A driver assistance system implemented by an on-board management system in a motor vehicle.

Abstract

A driver assistance method, implemented by an on-board management system in a motor vehicle, said method comprising a step (10) of detecting a lane change in said vehicle, delivering a lane change information (12), a step (16) of checking the activation of a lane change warning system in said vehicle, delivering an activation information (18) of said warning system, and a step (22) of determining authorization to use a reserved lane, delivering an authorization information (24), said method further comprising a step (28) of activating initial countermeasures based on said lane change information (12, 18, 22), activation of said warning system and authorization, said initial countermeasures being activated in the following cases: - said lane change information (12) is positive and, simultaneously, said activation information (18) is negative,- said lane change information (12) is positive and, simultaneously, said authorization information (18) is negative. Figure for the abbreviation: Figure 3,

Description

Title of the invention: Driving assistance method, implemented by an on-board management system in a motor vehicle

[0001] The invention relates to a driving assistance method, implemented by an on-board management system in a motor vehicle.

[0002] In this field, assistance systems designed to prevent unwanted lane changes are known. To this end, when a lane change is detected and the driver has not activated a turn signal, measures are applied to attract the driver's attention, such as an audible signal, vibration effects, and / or a resisting torque applied to the steering wheel.

[0003] Such measures prevent a driver, for example one who is falling asleep, from losing control of their trajectory. However, they are not suitable for a situation where it is necessary to be able to react even if the driver has correctly activated their turn signal.

[0004] However, in order to facilitate travel for cars carrying more than one person, an increasing number of multi-lane roads include lanes reserved for certain vehicles, such as public transport vehicles or carpooling vehicles. Some drivers may, however, fail to notice this restriction and intentionally use such lanes, activating their lane change indicator, without being warned of their error.

[0005] There is therefore a need today for a driving assistance process enabling a motorist to avoid such a situation while limiting the resources to be deployed in terms of processing means.

[0006] The invention aims to overcome, at least in part, the aforementioned drawbacks and proposes, according to a first aspect, a driving assistance method, implemented by an on-board management system in a motor vehicle, said method comprising a step of detecting a lane change of said vehicle, delivering lane change information, a step of controlling the activation of a lane change warning system of said vehicle, delivering activation information of said warning system, and a step of determining authorization to use a reserved lane, delivering authorization information, said method further comprising a step of activating initial countermeasures based on said lane change information, activation of said warning system and authorization, said initial countermeasures being activated in the following cases:

[0007] - said lane change information is positive and, simultaneously, said in- Activation formation is negative.

[0008] - said lane change information is positive and, simultaneously, said in The authorization process is negative.

[0009] Thus, thanks to the invention, the risk of using the reserved lane is limited by activating countermeasures, without requiring specific processing methods, since the same countermeasures are used as those employed in the case of lane changes without activation of the turn signal. This limits the resources, both hardware and / or software, that need to be implemented.

[0010] According to various additional features of the invention, which may be taken together or separately and which constitute so many embodiments of the invention: - the said reserved lane is a lane adjacent to the lane followed by the said vehicle, - said process includes a step of establishing an indicative signal if said lane change information is positive and, simultaneously, said authorization information is negative, said step of establishing the indicative signal being carried out in parallel with said step of activating the first countermeasures, - said step of determining authorization to use the reserved lane includes a data acquisition and processing step, providing information on the number of passengers who must be present in the vehicle to use said reserved lane, - said step of determining authorization to use the reserved lane includes a step of acquiring and processing presence data to determine information relating to the number of people in the vehicle, - said step of determining authorization to use the reserved lane includes a step of comparing said information on the number of passengers who must be present in the vehicle to use said reserved lane and said information relating to the number of people in the vehicle, - said step of activating the first countermeasures includes a step of generating first sensory warnings, - said stage of generating initial sensory warnings includes a stage of generating corrective actions influencing the vehicle's trajectory, - said corrective action generation step includes a step of applying a resisting torque to a steering shaft of said vehicle and / or of actuating differential brakes acting on wheels of the vehicle, said process includes a step of detecting the presence of the vehicle on the reserved lane, delivering a forcing signal, said process includes a step of activating second countermeasures if said forcing information is positive, said second countermeasure activation step includes a delay between successive activations of said second countermeasures, each subsequent second countermeasure having a greater deterrent effect than a previous one, said second countermeasures are successively: • A second sensory warning to the driver, possibly of increasing intensity; • An audible and / or visual detection of the said vehicle, visible from the outside, • Sending a violation notice via a communication system on said vehicle, - said process includes a step of detecting avoidance measures, providing avoidance information, - said step of activating the first countermeasures also takes into account said avoidance information, said countermeasures not being activated if the avoidance information is positive.

