Method and device for controlling a semi-automatic lane change system for a vehicle with confirmation by acceleration command

Abstract

The present invention relates to a method and a device for controlling a SALC system of a vehicle (10). For this purpose, first data representative of a semi-automatic lane change command to be implemented by the SALC system are received. The display of a graphical representation representative of a set of available lanes (102) for the semi-automatic lane change is controlled according to the first data. Second data representative of an acceleration command of the vehicle (10) are received, following the display of the graphical representation. The SALC system is controlled according to the second data. Figure for abstract: Figure 1

Description

Title of the invention: Method and device for controlling a semi-automatic lane change system for a vehicle with confirmation by acceleration command Technical field

[0001] The present invention relates to methods and devices for controlling a semi-automatic lane change system, known as a SALC system, of a vehicle, for example a motor vehicle. The present invention also relates to a method and a device for controlling a vehicle, in particular an autonomous vehicle. Technological background

[0002] Some of contemporary vehicles have driver assistance functions or systems, known as AD AS (from the English “Advanced Driver-Assistance System” or in French “Système avance d'aide à la conduite”).

[0003] Among these systems, the semi-automatic lane change system, called the SALC system (from the English "Semi-Automatic Lane Change"), has the primary function of assisting the driver of a vehicle when the driver wishes to change lanes. Upon detecting the activation of the turn signals on one side of the vehicle to indicate its intention to change lanes from a current lane to a target lane on the side where the turn signals have been activated by the driver, the SALC system operates the lane change after having carried out some checks. Among these checks, the SALC system verifies certain conditions relating to the target lane such as: - the type associated with this line, the road marking line must be of the discontinuous type to allow the semi-automatic change of traffic lane; and - no vehicle is present in the adjacent traffic lane corresponding to the target traffic lane of the semi-automatic lane change.

[0004] Activation of the indicators also causes content to be displayed on a screen of the vehicle, for example on the instrument panel behind the steering wheel, asking the driver to confirm his wish to trigger the semi-automatic lane change maneuver under the control of the SALC system within a maximum time from activation of the indicators, for example by pressing a button provided on the steering wheel or on a control lever arranged at the steering wheel.

[0005] This dual command (activation of the indicators then confirmation) requires several actions from the driver, which may discourage use of the SALC system and / or disrupt the driver's attention in driving the vehicle, which may prove dangerous for the vehicle and its passengers. Summary of the present invention

[0006] An object of the present invention is to solve at least one of the problems of the technological background described above.

[0007] Another object of the present invention is, for example, to improve the operation of a SALC system of a vehicle.

[0008] Another object of the present invention is for example to improve the user experience with respect to the use of the SALC system.

[0009] According to a first aspect, the present invention relates to a method for controlling a semi-automatic lane change system, called SALC system, of a vehicle traveling on a current lane of a road comprising a plurality of lanes having the same direction of travel, the method comprising the following steps: - reception of first data representative of a semi-automatic lane change command to be implemented by the SALC system; - display control of a graphical representation representative of a set of traffic lanes available for semi-automatic lane change based on the first data; - reception of second data representative of a vehicle acceleration command following the display of the graphic representation; - control of the SALC system based on the second data.

[0010] The display of the traffic lanes available for a semi-automatic lane change following the activation of the turn signals provides useful information to the driver to indicate to him that the lane change can be implemented safely by the SALC system. The use of the acceleration control to confirm or deny the triggering of the semi-automatic lane change maneuver avoids the driver having to confirm the maneuver by pressing a button, which facilitates the use of the SALC system. An acceleration control is more direct and intuitive than pressing a button and safer because it allows the driver to keep his hands on the steering wheel.

[0011] According to one variant, the control of the SALC system comprises: - triggering a semi-automatic lane change maneuver from the current lane to a target lane of the set of available lanes adjacent to the current lane when the second data is representative of an acceleration command greater than a threshold; and - a rendering of initial information representing confirmation of implementation of the semi-automatic lane change maneuver.

[0012] According to another variant, the control of the SALC system further comprises a determination of a second piece of information representative of the presence or absence of other vehicles in the target traffic lane as a function of third data received from at least one object detection sensor on board the vehicle, the semi-automatic traffic lane change maneuver being triggered only when the second piece of information is representative of the absence of another vehicle in the target traffic lane.

