Method for controlling a motor vehicle at an intersection, associated device and vehicle.

Abstract

A method for controlling a motor vehicle (100) traveling in the first lane (V1) of a roadway (C1), the method being characterized in that it comprises the following first steps: Detection of a heavy goods vehicle (200) traveling in a second lane (V2) of the roadway (C1), at the same level as the motor vehicle (100), and at a second speed, the second lane (V2) being adjacent to the first lane (V1); Detection of a first exit section (TS1) of the roadway (C1) downstream of the motor vehicle (100), the first lane (V1) being located between the first exit section (TS1) and the second lane (V2); Determination, from the second speed, of a first speed lower than the second speed; Initial control of the motor vehicle (100), so that the motor vehicle (100) travels in the first lane (V1) at the first speed. Figure for the abstract: Figure 1

Description

Title of the invention: Method for controlling a motor vehicle at an intersection, associated device and vehicle.

[0001] The invention relates to the control of a traffic speed at a road intersection.

[0002] There is a need to improve safety at intersections in the presence of a heavy goods vehicle, particularly in the presence of a non-automated heavy goods vehicle.

[0003] For this purpose, the invention relates to a method for controlling a motor vehicle, traveling in a first lane of a roadway, in one direction of travel, the method being characterized in that it comprises the following first steps: • Detection of a heavy goods vehicle (in other words: a semi-trailer vehicle, or a vehicle with a length greater than 10 meters or a heavy goods vehicle) traveling in a second lane of the roadway, at the height of the motor vehicle, in the direction of travel, and at a second speed, the second lane being adjacent to the first lane, • Detection of a first exit section (in other words: a first fork) of the roadway downstream of the motor vehicle (and the heavy goods vehicle), in the direction of travel, the first lane being located between the first exit section and the second lane, then • Determination, from the second speed, of a first speed lower than the second speed, then • First command (of acceleration and / or braking) of the motor vehicle, so that the motor vehicle travels in the first lane at the first speed, for example, until the first exit section.

[0004] Thanks to the invention, the motor vehicle can reduce the risks of collision with the heavy goods vehicle in the event that the latter turns in the first safety section.

[0005] The detection of the first exit section can take place before, after, or during the detection of the heavy goods vehicle.

[0006] For example, the first speed is equal to the second speed minus a (non-zero) difference.

[0007] The second track is understood to be adjacent to the first track, by the fact that there is no other track (or any construction) between the first track and the second track. In other words, the first track and the second track are separated only by a road marking.

[0008] For example, it is understood that an exit section is downstream of the motor vehicle. in the direction of travel, if the shortest path in the direction of travel, from the motor vehicle to the exit section, is also the shortest path, between the motor vehicle and the exit section, (on a roadway or on the first lane), in all directions of travel. In other words, the vehicle will join the exit section, in the direction of travel.

[0009] For example, it is understood that the heavy goods vehicle is at the height of the motor vehicle, if the vehicle would (immediately) hit the heavy goods vehicle, if the vehicle joined the second lane (as quickly as possible) (in other words: if the motor vehicle were moved perpendicular to the first lane in the direction of the second lane).

[0010] For example, it is understood that the heavy goods vehicle is at the height of an exit section, if the heavy goods vehicle was in the exit section, if it was moved perpendicular to the second track, up to the exit section.

[0011] The first steps above can be implemented when a distance between the motor vehicle and the first exit section is between 50 and 400 meters, for example between 100 and 300 meters.

[0012] According to one embodiment, the control method according to the invention further comprises the following step (for example, after the first command): • Second command (of a direction) of the motor vehicle (following the first command) so that the motor vehicle turns into the first exit section from the first lane.

[0013] The second control is preferably manual, for example by rotating the steering wheel, but it can also be automatic.

[0014] Alternatively, the motor vehicle does not turn in the first exit section, but continues its journey on the first lane.