[0011] The invention also relates to a management system, intended to be embedded in a motor vehicle, said management system comprising hardware and / or software elements implementing the driving assistance process described above.

[0012] The invention further relates to a motor vehicle comprising said management system.

[0013] The invention also relates to a computer program product comprising program code instructions recorded on a computer-readable medium to implement the steps of the driver assistance method described above, when said program is running on a computer.

[0014] The invention further relates to a computer-readable data recording medium on which is recorded a computer program comprising program code instructions to implement the steps of the driver assistance method described above, when said program is running on a computer.

[0015] The invention will be better understood, and other objects, details, features and advantages thereof will become more apparent during the following detailed explanatory description of at least one embodiment of the invention given by way of purely illustrative and non-limiting example, with reference to the schematic drawings. attached, including:

[0016] [Fig.1] schematically illustrates an example of a road to which the invention is intended to apply;

[0017] [Fig.2] schematically illustrates an example of a road sign giving indications on the conditions of use of such a road;

[0018] [Fig.3] illustrates schematically, in the form of a flowchart, an example of the implementation of a process according to the invention;

[0019] [Fig.4] schematically illustrates an example of carrying out the activation steps of first countermeasures and establishing an indicative signal according to the process of [Fig.3];

[0020] [Fig.5] schematically illustrates an example of carrying out a step of determining an authorization to use a reserved lane according to the process of [Fig.3];

[0021] [Fig.6] schematically illustrates an example of the implementation of a countermeasure activation step according to the process of [Fig.3].

[0022] According to a first aspect, the invention relates to a driving assistance method, implemented by an embedded management system in a motor vehicle, in particular a digital information processing management system comprising microprocessors.

[0023] As illustrated in [Fig. 1], the purpose of this method is to limit the risk of a vehicle not authorized to travel in a reserved lane being present. Here, only one carriageway of the road is shown, and it comprises two traffic lanes, 1a and 1b, intended to be used in the same direction, as illustrated by the arrows 3a and 3b. The left lane, 1a, is open to vehicles regardless of the number of occupants, while the right lane, 1b, bearing a diamond-shaped pictogram or road marking 2, is reserved for vehicles with a minimum number of occupants, for example, two or more. Such arrangements promote carpooling by offering vehicles that practice it a traffic lane in which traffic flows more smoothly.

[0024] As illustrated in [Fig. 2], such lanes are indicated, in particular, by means of one or more road signs 4. This sign 4 includes, for example, a first part 6 indicating the types of vehicles authorized to travel on the reserved lane, namely, in this case, vehicles with two or more occupants, buses, taxis, or zero-emission vehicles. It also includes, in particular, a second part 8 allowing identification of which lanes of the roadway are reserved.

[0025] As illustrated in [Fig. 3], said method includes a step 10 for detecting a lane change of said vehicle. This is carried out, for example, by measuring and analyzing various parameters to determine a deviation of the vehicle by relative to a central axis of the lane. It delivers lane change information 12, including positive information when a lane change occurs and negative information as long as the vehicle remains in its lane. Here, the value of the lane change information is examined at the first test stage 14, for example by the said digital management system.

[0026] The method further includes a step 16 for monitoring the activation of a lane change warning device on the vehicle, in particular a turn signal. It provides activation information 18 on the lane change warning device, which is positive if the turn signal is activated in the direction of the lane towards which the vehicle is moving, and negative otherwise, i.e., if the turn signal is not activated or is activated in the opposite direction. In the illustrated embodiment, the value of the lane change information is examined in a second test step 20, for example, by the digital management system.

