Method and device for parameterizing an adaptive speed control function of an autonomous vehicle

Abstract

The invention relates to a method and device for setting an adaptive cruise control function of an autonomous vehicle, said function being activated and set by a target inter-vehicle time and a target vehicle speed, referred to as the target speed. The method is implemented by a processor and comprises the steps of: Receiving (301) a signal representing the state of a button; Receiving (302), from a gaze analysis device, a focused area and an attribute of said focused area; If said attribute determines (303) a vehicle preceding said autonomous vehicle, and said preceding vehicle and said autonomous vehicle are traveling in the same lane, said target inter-vehicle time is incremented or decremented (304) according to the states of said button. Figure to be published for the abstract: Figure 3

Description

Title of the invention: Method and device for parameterizing an adaptive speed control function of an autonomous vehicle. Technical field of the invention

[0001] The invention is in the field of autonomous vehicle driver assistance systems. In particular, the invention relates to the parameterization of an adaptive cruise control function of an autonomous vehicle, said function being a driver assistance system. 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. An adaptive cruise control function in an autonomous vehicle is a driver assistance feature, known as ACC (Adaptive Cruise Control). The operation of ACC is well-known. The autonomous vehicle is also called an ego vehicle.

[0004] 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 thus 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, etc. These devices are capable of determining one or more attributes related to the focused area. For example, these attributes can be a vehicle preceding the vehicle, a speed limit indicated by a traffic sign, a displayed parameter of a driver assistance system, etc.

[0005] An ACC includes means capable of detecting the presence of a vehicle preceding said vehicle, the two vehicles traveling in the same lane. The preceding vehicle is also called the target vehicle. ACC is capable of determining the distance between the following vehicle and the target vehicle, a distance known as the inter-vehicle distance. ACC is also capable of determining an inter-vehicle time based on a measured vehicle speed.

[0006] An ACC user can adjust: • a target speed, the speed at which the ego vehicle should travel. The target speed is chosen by the user based on the speed limit of the lane on which the ego vehicle is traveling. The selection is made using buttons or a human-machine interface; • A target inter-vehicle time (TIV), which determines the target distance between the ego vehicle and a target vehicle. This TIV is 2 seconds. The selection is made either using buttons other than the target speed selection buttons, or using the same buttons via a dedicated interface that must be activated using other buttons, thus not allowing for the ergonomic and sequential adjustment of a target speed and TIV, and vice versa, in less than one second.

[0007] During a journey, it is necessary to regularly adjust the target speed according to speed limits or traffic conditions (motorway / national road / city, free-flowing / heavy / very heavy traffic). Systems exist that can recognize a speed limit and suggest that the user use the identified limit as the target speed. However, a single target speed indicator (TSI) is not suitable for these different traffic conditions. A user might prefer a TSI varying from 2 seconds to 1 second on a motorway when driving in the right-hand lane, depending on speed and / or traffic density; another TSI of around 1 second when the vehicle is overtaking another vehicle; and yet another TSI varying from 2 seconds to 1 second on a motorway when driving in the left-hand lane, depending on speed and / or traffic density.Ideally, an ego vehicle user would like to be able to adjust the TIV according to the target speed and traffic context that they determine. Summary of the invention

[0008] An object of the present invention is to remedy the aforementioned problem, in particular to allow ergonomically, using the same button, to simultaneously set a target speed and a TIV without having to go through a dedicated interface.

[0009] To this end, a first aspect of the invention relates to a method for parameterizing an adaptive speed control function of an autonomous vehicle, said function being activated and parameterized by a target inter-vehicle time and a target vehicle speed, referred to as target speed, said method being implemented by a processor and comprising the steps of: • Reception of a signal representing a state of a button, said button having at least three states, a first state determining an absence of demand or a neutral position, a second state determining a demand for a first incremental variation, and a third state determining a demand for a second incremental variation; • Reception, from a gaze analysis device, of a zone focused by the gaze and an attribute of said focused zone, said gaze analysis device being capable of determining at least three zones and being capable of associating with each determined zone at least one attribute related to the zone; • If said attribute determines a vehicle preceding said autonomous vehicle, said preceding vehicle and said autonomous vehicle traveling on the same traffic lane, said target inter-vehicle time is incremented or decremented according to the states of said button.

