Method for managing the crossing of a pedestrian by a motor vehicle

Abstract

A method for managing a pedestrian crossing by a motor vehicle traveling on a lane comprises the steps of: detecting (21) the presence of a pedestrian preparing to cross in front of the vehicle in a specific area of ​​the lane; automatically activating (23) appropriate driving assistance to stop the vehicle before the pedestrian's crossing area; and sending (25) a message to a connected device worn by the pedestrian, informing the pedestrian that the vehicle has detected them and is maneuvering to allow them to cross. A pedestrian crossing management system and a motor vehicle incorporating the system are also described. Figure to be published with the abbreviation: Fig 2

Description

Title of the invention: Method for managing the crossing of a pedestrian by a motor vehicle Technical field

[0001] The present invention relates to a method for managing the crossing of a pedestrian by a motor vehicle, a computer program product, a system for managing the crossing of a pedestrian by a motor vehicle and a motor vehicle comprising such a system. State of the art

[0002] Many developments and tests are being carried out for an autonomous motor vehicle, i.e. one capable of driving on any road without human intervention.

[0003] Among the many problems to be solved, that of interactions between pedestrians and vehicles is one of the most crucial in that it involves human safety: in all circumstances, the vehicle must drive in a manner that is not dangerous for the pedestrian.

[0004] Thus, the situation in which a pedestrian wishes to cross, or crosses, a traffic lane must be managed by the vehicle.

[0005] However, it has been observed that, during experiments, when a pedestrian has to cross in front of an autonomous vehicle, he hesitates over the attitude to adopt: wait for the vehicle to pass or cross, thinking that the vehicle has seen him and that he is going to stop. This uncertainty is reflected in his behavior and this can prevent the vehicle's systems from correctly interpreting the situation with the risks of accident associated with this misinterpretation.

[0006] There is therefore a real need for a method and a system for managing the crossing of a pedestrian by a motor vehicle which resolves all or part of the aforementioned drawbacks. Description of the invention

[0007] To resolve one or more of the drawbacks cited above, according to a first embodiment, a method for managing the crossing of a pedestrian by a motor vehicle traveling on a road comprises the steps of: • detection of the presence of a pedestrian preparing to cross in front of the vehicle on an area of ​​the road; • automatic triggering of suitable driving assistance to stop the vehicle before the pedestrian crossing area; • sending a message to a connected object carried by the pedestrian, the message informing the pedestrian that the vehicle has detected him and is maneuvering to leave him to cross.

[0008] Thus, the pedestrian has access to reliable information on the behavior of the vehicle.

[0009] Particular characteristics or embodiments, usable alone or in combination are: • sending the message uses the V2X standard.; • the crossing area includes a pedestrian crossing; • the motor vehicle detects that the crossing zone includes a pedestrian crossing by analyzing the lane map or by analyzing images captured by a camera facing the front of the vehicle; • presence detection includes detecting that the pedestrian is carrying a connected object with which the motor vehicle can interact; and / or • presence detection includes the reception of a message sent by the connected object.

[0010] In a second embodiment, a computer program product downloadable from a communications network and / or recorded on a computer-readable medium and / or executable by a processor comprises program code instructions for implementing the above method.

[0011] In a third embodiment, a system for managing the crossing of a pedestrian by a motor vehicle traveling on a road comprises: • a detector detecting the presence of a pedestrian about to cross in front of the vehicle on an area of ​​the road; connected to • a driver assistance controller adapted to stop the vehicle before the pedestrian crossing zone; and connected to • a transmitter adapted to send a message to a connected object carried by the pedestrian, the message informing the pedestrian that the vehicle has detected him and is maneuvering to let him cross.

[0012] In a fourth embodiment, a motor vehicle comprises a system according to the third embodiment. Brief description of the figures

[0013] The invention will be better understood on reading the following description, given solely by way of example, and with reference to the appended figures in which: • [Fig.l] represents a top view of a vehicle comprising a pedestrian crossing management system according to one embodiment; and • [Fig.2] represents a flowchart of a crossing management process of a pedestrian by a motor vehicle according to one embodiment. Methods of implementation

[0014] The embodiments presented below refer to a motor vehicle, a car. However, those skilled in the art will understand that these are also usable with other types of vehicles such as vans, vans, etc.

[0015] The terms “front”, “rear”, “top”, “bottom”, “transverse” are understood in relation to the vehicle.

[0016] With reference to [Fig.l], a motor vehicle 1 comprises a system 3 for managing the crossing of a pedestrian. The system comprises at least one detector 5 of the presence of a pedestrian 7 preparing to cross in front of the vehicle on an area of ​​the road on which the vehicle is traveling. For example, the pedestrian 7 is stopped in front of a pedestrian crossing 9. In this situation, the French Highway Code, like other highway codes, provides that the pedestrian 7 has priority and that the vehicle 1 must let him cross.

[0017] The detector 5 may comprise all the sensors directed towards the front of the vehicle such as cameras, lidars or radars as is known to those skilled in the art. It may also comprise alternatively or simultaneously a transmitter 11 having the option of receiving messages from a connected object 13 belonging to the pedestrian 7. The connected object 13 is, for example, a mobile telephone or a watch.

[0018] The communication between the transmitter 11 and the connected object 13 preferably uses the V2X standard intended to allow motor vehicles to interact with their environment and more particularly the V2P sub-standard dedicated to communication between vehicle and pedestrian, in the C-V2X version standardized by the 3GPP in version 14 of June 2017 and the following ones.

[0019] The system 3 comprises a controller 15 connected to the detector 5.