[0027] The method further includes a step 22 for determining authorization to use the reserved lane 1b. This reserved lane 1b is preferably a lane adjacent to lane 1a, either to the right or to the left, followed by the vehicle. This step 22 for determining authorization to use the reserved lane provides authorization information 24. This authorization information is positive if the vehicle meets the conditions for using the reserved lane 1b, and negative otherwise. In the illustrated embodiment, the value of the lane change information is examined at a third test step 26, for example, by the digital management system.

[0028] The said steps 16, 22 of checking an activation of a lane change warning system of said vehicle and / or of determining an authorization to use the reserved lane 1b are carried out, in particular in parallel, if the lane change information 12 is positive.

[0029] The method further includes a step 28 of activating initial countermeasures based on the lane change information 12, 18, 24, activation of the warning device, and authorization. As shown in the flowchart of [Fig. 3], this step 28 of activating the initial countermeasures is carried out in the following cases:

[0030] - said lane change information 12 is positive and, simultaneously, said Activation information 18 is negative, regardless of the aforementioned authorization information 24.

[0031] - said lane change information 12 is positive and, simultaneously, said Information 24 regarding authorization is negative, regardless of the aforementioned information 18 regarding activation.

[0032] In other words, said step 28 of activation of the first countermeasures is common and identical in both cases mentioned above. In other words, it uses the same resources 30, particularly in terms of software and / or hardware, specifically the same resources of the digital management system. Thus, according to this aspect of the invention, it is not necessary to equip the vehicle, and in particular the digital management system, with specific resources to implement countermeasures in the event of an unauthorized lane change. These countermeasures are identical and use the same vehicle resources as the countermeasures provided for in the event of an unintentional lane change. This limits the risk of using the reserved lane 1b without increasing the resources required.

[0033] By way of example, said step 28 of activating the first countermeasures includes a step of generating first sensory warnings such as functions known as LDW (Lane Departure Warning) and / or LKA (Lane Keep Assist). Said first countermeasures are configured to attract the driver's attention, in particular if the driver is distracted and / or dozing off while the vehicle is deviating, or to deter the driver from continuing the maneuver if the driver is heading towards the reserved lane 1b when they are not permitted to do so.

[0034] According to a first embodiment, this is an audible signal and / or a vibration. According to another embodiment, alternative or cumulative, the step of generating initial sensory warnings includes a step of generating corrective actions influencing the vehicle's trajectory. This involves, for example, applying a resisting torque to a steering shaft of the vehicle and / or activating differential braking acting on the vehicle's wheels, so as to recenter the vehicle on its lane unless the driver uses the steering wheel to force a lane change.

[0035] In this latter scenario, the application of the initial countermeasures is terminated after a predetermined delay, based on the assumption that the lane change is then voluntary and initiated by the driver. Step 10, the lane change detection process, is then repeated, taking into account the new lane occupied by the vehicle. Figure 3 shows that the same applies if the activation information 18 and / or the authorization information 24 are positive.

[0036] As illustrated in [Fig. 4], the method further includes a step 32 of establishing an indicator signal if the lane change information is positive and, simultaneously, the authorization information is negative, in other words, if the conditions for activating the first countermeasures are met even though the driver has activated their turn signal. Indeed, in such a case, there is a risk that the driver will not understand why such countermeasures are being activated and will therefore misinterpret the message, which could lead to Inappropriate driving decisions. The said warning signal is advantageously a visual signal, for example on the instrument panel, in a format designed to attract the driver's attention, particularly through its color and / or display method. Alternatively or cumulatively, it may be an audible signal, especially if the aforementioned first countermeasures are not already of this nature. The said step 32 of establishing the warning signal is carried out here in parallel and / or simultaneously with the said step 28 of activating the first countermeasures, following the said third test.

[0037] As illustrated in [Fig. 5], said step 22 for determining authorization to use the reserved lane 1b includes a step 22a for acquiring and processing data relating to said reserved lane, providing information on the number of passengers who must be present in the vehicle to use said reserved lane. This step 22a for acquiring and processing data relating to said reserved lane thus qualifies the reserved lane 1b. It is also configured to determine whether said reserved lane is to the right or left of the lane followed by the vehicle.

