility of changing lanes are determined as a function of the first data and the second data.

[0096] In a fifth step 35, a lane change authorization message is sent to an occupant of the vehicle based on the third data and a result of the comparison.

[0097] According to a variant, the variants and examples of the operations described in relation to [Fig.l] apply to the steps of the method of [Fig.3].

[0098] Of course, the present invention is not limited to the exemplary embodiments described above but extends to a method for rendering a message authorizing a lane change for a vehicle which would include secondary steps, without thereby departing from the scope of the present invention. The same would apply to a device configured for implementing such a method.

[0099] The present invention also relates to an AD AS system, for example a SALC system, comprising the device 2 of [Fig.2].

[0100] The present invention also relates to a method and a device for controlling an AD AS and / or SALC system, said control comprising the rendering of a message authorizing a lane change as described above.

[0101] The present invention also relates to a vehicle, for example an automobile or more generally an autonomous land-based motor vehicle, comprising the device 2 of [Fig.2] or the AD AS and / or SALC system above.

Claims

Claims

1. Method for rendering a message authorizing a lane change between a current traffic lane (110) and an adjacent side lane (111), for a vehicle (10) traveling on a current traffic lane (110) of a road environment (1) comprising a plurality of lanes (110, 111) having the same direction of travel, said method comprising the following steps: - receiving (31), at a first instant, called the prior instant, first data representative of a command for a lane change between said current traffic lane (110) and said adjacent side lane (111), from at least one system on board said vehicle (110); - receiving (32), at a second instant, called the subsequent instant, said subsequent instant being separated from said prior instant by a time interval, second data representative of said road environment (1) from at least one sensor on board said vehicle (10);- comparison (33) of said time interval with a threshold value representative of a maximum delay; - determination (34), as a function of said first data and said second data, of third data representative of a possibility or impossibility of said lane change; and - rendering (35) of a message authorizing said lane change to an occupant of said vehicle (10) as a function of said third data and a result of said comparison, the method further comprising the following steps: - reception of information representative of a speed of said vehicle (10) from at least one on-board sensor; - reception of information representative of a capture range of on-board systems of said vehicle (10); and - determination of said threshold value as a function of said information representative of speed and capture range.;

2. The method of claim 1, wherein said rendering (35) comprises: - rendering an authorization when said lane change is possible; - rendering a waiting message when said lane change is impossible and when said time interval is less than said threshold value; - rendering a prohibition when said lane change is impossible and when said time interval is greater than said threshold value.

3. Method according to claim 1 or 2, the method further comprising the following steps: - determining a set of trajectory control parameters of said vehicle (10) as a function of said first data and said second data when said lane change is possible; and - controlling a semi-automatic lane change system, called SALC system, of said vehicle (10), as a function of said set of control parameters.

4. The method of claim 3, wherein said rendering (35) further comprises a request to activate said SALC system, said control being further performed based on a response to said request.

5. Method according to one of claims 1 to 4, wherein said determination (34) of said third data comprises the following steps: - determination of information representative of an object (11) associated with said adjacent side lane (111) as a function of said second data; - determination of information representative of a risk of collision between said vehicle (10) and said object (11), said third data being determined as a function of said risk of collision.

6. Computer program comprising instructions for implementing the method according to any one of the preceding claims, when these instructions are executed by a processor.

7. A computer-readable recording medium on which is recorded a computer program comprising instructions for carrying out the steps of the method according to one of claims 1 to 5.

8. 22 Device (2) for rendering a message authorizing a lane change between a current traffic lane and an adjacent side lane, said device (2) comprising a memory (21) associated with at least one processor (20) configured for implementing the steps of the method according to any one of claims 1 to 5.

9. Vehicle (10) comprising the device (2) according to claim 8.

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