[0013] According to another variant, the control of the SALC system comprises: - inhibition of the semi-automatic lane change maneuver when the second data is representative of an acceleration command below the threshold; and - a rendering of a third piece of information representative of the inhibition.

[0014] According to an additional variant, the first data are representative of a voice command or a gesture command for semi-automatic lane change to be implemented by the SALC system.

[0015] According to another variant, the display control of the graphic representation is furthermore a function of fourth data representative of the ground marking line obtained from at least one camera on board the vehicle.

[0016] According to a second aspect, the present invention relates to a device for controlling a semi-automatic lane change system for a vehicle, the device comprising a memory associated with a processor configured for implementing the steps of the method according to the first aspect of the present invention.

[0017] According to a third aspect, the present invention relates to a vehicle, for example of the automobile type, comprising a device as described above according to the second aspect of the present invention or a system as described above according to the third aspect of the present invention.

[0018] According to a fourth aspect, the present invention relates to a computer program which comprises instructions adapted for executing the steps of the method according to the first aspect of the present invention, in particular when the computer program is executed by at least one processor.

[0019] Such a computer program may use any programming language, and be in the form of source code, object code, or intermediate code between source code and object code, such as in a partially compiled form, or in any other desirable form.

[0020] According to a fifth aspect, the present invention relates to a computer-readable recording medium on which is recorded a computer program comprising instructions for carrying out the steps of the method according to the first aspect of the present invention.

[0021] On the one hand, the recording medium may be any entity or device capable of storing the program. For example, the medium may comprise a storage means, such as a ROM memory, a CD-ROM or a microelectronic circuit type ROM memory, or a magnetic recording means or a hard disk.

[0022] Furthermore, this recording medium may also be a transmissible medium such as an electrical or optical signal, such a signal being able to be conveyed via an electrical or optical cable, by conventional or hertzian radio or by self-directed laser beam or by other means. The computer program according to the present invention may in particular be downloaded from an Internet-type network.

[0023] Alternatively, the recording medium may be an integrated circuit in which the computer program is incorporated, the integrated circuit being adapted to perform or to be used in performing the method in question. Brief description of the figures

[0024] Other characteristics and advantages of the present invention will emerge from the description of the particular and non-limiting exemplary embodiments of the present invention below, with reference to the appended figures 1 to 4, in which:

[0025] [Fig.l] schematically illustrates a vehicle traveling in a road environment, according to a particular exemplary embodiment of the present invention;

[0026] [Fig.2] schematically illustrates a process for controlling a semi-automatic lane change system for the vehicle of [Fig.l], according to a first particular and non-limiting example of the present invention;

[0027] [Fig.3] illustrates a device configured to control a semi-automatic lane change system of the vehicle of [Fig.l], according to a particular and non-limiting exemplary embodiment of the present invention.

[0028] [Fig.4] illustrates a flowchart of the different steps of a method for controlling a semi-automatic lane change system for the vehicle of [Fig.1], according to a particular and non-limiting exemplary embodiment of the present invention. Description of examples of implementation

[0029] A method and a device for controlling a semi-automatic lane change system, called SALC system, of a vehicle will now be described in the following with joint reference to Figures 1 to 4. The same elements are identified with the same reference signs throughout the description which follows.

[0030] The terms “first(s)”, “second(s)” (or “first(s)”, “second(s)”), etc. are used in this document by arbitrary convention to allow identification and to distinguish different elements (such as operations, means, etc.) implemented in the embodiments described below. Such elements may be distinct or correspond to a single element, depending on the embodiment.

[0031] According to a particular and non-limiting example of embodiment of the present invention, the control of a semi-automatic lane change system, referred to as SALC system hereinafter, of a vehicle is for example implemented by one or more computers of the vehicle. For this purpose, the method comprises the reception of first data representative of a semi-automatic lane change command to be implemented by the SALC system. These first data are for example received, via a data bus, from a computer controlling one or more microphones arranged in the passenger compartment of the vehicle or a computer controlling a camera on board the passenger compartment of the vehicle.The reception of the first data triggers the display control of a graphic content representing a set of traffic lanes available for the semi-automatic lane change according to the first data, that is to say one or more possible destination lanes on the side of the triggering of the indicators to carry out the change of traffic lane from a current traffic lane on which the vehicle is traveling to one of these destination lanes. Second data representative of an acceleration command of the vehicle are received following the display of the graphic content. These second data are for example received from a computer controlling the sensor associated with the accelerator pedal. The SALC system is then controlled according to these second data, for example to trigger the semi-automatic lane change maneuver or to inhibit or interrupt this maneuver, according for example to the acceleration command.