[0038] Said step 22a of data acquisition and processing relating to said reserved lane uses, for example, image processing, for example in order to detect and interpret the pictograms or road markings 2 and / or the signs 4 present along the lanes, using cameras mounted in the vehicle. Said step 22a of data acquisition and processing relating to said reserved lane also uses, alternatively or cumulatively, information from a road map combined with vehicle positioning information. In the example illustrated in the figures, said step 22a of data acquisition and processing relating to said reserved lane provides the information that the number of occupants in the vehicle must be greater than or equal to two.

[0039] Said step 22a of data acquisition and processing relating to said reserved lane is preferably configured to take into account time information in order to adapt the information delivered if the minimum number of occupants to be present in the vehicle to use the reserved lane 1b depends on time information such as the date, day and / or time.

[0040] Said step 22 for determining authorization to use the reserved lane further includes a step 22b for acquiring and processing presence data to determine information relating to the number of persons in the vehicle. Said step 22b for acquiring and processing presence data uses, for example, information also used by other vehicle functions such as seat belt warning functions. Said step 22b for acquiring and processing Presence data utilizes, in particular, information from mass sensors located in vehicle seats, coupled with switches configured to detect when seat belts associated with said seats are fastened; image analysis from one or more cameras facing the interior of the vehicle, including a camera placed under an interior rearview mirror; and / or sound sensors coupled with a spatial filtering algorithm capable of determining multiple sound source locations. This step 22b of acquiring and processing presence data is performed, for example, each time the vehicle is started and / or each time a vehicle door is opened / closed, with the information obtained on the number of passengers present then being stored.

[0041] Said step 22 for determining authorization to use the reserved lane further includes a step 22c for comparing said information on the number of passengers required to be present in the vehicle to use said reserved lane 1b with said information relating to the number of persons in the vehicle. Said step 22c thus provides said authorization information 24, either negative or positive.

[0042] Referring again to [Fig. 3], it can be seen that the method advantageously includes a step 34 for detecting the presence of the vehicle in the reserved lane 1b. This step provides a forcing information 36. This authorization information is positive if the vehicle does not meet the conditions for using said reserved lane 1b, and negative otherwise. In the illustrated embodiment, the value of the forcing information 36 is examined at the level of a fourth test step 37, for example by said digital management system. In addition to information on the lane used by the vehicle, said step 34 for detecting the presence of the vehicle in the reserved lane 1b advantageously uses the authorization information 24 that will have been stored or acquired independently of the execution of step 22 for determining authorization to use the reserved lane 1b in question.

[0043] In this embodiment, the method further comprises a step 38 for activating second countermeasures if the forcing information 36 is positive. Conversely, if the forcing information is negative, the lane change detection step 10 is then performed again. The same is true after the execution of the second countermeasure.

[0044] As illustrated in [Fig. 6], said step 38 of activating second countermeasures includes a delay between successive triggerings of said second countermeasures, each subsequent second countermeasure having a greater deterrent effect than a previous one. By way of example, said second countermeasures are successively obtained by means of:

[0045] - a step 38a of issuing a second sensory warning to the driver, including an image and / or a sound, possibly of increasing intensity,

[0046] - of a step 38b of emitting an audible and / or visual signal for said vehicle, visible from the outside, for example the activation of streetlights,

[0047] - of a step 38c of issuing an infringement message by a communication system Information about said vehicle, for example transmitted to a server intended for this purpose.

[0048] The purpose of these second countermeasures is to encourage the driver to free up the reserved lane 1b as quickly as possible if he does not meet the conditions for using it.

[0049] According to one embodiment of the invention, not illustrated, said method comprises a step of detecting avoidance measures, providing avoidance information. This is, for example, information relating to the presence of an obstacle, such as an object, a stopped vehicle and / or a deformation of the road surface, on the lane traveled by the vehicle.

[0050] Said step 28, which activates the first countermeasures, then advantageously takes into account said avoidance information. More precisely, said first countermeasures are not activated if the avoidance information is positive, that is, if obstacles are present. Indeed, in such a case, the use of the reserved lane 1b appears legitimate, for safety reasons, even if the vehicle does not meet the conditions set for using it. The second countermeasures may, however, be applied if the vehicle remains in the reserved lane 1b beyond a certain time, once said avoidance information has become negative, that is, once the obstacle(s) have disappeared.

