Method and device for memorizing a new lateral position of a lane-keeping system

Abstract

The invention relates to a method and device for memorizing a new lateral position of a lane-keeping system for an autonomous vehicle, said system being activated, said method being implemented by a processor and comprising the steps of: - Receiving (401) a lateral position relative to a traffic lane in which said vehicle is traveling, said lane comprising a left boundary on one side of the lane, and a right boundary on one side of the lane; - Receiving (402) a first signal indicating a first side of the lane; - If, within a predetermined time from said receipt of said first signal, a second signal indicating the same first side is received (403), the new lateral position is memorized (404) according to said received lateral position. Figure to be published for the abstract: Figure 4

Description

Title of the invention: Method and device for memorizing a new lateral position of a lane-keeping system. Technical field of the invention

[0001] The invention is in the field of autonomous vehicle driving assistance systems. In particular, the invention relates to a method and device for memorizing a new lateral position of a lane-keeping system of an autonomous vehicle. State of the art

[0002] The term "vehicle" means any type of vehicle such as a motor vehicle, moped, motorcycle, warehouse robot, etc. "Autonomous driving" of an "autonomous vehicle" means any process capable of assisting the driving of the vehicle. This process may consist of partially or fully controlling the vehicle or providing any type of assistance to a person driving the vehicle. The process thus covers all autonomous driving, from level 0 to level 5 in the OICA (International Organization of Motor Vehicle Manufacturers) scale.

[0003] Devices capable of assisting vehicle driving are also called ADAS (Advanced Driver Assistance Systems), ADAS systems, or driver assistance systems. The function known as lane positioning assist, also called LPA or LPA system (Lane Positioning Assist), is a known ADAS function.

[0004] The LPA system identifies the boundaries of a traffic lane in which the vehicle is traveling. The LPA steers the vehicle within this lane to maintain it in a lateral position chosen by the driver. To do this, the system uses a camera located on the upper part of the windshield. The system is activated by pressing a dedicated button, the button being located near the driver of the vehicle.

[0005] Upon activation, the LPA system determines the lateral position chosen by the driver. This position is not necessarily the center of the lane. The lateral position is a lateral deviation from one of the lane boundaries, the left and right boundaries. If the driver activates LPA when the vehicle is, for example, ten centimeters from the right lane boundary, the LPA system will maintain the vehicle at 10 centimeters from the right lane boundary.

[0006] As soon as the LPA regulation is activated, a green pictogram is displayed on a display device. This pictogram represents the left and right lane boundaries. Also, the regulation, through small actions on the direction, directs the vehicle and maintaining it in the position chosen by the driver, within the traffic lane.

[0007] The driver must hold the steering wheel correctly. The driver must apply a torque to the steering wheel below a predetermined threshold in order for the LPA system to detect steering wheel movements. At any time, by applying a torque to the steering wheel above the predetermined threshold, the driver can change the vehicle's position by moving the steering wheel and define a new lateral position. The predetermined threshold depends on the vehicle (size, weight, etc.) and the vehicle's speed. For example, this threshold, expressed as steering wheel torque, varies from 1 to 1.2 Nm. As soon as the driver deems the vehicle's position satisfactory, while keeping their hands on the steering wheel, they must release the force to allow the system to determine this new position. A released force corresponds to approximately -0.2 Nm relative to the predetermined threshold.However, for drivers who hold the steering wheel very rigidly (close to the predetermined threshold), the system often determines new lateral positions, resulting in unintentional deviations from the lane center. Furthermore, the driver is unaware of the predetermined threshold level. Also, in certain situations, such as those that generate lateral forces on the vehicle (for example, on a slope or during lateral acceleration), the driver's measurement of steering effort is inaccurate. Some drivers do not understand why a new position is sometimes memorized and sometimes not.

[0008] It is also known to be a device for monitoring a vehicle occupant, in particular eye-tracking and driver attention monitoring devices. These devices are capable of determining the direction of the driver's gaze and identifying an area focused by the driver's gaze. This area can be a location on the driver's seat, such as a predetermined area of ​​a display. This area can also be a location outside the vehicle, such as a vehicle traveling in front of the vehicle, a speed limit sign, the left or right side of a lane, or a left or right lane marker in front of the vehicle. These devices are capable of determining one or more attributes related to the focused area. For example, these attributes could be the left or right side of a lane. Summary of the invention

[0009] An object of the present invention is to remedy the aforementioned problem, in particular to allow normal operation of an LPA system when the driver holds the steering wheel too rigidly, the activation of a memory of a new lateral position is carried out only at opportune times.