[0020] The controller 15 may, for example, be integrated into the control system of the vehicle 1, as an advanced driver assistance system, commonly called AD AS (for “Advanced driver-assistance Systems” according to English terminology) which makes all driving decisions based on the environment and the programmed destination. The motor vehicle is then referred to as an autonomous motor vehicle.

[0021] The transfer of data between the different elements is preferably carried out by a CAN (for “Controller Area Network” in English) or LIN (for “Local Interconnect Network” in English) type data bus.

[0022] The controller 15 is therefore connected to the motor vehicle control system 17 in order to give it instructions to stop the vehicle before the pedestrian crossing zone.

[0023] It is also connected to the transmitter 11 in its transmitting function to send a message to the connected object 13 carried by the pedestrian 7, the message informing the pedestrian that the vehicle has detected it and maneuvers to let it cross.

[0024] The operation of system 3 is as follows, [Fig.2].

[0025] The system 3 detects, step 21, that the pedestrian 7 is waiting in front of the crossing pedestrian 9 to cross the road.

[0026] Via the controller 15, the system 3 gives instructions, step 23, to the vehicle control system 17 to stop the vehicle before the pedestrian crossing 9, which will cause the motor vehicle to brake until it stops.

[0027] In parallel, the system 3 activates, step 25, the transmitter 11 so that it sends a message to the connected object 13 indicating authorization to cross. This may be a green pictogram of the same type as the traffic lights at pedestrian crossings.

[0028] Thus, advantageously, the pedestrian 7 is informed that the vehicle has detected him and that he can cross safely. There is therefore no misunderstanding on his part about the behavior of the vehicle.

[0029] [Fig.l] illustrates a system according to certain embodiments. The breakdown presented has an educational purpose to highlight the different functions. However, it is understood that each block can be implemented using different means or their combinations, such as hardware components, software, one or more computers and / or electronic circuits. Each of the components can include at least one computer or a control-command unit. At least one memory can be included in each component. The memory can include computer program instructions or software code.

[0030] The computers can be implemented by any type of data processing device, such as a central computing unit, a signal processing processor, an application-specific integrated circuit, a programmable gate array, etc. The computers can be implemented as a single controller, or a plurality of controllers or computers.

[0031] The different modules are connected to each other by data links adapted to the environment. These can be wired or wireless.

[0032] For software, the implementation may include modules or units distributed in the form of procedures, functions, etc. The memories may be any type of storage circuit. They may be part of the processor circuit, or separate from it and connected via electrical data links. These may be non-volatile type memories, hard disks, random access memories, flash memories, etc.

[0033] Furthermore, the program instructions stored in the memory and processed by the computers can be any type of program code, for example, a compiled or interpreted program written in a suitable programming language.

[0034] The computer program instructions stored in the memory are such that, when executed by the computer, the latter carries out one or more of the steps of the methods described above.

[0035] The invention has been illustrated and described in detail in the drawings and the preceding description. This should be considered as illustrative and given by way of example and not as limiting the invention to this description alone. Numerous alternative embodiments are possible.

[0036] For example, the above description describes the pedestrian crossing at a pedestrian crossing. It is understood that this can be generalized to any pedestrian crossing situation, the vehicle then basing itself on the position or movement of the pedestrian to anticipate their desire to cross or on a crossing signal sent by the pedestrian via the connected object.

[0037] When crossing a pedestrian crossing, the motor vehicle detects that the crossing zone includes a pedestrian crossing by analyzing the lane map or by analyzing images captured by a camera facing the front of the vehicle.

[0038] The method described may also comprise a preliminary step of detecting the connected object in order to know the pedestrian's ability to receive a message. In the absence of a connected object, the vehicle uses conventional driving aids for this situation.

Claims

Claims

1. Method for managing the crossing of a pedestrian by a motor vehicle traveling on a road comprising the steps of: • detecting (21) the presence of a pedestrian preparing to cross in front of the vehicle on an area of ​​the road; • automatically triggering (23) a driving aid adapted to stop the vehicle before the pedestrian crossing area; • sending (25) a message to a connected object carried by the pedestrian, the message informing the pedestrian that the vehicle has detected him and is maneuvering to let him cross.

2. The method of claim 1, wherein sending the message uses the V2X standard.

3. The method of claim 1 or 2, wherein the crossing area comprises a pedestrian crossing.

4. Method according to claim 3, in which the motor vehicle detects that the crossing zone comprises a pedestrian crossing by analysis of the lane mapping or by analysis of images captured by a camera facing the front of the vehicle.

5. A method according to claim 1, 2, 3 or 4, wherein the presence detection comprises detecting that the pedestrian is carrying a connected object with which the motor vehicle can interact.

6. Method according to claim according to any one of the preceding claims, in which the presence detection comprises the reception of a message sent by the connected object.

7. Computer program product downloadable from a communication network and / or recorded on a computer-readable medium and / or executable by a processor, characterized in that it comprises program code instructions for implementing the method according to at least one of claims 1 to 6.

8. System (3) for managing the crossing of a pedestrian (7) by a motor vehicle (1) traveling on a road comprising: • a detector (5) of the presence of a pedestrian preparing to cross in front of the vehicle on an area (9) of the road; connected to • a controller (15) of a driving aid adapted for stop the vehicle before the pedestrian crossing area; and connected to • a transmitter (11) adapted to send a message to a connected object carried by the pedestrian, the message informing the pedestrian that the vehicle has detected him and is maneuvering to let him cross.

9. A motor vehicle comprising a system according to claim 8.

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