[0051] According to a variant of the invention, an activation of said first and / or second countermeasure is recorded.

[0052] It should be noted that, according to a second aspect of the invention, it also relates to a driving assistance method enabling the emission of first countermeasures aimed at keeping the vehicle in the center of its lane if it does not meet the conditions for using a nearby reserved lane, whether or not these first countermeasures are executed with resources different from those used in assisted guidance functions.

[0053] The invention thus relates to a driver assistance method, implemented by an on-board management system in a motor vehicle, said method comprising a step of detecting a lane change in said vehicle, providing lane change information, and a step of determining authorization to use a reserved lane, providing authorization information, said method further comprising a step of activating initial countermeasures based on said lane change and authorization information, said countermeasures being activated if said lane change information is positive and, if Simultaneously, said authorization information is negative, said first countermeasure activation step including a step of generating corrective actions influencing a vehicle trajectory.

[0054] The other features of the first aspect of the invention remain applicable to this second aspect provided that they are technically compatible.

Claims

Demands

1. A driver assistance method, implemented by an on-board management system in a motor vehicle, said method comprising a step (10) of detecting a lane change in said vehicle, delivering a lane change information (12), a step (16) of checking the activation of a lane change warning system in said vehicle, delivering an activation information (18) of said warning system, and a step (22) of determining authorization to use a reserved lane (1b), delivering an authorization information (24), said method further comprising a step (28) of activating initial countermeasures based on said lane change information (12, 18, 22), activation of said warning system, and authorization, said initial countermeasures being activated in the following cases: - said lane change information (12) is positive and, simultaneously, said activation information (18) is negative,- said lane change information (12) is positive and, simultaneously, said authorization information (18) is negative.

2. A method according to the preceding claim comprising a step (32) of establishing an indicator signal if said lane change information (12) is positive and, simultaneously, said authorization information (18) is negative, said step (32) of establishing the indicator signal being carried out in parallel with said step (28) of activating the first countermeasures.

3. A method according to any one of the preceding claims wherein said step (22) of determining an authorization to use the reserved lane comprises a step (22a) of data acquisition and processing, delivering information on a number of passengers to be present in the vehicle to use said reserved lane (1b), a step (22b) of presence data acquisition and processing, enabling the determination of information relating to the number of persons in the vehicle, and / or a step (22c) of comparing said information on a number of passengers to be present in the vehicle to use said reserved lane and said information relating to the number of persons in the vehicle.

4. A method according to any one of the preceding claims in which said step of activating the first countermeasures includes a step of generating first sensory warnings.

5. A method according to the preceding claim in which said step of generating first sensory warnings includes a step of generating corrective actions influencing a trajectory of the vehicle.

6. A method according to the preceding claim in which said corrective action generation step comprises a step of applying a resisting torque on a steering shaft of said vehicle and / or of actuating differential brakes acting on wheels of the vehicle.

7. A method according to any one of the preceding claims comprising a step (34) of detecting the presence of the vehicle on the reserved lane, delivering a forcing information (36) and a step (38) of activating second countermeasures if said forcing information (36) is positive.

8. A method according to the preceding claim in which said step (38) of activating second countermeasures includes a delay between successive triggerings of said second countermeasures, a subsequent second countermeasure having a greater deterrent effect than a previous second countermeasure.

9. A method according to any one of the preceding claims comprising a step of detecting avoidance measures, delivering avoidance information, said step (28) of activating the first countermeasure further taking into account said avoidance information, said countermeasure not being activated if the avoidance information is positive.

10. Management system, intended to be embedded in a motor vehicle, said management system comprising hardware and software elements implementing the driving assistance method according to any one of the preceding claims.

11. Motor vehicle comprising a management system according to the preceding claim.

12. Product computer program comprising program code instructions recorded on a computer-readable medium to implement the steps of the driver assistance method according to any one of claims 1 to 9, when said program is run on a computer.

13. A computer-readable data storage medium on which is recorded a computer program comprising ins- program code instructions to implement the steps of the driver assistance method according to any one of claims 1 to 9, when said program is running on a computer.

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