[0015] According to one embodiment, the method according to the invention further comprises the following steps before or after the first steps: • Determination that no heavy goods vehicle (in other words: a semi-trailer, or a vehicle with a length greater than 10 metres or heavy goods vehicle) is travelling alongside the motor vehicle, in the direction of travel (in the second lane, the motor vehicle travelling for example in the first lane), • Detection of a second exit section of the roadway (in other words: a second junction) different from the first exit section downstream of the motor vehicle (and the heavy goods vehicle), in the direction of travel, the second exit section forming a second angle with the roadway (in other words: with the first lane and / or the second lane), • Determination of a third speed from the second angle (by example, the steeper a turn required to turn into the second exit section, for example from the first lane, the lower the third gear), then • Third command (for acceleration and / or braking) of the motor vehicle, so that the motor vehicle travels in the first lane at the third speed, for example, until the second exit section of the road, • Fourth command (of a direction) of the motor vehicle (following the first command) so that the motor vehicle turns into the second exit section (from the first lane, for example).

[0016] The fourth control is preferably manual, for example by rotating the steering wheel, but it can also be automatic.

[0017] Alternatively, the motor vehicle does not turn into the second exit section, but continues on the first lane.

[0018] The detection of the second output section can for example be carried out in the same way as the detection of the first output section.

[0019] According to one embodiment, during the step of detecting a heavy goods vehicle, the heavy goods vehicle is detected from data coming from a radar of the motor vehicle or from a camera of the motor vehicle.

[0020] For example, the heavy goods vehicle is detected by an electronic neural network of the motor vehicle trained to detect heavy goods vehicles from the data.

[0021] Other approaches can of course be implemented to detect heavy goods vehicles.

[0022] The determination that no heavy goods vehicle is traveling at the height of the motor vehicle, in the direction of travel, can be implemented in the same way.

[0023] Alternatively, the speed of the vehicle, when approaching an exit section, when no heavy goods vehicle is detected at the height of the vehicle is determined manually or automatically according to other criteria.

[0024] According to one embodiment, the step of detecting the first section may comprise the following steps: • Determination of a route from a road map (which can be stored in the memory of the electronic device implementing the invention or on a remote device), the route crossing (in other words: including or traveling through) the first exit section (and the first lane), • Determination of a location of the motor vehicle (for example, from location data of the motor vehicle received from a satellite location module of the motor vehicle, for example of the so-called “GPS” type), • The detection of the first exit section being implemented from the location of the motor vehicle and the route.

[0025] The first exit section is, for example, the exit section (of the first lane or roadway), in the route, closest to the location of the motor vehicle (in the direction of travel).

[0026] The first exit section may also be the exit section closest to the location of the motor vehicle, on one side of the vehicle, in the route (and in the direction of travel), upon receipt (in other words: at the time of receipt) of a command to activate a flashing light (indicating a change of direction of the motor vehicle) of the motor vehicle (by the driver of the vehicle), the flashing light being located on the side of the vehicle.

[0027] Alternatively, the first exit section is the closest exit section, on one side of the vehicle (and in the direction of travel), in a road map, upon receipt of a command to activate a turn signal of the motor vehicle (by the driver of the motor vehicle), the turn signal being located on the side of the motor vehicle.

[0028] Alternatively, the step of detecting the first section can be implemented from images received from a camera of the motor vehicle.

[0029] According to one embodiment, the implementation of the determination of the first speed and / or the implementation of the first command may be conditioned on the step of detecting a heavy goods vehicle detecting or determining that the motor vehicle is in a blind spot of the heavy goods vehicle.

[0030] In this case, the first speed can be determined so that the motor vehicle leaves the blind spot of the heavy goods vehicle downstream of the first exit section of the roadway and / or, for example, up to the first exit section.

[0031] For example, the step of detecting that the motor vehicle is in a blind spot of the heavy goods vehicle comprises the following steps: • Determination of the position of the motor vehicle in relation to the heavy goods vehicle, • Determination of a heavy goods vehicle perimeter,

[0032] The method further comprising determining whether the motor vehicle is in a blind spot of the heavy goods vehicle from the position and the perimeter.

[0033] For example, the blind spots of the heavy goods vehicle are determined from a predetermined (maximum) viewing angle of a driver of the heavy goods vehicle (between a lateral side of the heavy goods vehicle, determined from the perimeter of the heavy goods vehicle, and the first lane), towards the rear of the heavy goods vehicle, from the front of the heavy goods vehicle (, in the direction of travel).