[0010] To this end, a first aspect of the invention relates to a method of memorizing setting a new lateral position for a lane-keeping system of an autonomous vehicle, said system being activated, said method being implemented by a processor and comprising the steps of: - Receipt of a lateral position in relation to a traffic lane in which said vehicle is traveling, said lane comprising a left delimitation on a left side of the lane, and a right delimitation on a right side of the lane; - Reception of a first signal indicating one side of the track; - If, within a predetermined period from the said reception of the said first signal, a second signal indicating the same first side is received, the new lateral position is memorized according to the said lateral position received.

[0011] Thus, a new lateral position is determined less frequently, more reliably, and deterministically. This avoids unintentional misalignments, particularly when a driver grips the steering wheel too rigidly, or in certain situations that generate lateral force on the vehicle.

[0012] Advantageously, said first signal is transmitted by a first human-machine interface, and said second signal is transmitted by a second human-machine interface, said second human-machine interface being different from said first human-machine interface.

[0013] Thus, the new lateral position is only memorized through interaction with a person. The memorization is made more reliable by receiving signals from two different sources.

[0014] Advantageously, a human-machine interface is a button, a touch screen, a steering wheel or a control located near said steering wheel.

[0015] Thus, it is not necessarily necessary to exert an effort on the steering wheel greater than a predetermined threshold to trigger a memorization.

[0016] Advantageously, said second signal is transmitted from a driver's gaze analysis device, said device being capable of determining a left or right side of the traffic lane from an area focused by said gaze.

[0017] Thus, the gaze specifies the operating context. The driver does not have to take their hands off the steering wheel to trigger the memorization of the new lateral position. By focusing their gaze on a first predetermined area, the driver indicates one side of the lane. By focusing on a second predetermined area, the driver indicates a second side of the lane.

[0018] Advantageously, said focused area is an area of ​​a display, by a display device, of an operation of said system.

[0019] Advantageously, the method includes, in addition, a step of emitting a signal to the display device, the signal including information requesting the highlighting of the focused area.

[0020] Thus, the driver has visual feedback from the determined focused area.

[0021] Advantageously, said focused area is a left delimitation or a right delimitation of the traffic lane.

[0022] Thus, the driver can maintain his attention and gaze on the road.

[0023] A second aspect of the invention relates to a device comprising a lane keeping system and a memory associated with at least one processor configured to implement the method according to the first aspect of the invention, said device being able to include a first and a second human-machine interface, and / or a device for analyzing a driver's gaze in the vehicle.

[0024] The invention also relates to a vehicle comprising the device.

[0025] The invention also relates to a computer program comprising instructions which, when the program is executed by the device according to the second aspect of the invention, lead the latter to implement the process according to the first aspect of the invention. Brief description of the figures

[0026] Other features and advantages of the invention will become apparent from the description of the following non-limiting embodiments of the invention, with reference to the accompanying figures, in which:

[0027] [Fig.1] schematically illustrates a device, according to a particular embodiment of the present invention.

[0028] [Fig.2] schematically illustrates a display of the operation of a lane keeping system by a display device, according to a particular embodiment of the present invention.

[0029] [Fig.3] schematically illustrates areas of the display of [Fig.2] which can be focused, according to a particular embodiment of the present invention.

[0030] [Fig.4] schematically illustrates a method for memorizing a new lateral position of a lane-keeping system of an autonomous vehicle, according to a particular embodiment of the present invention. Detailed description of the invention

[0031] The invention is described below in its non-limiting application to the case of an autonomous motor vehicle traveling on a road or traffic lane. Other applications such as a robot in a warehouse or a motorcycle on a country road are also conceivable.

[0032] Figure 1 represents an example of a device 101 included in the vehicle, in a network (“cloud”) or in a server. This device 101 can be used as a centralized device responsible for at least some steps of the process described below with reference to [Fig. 4]. In one embodiment, it corresponds to an autonomous driving computer.

[0033] In the present invention, the device 101 is included in the vehicle.

[0034] This device 101 can take the form of a housing comprising circuits printed materials, from any type of computer or even a mobile phone (“smartphone”).

[0035] The device 101 includes a random access memory 102 for storing instructions for the implementation by a processor 103 of at least one step of the process as described below. The device also includes a mass storage 104 for storing data intended to be retained after the implementation of the process.

[0036] The device 101 may further include a digital signal processor (DSP) 105. This DSP 105 receives data to shape, demodulate and amplify, in a manner known per se, this data.

[0037] The device 101 also includes an input interface 106 for receiving the data implemented by the method according to the invention and an output interface 107 for transmitting the data implemented by the method according to the invention.