[0010] Thus, the view specifies the context of operation, the modification of the inter-vehicle time is modified very simply and ergonomically using a single button without having to activate, via a human-machine interface, a display dedicated to the modification of the inter-vehicle time.

[0011] Advantageously, said button has a fourth state, the fourth state determining an acknowledgment.

[0012] Advantageously, if said attribute determines a speed limit, said target speed is replaced by said speed limit according to the states of said button.

[0013] Advantageously, a display device for said autonomous vehicle displays, for the attention of an occupant of said autonomous vehicle, said preceding vehicle and said speed limit.

[0014] Advantageously, said display device further displays said target speed, and in which if said attribute determines a display of said target speed, said target speed is incremented or decremented according to the states of said button.

[0015] Advantageously, if said attribute determines a speed limit or if said attribute determines a display of said target speed, said target speed is replaced by said speed limit according to said fourth state of said button, and said target speed is incremented or decremented according to the second and third states of said button.

[0016] Advantageously, an emission step to said display device, of a signal requesting the highlighting, on the display device, of said focused area.

[0017] A second aspect of the invention relates to a device comprising an adaptive speed control device and a memory associated with at least one processor configured to implement the process according to the first aspect of the invention, said device may include a display system.

[0018] The invention also relates to a vehicle comprising the device.

[0019] 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

[0020] 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:

[0021] [Fig-1] schematically illustrates a device, according to a particular example of rea application of the present invention.

[0022] [Fig.2] schematically illustrates a display by a display device, according to a particular embodiment of the present invention.

[0023] [Fig.3] schematically illustrates a method for parameterizing an adaptive speed regulation function of an autonomous vehicle, according to a particular embodiment of the present invention. Detailed description of the invention

[0024] 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.

[0025] Figure 1 shows 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 Figure 3. In one embodiment, it corresponds to an autonomous driving computer.

[0026] In the present invention, the device 101 is included in the vehicle.

[0027] 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”).

[0028] 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.

[0029] The device 101 may further include a digital signal processor (DSP) 105. This DSP 105 receives data for shaping, demodulating and amplifying, This data is known in itself.

[0030] 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.

[0031] 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...

[0032] In one embodiment, the input interface can also receive the following data: a target inter-vehicle time, a target vehicle speed, a speed limit, a signal representing the state of a button, a focus area, an attribute of a focus area, ...

[0033] For example, the output interface 107 can transmit data similar to the data received by the input interface 106. The output interface 07 can transmit a predetermined increment or decrement of a target inter-vehicle time and / or speed, a signal representing a request to highlight a displayed area, ...

[0034] [Fig.2] schematically illustrates a display 201 by a display device, according to A particular embodiment of the present invention. The display device of said autonomous vehicle displays, for the attention of an occupant of said autonomous vehicle, a speed limit 202, a target speed 203 and a preceding vehicle 204. The speed limit 202, the target speed 203 and the preceding vehicle 204 are displayed in determined areas of the vehicle's interior.

[0035] The speed limit 202 is typically determined using a navigation system that includes mapping and a means of geolocating the vehicle. The mapping includes traffic lanes and information that determines the speed limit. The mapping can be stored in the vehicle and / or downloaded from the vehicle (on a network, in the cloud). The speed limit can also be determined by recognizing roadside traffic signs using a camera mounted in the vehicle and processing the images from the camera.

[0036] The target speed 203 is a parameter that can be modified by the driver / occupant of the vehicle. This parameter corresponds to the speed at which the autonomous vehicle should travel in the absence of a target vehicle and when there is a difference between the target inter-vehicle time and a measured inter-vehicle time. Generally, the target speed is modified through interaction between the driver and a button. The display of the target speed 203 on the display 201 allows the driver to know the value of the target speed 203.

[0037] When the speed control function detects the presence of a target vehicle, a target vehicle being a vehicle preceding the autonomous vehicle, and the target vehicle traveling in the same lane as the autonomous vehicle, the function informs the driver of the autonomous vehicle. This information can be provided by displaying a representation of the preceding vehicle.