[0034] Other methods of determining the blind spots of heavy goods vehicles, in particular by the motor vehicle, are of course possible.

[0035] Alternatively, the blind spots of the heavy goods vehicle may be received from the heavy goods vehicle (e.g., by radio communication means).

[0036] A blind spot is an area, more precisely, for example, an area inaccessible to the field of vision of a heavy goods vehicle driver, including through the rear-view mirrors, if he does not turn his head.

[0037] The heavy goods vehicle may include blind spots all around the heavy goods vehicle (in the direction of travel: at the front, at the rear and on the lateral sides of the heavy goods vehicle).

[0038] Alternatively, the heavy goods vehicle can inform the motor vehicle if it is in a blind spot of the heavy goods vehicle by radio communication (the heavy goods vehicle itself determining, for example, the position of the motor vehicle and whether or not it is in a blind spot). The heavy goods vehicle can memorize the location of its blind spots for this purpose.

[0039] According to another variant, it is the road infrastructure which detects and informs the motor vehicle if it is in a blind spot of the heavy goods vehicle.

[0040] According to one embodiment, the first speed is determined so that the distance between the heavy goods vehicle and the motor vehicle is greater than or equal to a threshold when the heavy goods vehicle is before the first exit section (in the direction of travel) or at the height (in other words: at the level) of the first exit section.

[0041] For example, expressed in meters, the threshold can be between 5 and 100 meters. For example, expressed in seconds, the threshold can be between 1 and 5 seconds.

[0042] For example, the first exit section forms a first angle with the roadway (in other words: with the first lane and / or the second lane), and the threshold is determined from the first angle (for example, the steeper the turn required to turn into the first exit section from the first lane, the greater the threshold).

[0043] The invention also relates to a computer program comprising instructions executable by a microprocessor or a microcontroller or a computer, to implement the steps of the method according to the invention, when it is executed by the microprocessor or the microcontroller or the computer.

[0044] The method according to the invention can be implemented by an electronic device. The invention therefore also relates to an electronic device configured to implement the steps of the method according to the invention, as well as a motor vehicle comprising the electronic device.

[0045] The characteristics and advantages of the computer program, the electronic device, and the vehicle are identical to those of the method according to the invention (without it being necessary to repeat them here).

[0046] When the electronic device, the motor vehicle (or another element) is “configured to” (or “capable of”) performing or implementing a step or a operation, this implies, for example, that the element comprises means for carrying out the step or operation. The means preferably comprise electronic means, for example a computer program, data in memory, specialized electronic circuits, wired or wireless connections, a microprocessor and / or a microcontroller.

[0047] For example, the electronic device comprises a computer program, a microprocessor and / or a microcontroller.

[0048] Other characteristics and advantages of the present invention will appear more clearly on reading the detailed description which follows, comprising embodiments of the invention given as non-limiting examples and illustrated by the appended drawings, in which: • [Fig.l], [Fig.2], [Fig.3] and [Fig.4] represent an electronic device and a motor vehicle according to an embodiment of the invention at various stages of the method of [Fig.5], • [Fig.5] represents an implementation of the method according to the invention, according to an exemplary embodiment, by the electronic device and the motor vehicle of figures 1 to 4.

[0049] In Figures 1 and 4, certain elements are, of course, seen through transparency. In order not to complicate the reading of the figures, certain elements are referenced only in certain figures. Also, to facilitate their representation, the elements and the distances between the elements are not representative of reality.

[0050] Detailed description of an exemplary embodiment of the invention, with reference to Figures 1 to 5.

[0051] Figures 1 and 4 show a motor vehicle 100 at various stages of the method of [Fig.4]. The motor vehicle 100 comprises a microprocessor 110. The microprocessor 110 is connected to the following elements of the motor vehicle: • A radar 120, • A 130 camera, • A 150 screen (in the vehicle interior), • A 170 flashing light, • A lever 140 for operating the indicator 170, • A 160 steering wheel.

[0052] In step S00 [Fig.5], the motor vehicle 100 travels in a first lane VI of a roadway C1, at a speed of 40 kilometers per hour, in a direction of travel dsl, as shown [Fig.l].