[0038] For example, the input interface 106 can receive the following data: vehicle position or geographical location, vehicle speed and / or acceleration, setpoint or predetermined positions / speeds / accelerations, engine speed, position and / or travel of the clutch, brake, and / or accelerator pedals, detection of other vehicles or objects, position or geographical location of other detected vehicles or objects, speed and / or acceleration of other detected vehicles or objects, sensor operating states, confidence level of data from or processed by sensors and / or devices similar to device 101. For example, sensors capable of providing data include: GPS with or without mapping, tachometers, accelerometers, RADAR, LIDAR, lasers, ultrasound, cameras, eye-tracking devices...

[0039] In one embodiment, the input interface receives a lateral position relative to a traffic lane in which the vehicle is traveling, a first signal indicating a first side of the lane, a predetermined time from said receipt of said first signal, a second signal indicating the same first side is received, ...

[0040] For example, the output interface 107 can transmit data similar to the data received by the input interface 106. The output interface 107 can transmit a new lateral position to be stored, a signal containing information requesting the highlighting of a focused area determination, ...

[0041] [Fig.2] schematically illustrates a display 201 of a system operation lane keeping assist by a vehicle display device, according to a particular embodiment of the present invention. In this example, the display also includes pictogram displays for an ADAS function of the adaptive cruise control type.

[0042] Displayed are a speed limit 202, a target speed 203 chosen by the driver, the target speed being taken into account by the cruise control, a vehicle 204 detected by a speed control system.

[0043] Also displayed are a left-hand lane marker 205 and a right-hand lane marker 206. When a lane positioning system or function, also known as LPA or LPA system, is activated, the left-hand marker 205 and right-hand marker 206 are displayed in green if the LPA system has determined the presence of a left-hand and right-hand lane markers.

[0044] [Fig.3] schematically illustrates areas of the display of [Fig.2] which can be focused, according to a particular embodiment of the present invention.

[0045] The white frame 301 illustrates a first area that can be focused by the driver's gaze. The white frame 302 illustrates a second area that can be focused by the driver's gaze.

[0046] In this example, the first zone 301 represents a left-hand lane boundary. The second zone 302 represents a right-hand lane boundary. When the display device receives a signal to highlight the left-hand, or right-hand, lane boundary, the device may, for example, display the white frame of zone 301 or zone 302, or display the left-hand boundary 205 or right-hand boundary 206 in a color other than green. The white frame may take any other geometric shape as long as a major part of the lane boundary representation is enclosed.

[0047] [Fig. 4] schematically illustrates a method for memorizing a new lateral position of a lane-keeping system of an autonomous vehicle, according to a particular embodiment of the present invention. Said vehicle includes an autonomous vehicle lane-keeping (LPA) system. The LPA is activated.

[0048] Step 401, RxP, is a receiving step of a lateral position relative to a traffic lane in which said vehicle is traveling, said lane comprising a left boundary on a left side of the lane, and a right boundary on a right side of the lane.

[0049] An LPA system, through its sensors or other sensors on the vehicle, is capable of determining the lane in which the vehicle is traveling. With the LPA system activated, the The LPA system is capable of identifying and determining the presence of a left lane marker and a right lane marker. This presence can also be determined from image processing of a camera mounted at the top of the vehicle's windshield.

[0050] Step 402, RX1, is a step for receiving a first signal indicating a first side of the lane. The first side of the lane can be a left or a right side. Various sensors on board the vehicle or devices similar to device 101 can transmit this information.

[0051] In a preferred operating mode, said first signal is transmitted by a first human-machine interface. Thus, following a predetermined interaction with a person, the person chooses a left side or a right side.

[0052] Advantageously, a human-machine interface is a button, a touch screen, a steering wheel or a control located near said steering wheel.

[0053] The button does not need to be solely dedicated to the LPA system. It can be a button for another ADAS system, for example. The button can have several states, including a state indicating no actuation, a state indicating the left side, and another state indicating the right side. It can also have multiple buttons, one to indicate the left side when one button is activated by the driver, and another to indicate the right side when another button is activated by the driver. A touchscreen can also simulate these button activations.

[0054] The steering wheel also serves as a human-machine interface. When the driver turns the steering wheel to the left, it indicates the left side of the lane, and when they turn it to the right, it indicates the right side of the lane. Quite naturally, without taking their hands off the steering wheel, the driver, wishing to memorize a different lane position, simply turns the steering wheel to move the vehicle into that new position.

[0055] Advantageously, a control located near the steering wheel is an actuator capable of delivering a signal. A steering wheel is a control, a button is a control, a touch input on a touchscreen is a control.