[0038] Typically, the display 201 is aligned with the steering wheel in the normal direction of travel of the vehicle. The display is mounted on the instrument panel. The display can also be shown on a head-up display. This display allows the driver to view this information. To view this information, the driver focuses their gaze on the information area. An area represents a region or a delimited space. Typically, an area for the speed limit 202, for the target speed 203, or for the vehicle ahead is a few square centimeters.

[0039] [Fig.3] schematically illustrates a method for parameterizing a function of Adaptive speed control of an autonomous vehicle, according to a particular embodiment of the present invention. In this example, said function is activated. In other words, the speed of the autonomous vehicle is regulated as does an ACC, according to parameters such as a target inter-vehicle time and a target vehicle speed, referred to as target speed, depending on the presence or absence of a vehicle referred to as target vehicle, said target vehicle traveling in front of said autonomous target vehicle and traveling in the same lane as said autonomous vehicle, and according to an inter-vehicle distance or inter-vehicle time, the transition between distance and time being obtained as a function of a speed of said autonomous vehicle.

[0040] The target inter-vehicle time parameter has a value of a predetermined parameter, for example 2 seconds, but can be modified by a driver / occupant of the vehicle, for example between 0.5 seconds and 4 seconds.

[0041] The target speed parameter has a value determined by the driver / occupant of the vehicle. This parameter corresponds to the speed at which the autonomous vehicle should travel in the absence of a target vehicle and a difference between the target inter-vehicle time and a measured inter-vehicle time. If the inter-vehicle time is shorter than the target inter-vehicle time, the function will regulate the speed of the autonomous vehicle such that after a while, the measured inter-vehicle time is equal to the target inter-vehicle time.

[0042] Step 301, StateB, is a step of receiving a signal representative of a state of a button, said button having at least three states, a first state determining an absence of demand or a neutral position, a second state determining a demand for a first incremental variation, and a third state determining a demand for a second incremental variation.

[0043] In one operating mode, said button has a fourth state, the fourth state determining an acknowledgment

[0044] Preferably, said button is a control located near the vehicle's steering wheel. A driver of the vehicle can thus operate the button without looking at it. In another operating mode, the button is simulated by a touchscreen graphical interface. The button is capable of sending a signal that allows the state of the button to be determined.

[0045] Step 302, Zone, is a receiving step, from a gaze analysis device, of a zone focused by the gaze and an attribute of said focused zone, said gaze analysis device being capable of determining at least three zones and being capable of associating with each determined zone at least one attribute related to the zone.

[0046] Devices for monitoring a vehicle occupant are known, particularly devices for analyzing the driver's gaze and monitoring driver attention. These devices are capable of determining the direction of the gaze and thus 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, etc.

[0047] After determining a zone focused by the driver, the gaze analysis device is able to associate an attribute to the zone determined from the zone determined directly and / or from vehicle data from vehicle sensors and / or devices similar to device 101.

[0048] For example, if the determined focused area is the display of the preceding vehicle 204 on display 201, the attribute associated with this area identifies a vehicle preceding said autonomous vehicle. Similarly, if the determined focused area is behind a preceding vehicle traveling in the same lane—in other words, the driver is looking straight ahead and a preceding vehicle is detected by a sensor of the cruise control function—the attribute associated with this area identifies a vehicle preceding said autonomous vehicle.

[0049] For example, if the determined focused area is the display of the speed limit 202 on the display 201, the attribute associated with this area determines a speed limit. Also, if the determined focused area is a speed limit sign, in other words the driver is looking towards a speed limit sign located in front of the vehicle, usually on one side of the traffic lane or high up, said sign and the speed limit being detected by a sensor of the cruise control function, the attribute associated with this area determines a speed limit.

[0050] For example, if the determined focused area is the display of target speed 203 on display 201, the attribute associated with this area determines a target speed.

[0051] Advantageously, when a focused area corresponds to an area of ​​a display of the preceding vehicle, the speed limit and / or the target speed by at least one display device, the method further includes a step of emitting to said display device, a signal requesting the highlighting, on the display device, of said focused area.

[0052] In step 303, Zonel?, it is tested whether said attribute determines a vehicle preceding said autonomous vehicle, said preceding vehicle, and said autonomous vehicle traveling in the same lane. If so, it proceeds to step 304; otherwise, it proceeds to step 305.