[0053] In step S10 [Fig.5], the microprocessor 110 detects the heavy goods vehicle 200 traveling in a second lane V2 of the roadway Cl, at the height of the motor vehicle 100, in the direction of travel dsl, and at a speed of 39 kilometers per hour, the second track V2 being adjacent to the first track VI.

[0054] The microprocessor 110 detects the heavy goods vehicle 200 from data coming from a radar 120 and / or a camera 130 of the motor vehicle 100, for example by using an electronic neural network of the motor vehicle 100, for example of the microprocessor 110, trained to detect heavy goods vehicles from this data (not shown).

[0055] In step S20 [Fig. 5], the microprocessor 110 detects, for example, 100 meters from the motor vehicle 100, the exit section TS1 of the roadway C1 downstream of the motor vehicle 100, in the direction of traffic dsl, the first lane VI being located between the first exit section TS1 and the second lane V2.

[0056] To detect the output section TS1, the microprocessor 110 can: • Determine an itl route, and control its display on the screen 150, from a road map in memory of the microprocessor 110, the itl route crossing the first exit section TS1 and the first track VI. • Determine a location of the motor vehicle 100, for example, from location data of the motor vehicle 100 received from a satellite location module of the motor vehicle, for example of the so-called “GPS” type (not shown) connected to the microprocessor 110.

[0057] The first exit section TS1 is for example the exit section (of the first lane VI or of the carriageway Cl), in the route itl, closest to the location of the motor vehicle 100, in the direction of travel dsl.

[0058] The first exit section TS1 may also be the exit section closest to the location of the motor vehicle 100, on one side of the vehicle 100, in the route itl, upon receipt of a command to activate a flashing light 170 of the motor vehicle 100 from the actuating lever 140, the flashing light 170 being located on the side of the vehicle.

[0059] In step S30, the microprocessor 110 determines a speed of 25 kilometers per hour for the motor vehicle 100.

[0060] For example, this speed is determined so that the motor vehicle 100 is at a distance distl from the heavy goods vehicle 200 equal to 2 seconds, when the heavy goods vehicle is at the first exit section TS1.

[0061] For example, the first exit section TS1 forms an angle a2 with the roadway Cl, and the distance of 2 seconds is determined from the angle a2 (for example, the steeper the turn required to turn into the first exit section TS1 from the first lane, the greater the distance),

[0062] In step S40, the microprocessor 110 controls the acceleration and / or braking of the motor vehicle 100, so that the vehicle 100 travels in the first lane VI at a speed of 25 kilometers per hour, up to the first exit section. TS1.

[0063] Thus, at step S50, as shown [Fig.2], the heavy goods vehicle 200 which is traveling faster than the motor vehicle 100 begins to overtake it.

[0064] In step S60, when the heavy goods vehicle 200 is at the first exit section, the motor vehicle 100 is at the distance distl from the heavy goods vehicle 200 as determined in step S30 and as shown [Fig.3].

[0065] At step S70, the heavy goods vehicle 200 turns into the first exit section TS1, as shown [Fig.4].

[0066] In step S80, the driver of the motor vehicle 100 turns the steering wheel 160 so that the motor vehicle 100 turns into the first exit section TS1 from the first lane VI.

[0067] In step S90, while the motor vehicle 100 is traveling at 50 kilometers per hour, the microprocessor 110 can detect, in the same way as in step S20, another exit section (not shown), downstream of the motor vehicle 100, forming a second angle (not shown) with the roadway C1 without any heavy goods vehicle traveling at the height of the motor vehicle 100 being detected.

[0068] In step S100, the microprocessor 110 then determines a speed of 30 kilometers per hour from the second angle. For example, the steeper a turn required to turn into the other exit section from the roadway, the lower the speed.

[0069] In step SI 10, the microprocessor 110 controls the acceleration and / or braking of the motor vehicle 100, so that the motor vehicle 100 travels in the first lane VI at 30 kilometers per hour, for example, until the other exit section of the roadway Cl.

[0070] In step S120, the driver of the motor vehicle 100 turns the steering wheel 160 so that the motor vehicle 100 turns into the other exit section from the first lane VI.

[0071] According to a variant, steps S30 and S40 may be conditioned on the fact that, in step S10, the microprocessor 110 detects that the motor vehicle 100 is in a blind spot 210 or 220 of the heavy goods vehicle 200.