[0056] Step 403, Rx2, is a second signal reception step. This second signal indicates the same first side as the side indicated by the first signal in step 402. This second signal must be received within a predetermined time period following the reception of the first signal. Therefore, to prevent step 403 from proceeding to step 404, a delay of this predetermined duration must be observed between the last reception of the first signal and the first reception of the second signal. This delay is typically between 0.1 and 2 seconds. Other values ​​are possible. If, within a predetermined time period following the reception of the first signal, a second signal indicating the same first side is received (403), the process proceeds to step 404.

[0057] Advantageously, said second signal is transmitted from a driver's gaze analysis device, said device being capable of determining a left or right side of the traffic lane from an area focused by said gaze. The driver's gaze analysis device is capable of determining the direction of the driver's gaze. Combined with mapping, this device is capable of defining an area. An area represents a region or a delimited space. Depending on the area focused by the driver's gaze, for example, the left or right side relative to the normal longitudinal axis of the vehicle's normal forward movement, the gaze analysis device is capable of determining a left and a right side. This determination is transmitted by a signal, herein referred to as the second signal, to device 101, which receives this second signal.

[0058] Advantageously, said focused area is a display area 201, by a display device, of an operation of said system. If the gaze analysis device determines that the focused area is area 301, then the gaze analysis device emits a signal to said device 101, said signal indicating the left side of the lane. If the gaze analysis device determines that the focused area is area 302, then the gaze analysis device emits a signal to said device 101, said signal indicating the right side of the lane.

[0059] When the determined focused area is area 301 or 302, advantageously, said method includes in addition a step of emitting a signal to said display device, said signal including information requesting highlighting of the focused area.

[0060] Advantageously, said focused area is a left or right lane boundary. In this case, the driver's gaze is directed forward of the vehicle, in the normal direction of travel. Since the LPA system is activated, it is capable of determining the position of the left and right lane boundaries of the road on which the vehicle is traveling. The gaze analysis device is then capable of determining whether the driver is focusing their gaze on the left or right lane boundary. Furthermore, the gaze analysis device is capable of determining whether the driver's gaze is to the left or right of the vehicle's normal longitudinal axis of travel. If the gaze is to the left, the gaze analysis device determines that the driver's gaze is focused on the left lane boundary.If the gaze is to the right, the gaze analysis device determines that the driver's gaze is focused on the right edge of the lane.

[0061] Step 404, MemP, is a step in which the new lateral position is memorized (404) based on said received lateral position. In this case, the The driver clearly expressed their need for a lateral position to be stored by the LPA system. The new lateral position is the last measured lateral position. In an operating mode, the last lateral position is a function of the last measured lateral positions. For example, the function of the last measured lateral positions is a filtering function used to smooth the measurements.

[0062] The present invention is not limited to the embodiments described above by way of example: it extends to other variants.

[0063] For example, the process has been described as a sequence of steps. Some steps can be carried out in parallel or in a different sequence.

Claims

Claims

1. Method for storing a new lateral position of a lane keeping system of an autonomous vehicle, said system being activated, said method being implemented by a processor (103) and comprising the steps of: - Receiving (401) a lateral position relative to a traffic lane in which said vehicle is traveling, said lane comprising a left delimitation on a left side of the lane, and a right delimitation on a right side of the lane; - Receiving (402) a first signal indicating a first side of the lane; - If, over a predetermined duration from said reception of said first signal, a second signal indicating the same first side is received (403), the new lateral position is stored (404) as a function of said received lateral position.

2. The method of claim 1, wherein said first signal is transmitted by a first human-machine interface, and said second signal is transmitted by a second human-machine interface, said second human-machine interface being different from said first human-machine interface.

3. Method according to the preceding claim, in which a human-machine interface is a button, a touch screen, a steering wheel or a control located close to said steering wheel.

4. Method according to one of the preceding claims, in which said second signal is transmitted from a device for analyzing a gaze of a driver of said vehicle, said device being capable of determining a left or right side of the traffic lane from an area focused by said gaze.

5. The method of claim 4, wherein said focused area is an area of ​​a display, by a display device, of an operation of said system.

6. A method according to claim 5, wherein said method further comprises a step of transmitting a signal to said display device, said signal comprising a request information. highlighting the focused area.

7. Method according to one of claims 4 to 6, wherein said focused area is a left delimitation or a right delimitation of the traffic lane.

8. Device (101) comprising a lane keeping system and a memory (102) associated with at least one processor (103) configured to implement the method according to claim 1, said device further comprising a first and a second human-machine interface when the processor implements the method according to one of claims 2 to 3, and said device (101) further comprising the gaze analysis device when the processor implements the method according to one of claims 4 to 7.

9.

10. Vehicle comprising the device according to the preceding claim. Computer program comprising instructions which, when the program is executed by the device (101) according to claim 8, cause the latter to implement the method according to one of claims 1 to 7.

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