[0053] In step 304, the target inter-vehicle time is incremented or decremented depending on the state of the button. Since the driver's gaze is focused on the vehicle ahead, pressing the button allows for fine-tuning the target inter-vehicle time according to the driver's needs and the context.

[0054] For example, the request for a first incremental variation will increment the inter-vehicle time by a few hundredths of a second, for example 0.01 seconds, 0.05 seconds, 0.1 seconds, 0.2 seconds, 0.5 seconds, ... The request for a second incremental variation will decrement the inter-vehicle time by a few hundredths of a second, for example -0.01 seconds, -0.05 seconds, -0.1 seconds, -0.2 seconds, -0.5 seconds, ... Advantageously, the increment is 0.1 seconds and the decrement is -0.1 seconds, the values ​​being predetermined.

[0055] At the end of step 304, we go back to step 301, for example.

[0056] In step 305, Zone2?, we test whether said attribute determines a speed limit. In If yes, we proceed to step 306, otherwise we proceed to step 307.

[0057] In step 306, Vlim, the target speed is replaced by the speed limit, depending on the state of the button. For example, if the button is in a state other than the first state indicating no demand or a neutral position, the new target speed is equal to the speed limit. This is particularly useful when changing the speed limit on the same traffic lane. At the end of step 306, the process returns to step 301, for example.

[0058] In step 307, Zone3?, we test whether said attribute determines a display of said target speed. If so, we proceed to step 308, otherwise we proceed to step 302 or 301.

[0059] In step 308, Vcib, the target speed is incremented or decremented depending on the state of the button. Since the driver's gaze is focused on the target speed, an action on the button can set the target speed according to the driver's needs and the context.

[0060] For example, the demand for a first incremental variation will increment the target speed by a few tenths of km / h (or units of speed), for example 0.1 km / h, 0.5 km / h, 1 km / h, 2 km / h, ... The demand for a second incremental variation will decrement the target speed by a few tenths of km / h (or units of speed), for example -0.1 km / h, -0.5 km / h, -1 km / h, -2 km / h, ... Advantageously, the increment is 1 km / h and the decrement is -0.1 km / h, the values ​​being predetermined.

[0061] At the end of step 308, we go back to step 301, for example.

[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 setting an adaptive cruise control function of an autonomous vehicle, said function being activated and being set by a target inter-vehicle time and a target vehicle speed, called target speed, said method being implemented by a processor (103) and comprising the steps of: • Receiving (301) a signal representative of a state of a button, said button having at least three states, a first state determining an absence of request or a neutral position, a second state determining a request for a first incremental variation, and a third state determining a request for a second incremental variation;• Reception (302), from a gaze analysis device, of a zone focused by the gaze and an attribute of said focused zone, said gaze analysis device being able to determine at least three zones and being able to associate with each determined zone at least one attribute linked to the zone; • If said attribute determines (303) a vehicle preceding said autonomous vehicle, said preceding vehicle and said autonomous vehicle traveling on the same traffic lane, said target inter-vehicle time is incremented or decremented (304) according to the states of said button.;

2. Method according to claim 1, said button has a fourth state, the fourth state determining an acknowledgment.

3. Method according to one of the preceding claims, in which if said attribute determines (305) a limit speed, said target speed is replaced (306) by said limit speed depending on the states of said button.

4. The method of claim 3, wherein a display device of said autonomous vehicle displays, to an occupant of said autonomous vehicle, said preceding vehicle and said speed limit.

5. The method of claim 4, wherein said display device further displays said target speed, and wherein if said attribute determines (307) a display of said target speed, said target speed is incremented or decremented (308) depending on the states of said button.

6. A method according to claim 5 taken in combination with claim 2, wherein if said attribute determines a limit speed or if said attribute determines a display of said target speed, said target speed is replaced by said limit speed depending on said fourth state of said button, and said target speed is incremented or decremented depending on the second and third states of said button.

7. Method according to claim 6, in which the method further comprises a step of transmitting to said display device a signal requesting highlighting, on the display device, of said focused area.

8. Device (101) comprising an adaptive speed control device and a memory (102) associated with at least one processor (103) configured to implement the method according to claims 1 to 3, said device (101) further comprising a display 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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