[0072] In this case, the speed of the motor vehicle 100 can be determined, in step S30, so that the motor vehicle 100 leaves, as shown [Fig.2], the blind spots 210 and 220 of the heavy goods vehicle 200 downstream of the first exit section TS1 of the roadway C1, and / or, for example, up to the first exit section TS1.

[0073] The determination of the blind spots 210 and 220 of the heavy goods vehicle comprises, for example, the detection of the heavy goods vehicle 200, by the microprocessor 110, from data received from the radar 120 and the camera 130. In particular, the relative position of the motor vehicle 100 and the perimeter of the truck 200 are determined.

[0074] The dead angle 210 of a heavy goods vehicle is for example determined from the hypothesis of a maximum viewing angle al (represented [Fig.l] to 3) predetermined between a lateral side of the heavy goods vehicle, determined from the perimeter of the heavy goods vehicle, and the remainder of the lane VI, towards the rear, from the front of the heavy goods vehicle 200, in the direction of travel dsl.

Claims

Claims

1. Method for controlling a motor vehicle (100), traveling in a first lane (VI) of a roadway (Cl), in a direction of travel (dsl), the method being characterized in that it comprises the following first steps: • Detection (S 10) of a heavy goods vehicle (200) traveling in a second lane (V2) of the roadway (Cl), at the height of the motor vehicle (100), in the direction of travel (dsl), and at a second speed, the second lane (V2) being adjacent to the first lane (VI), • Detection (S20) of a first exit section (TS1) of the roadway (Cl) downstream of the motor vehicle (100), in the direction of travel (dsl), the first lane (VI) being located between the first exit section (TS1) and the second lane (V2), • Determination (S30), from the second speed, of a first speed lower than the second speed, • First order (S40) of the motor vehicle (100),so that the vehicle (100) travels in the first lane (VI) at the first speed,

2. Control method according to the preceding claim further comprising the following step: • Second control (S80) of the motor vehicle (100) so that the motor vehicle (100) turns into the first exit section (TS1) from the first lane (VI).

3. Control method according to any one of the preceding claims further comprising the following steps before or after the first steps: • Determining that no heavy goods vehicle is traveling at the height of the motor vehicle (100), in the direction of travel (dsl), • Detection (S90) of a second exit section of the roadway (Cl), different from the first exit section (TS1), downstream of the motor vehicle (100), in the direction of travel (dsl), the second exit section forming a second angle with the roadway (Cl), • Determination (S 100) of a third speed from the second angle, • Third command (SI 10) of the motor vehicle (100), so that the motor vehicle (100) travels in the first lane (VI) at the third speed, • Fourth command (S 120) of the motor vehicle (100) so that the motor vehicle (100) turns into the second exit section from the first lane (VI).

4. Control method according to any one of the preceding claims wherein, during the step of detecting a heavy goods vehicle (200), the heavy goods vehicle (200) is detected from data coming from a radar (120) of the motor vehicle (100) or from a camera (130) of the motor vehicle (100).

5. Control method according to any one of the preceding claims in which the step of detecting the first section (TS1) may comprise the following steps: • Determining a route (itl) from a road map, the route (itl) crossing the first exit section (TS1), • Determining a location of the motor vehicle (100), • The detection of the first exit section (TS1) being implemented from the location of the motor vehicle (100) and the route (itl).

6. Control method according to any one of the preceding claims in which the implementation of the determination of the first speed and / or the implementation of the first command is conditioned on the step of detecting (S10) a heavy goods vehicle (200) detecting that the motor vehicle is in a blind spot (210, 220) of the heavy goods vehicle (200).

7. Control method according to any one of the preceding claims in which the first speed is determined so that the distance between the heavy goods vehicle (200) and the motor vehicle (100) is greater than or equal to a threshold when the heavy goods vehicle (200) is at the height of the first exit section (SI).

8. Computer program comprising instructions, executable by a microprocessor or a microcontroller, for implementing the method according to any one of claims 1 to 7, when executed by the microprocessor or the microcontroller.

9. Electronic device (110) configured to implement the steps of the method according to any one of claims 1 to 7

10. A motor vehicle (100) comprising the electronic device (110) according to claim 9.

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