[0032] [Fig. 1] schematically illustrates an environment 1 in which a vehicle 10 circulates, according to a particular and non-limiting example of implementation of the present invention.

[0033] [Fig.l] illustrates a vehicle 10, for example a motor vehicle, traveling on a portion of road in the environment 1. According to other examples, the vehicle 10 corresponds to a coach, a bus, a truck, a utility vehicle or a motorcycle, that is to say a vehicle of the motorized land vehicle type.

[0034] The vehicle 10 corresponds to a vehicle traveling under the total supervision of a driver or traveling in an autonomous or semi-autonomous mode. The vehicle 10 travels according to a level of autonomy equal to 0 or according to a level of autonomy ranging from 1 to 5 for example, according to the scale defined by the American federal agency which has established 5 levels of autonomy ranging from 1 to 5, level 0 corresponding to a vehicle having no autonomy, the driving of which is under the total supervision of the driver, level 1 corresponding to a vehicle with a minimal level of autonomy, the driving of which is under the supervision of the driver with minimal assistance from an AD AS system, and level 5 corresponding to a completely autonomous vehicle.

[0035] The 5 levels of autonomy of the classification of the federal agency responsible for road safety are: - level 0: no automation, the vehicle driver has full control over the main functions of the vehicle (engine, accelerator, steering, brakes); - level 1: driver assistance, automation is active for certain vehicle functions, the driver retaining overall control over the vehicle's driving; cruise control is part of this level, as are other aids such as ABS (anti-lock braking system) or ESP (programmed electro-stabilizer); - level 2: automation of combined functions, the control of at least two main functions is combined in the automation to replace the driver in certain situations; for example, adaptive cruise control combined with lane centering allows a vehicle to be classified as level 2, as does automatic parking assistance (from the English “Park assist”); - level 3: limited autonomous driving, the driver can cede complete control of the vehicle to the automated system which will then be in charge of critical safety functions; autonomous driving can however only take place in certain specific environmental and traffic conditions (only on motorways for example); - level 4: fully autonomous driving under certain conditions, the vehicle is designed to ensure all critical safety functions on its own over a complete journey; the driver provides a destination or navigation instructions but is not required to make himself available to take back control of the vehicle; - level 5: completely autonomous driving without driver assistance in all circumstances

[0036] According to a particular embodiment, the vehicle 10 travels in a semi-autonomous or autonomous mode, that is to say with a level of autonomy greater than or equal to 2 or 3 according to the classification above.

[0037] According to the example of [Fig.l], the vehicle 10 travels on a portion of road comprising several traffic lanes 100, 101 and 102. The vehicle 10 travels for example on a so-called common traffic lane 100, the common traffic lane being surrounded by the traffic lanes 101 and 102. The traffic lane 101 is adjacent to the traffic lane 100 and is located on a first side of the traffic lane 100, for example on the left in the direction of travel of the vehicle 10. The lane traffic lane 102 is adjacent to the traffic lane 100 and is located on a second side (side opposite the first side) of the traffic lane 100, for example on the right in the direction of travel of the vehicle 10.

[0038] The number of traffic lanes on the section of road is arbitrary, for example equal to 2, 3, 4 or 5 lanes.

[0039] According to another exemplary embodiment, the vehicle 10 travels on the traffic lane 102 which comprises only one adjacent traffic lane, namely the traffic lane 100.

[0040] The traffic lanes 100 to 102 are for example delimited laterally by ground marking lines, for example continuous, discontinuous or mixed lines.

[0041] For example, the taxiway 100 is delimited on the first side (on the left according to the example of [Fig.l]) by a ground marking line (also called horizontal signaling) 111 of the “broken line” type (dotted lines). The line 111 marks the delimitation between the lane 100 and the lane 101. The taxiway 100 is delimited on the second side (on the right according to the example of [Fig.l]) by a ground marking line 112 of the “broken line” type (dotted lines). The line 112 marks the delimitation between the lane 100 and the lane 102.

[0042] The concepts of right and left are defined according to the direction of travel of the vehicle 10. The traffic lane 102 corresponds, for example, to the “slowest” lane and the traffic lane 101 corresponds, in this example, to the “fastest” lane. The “slowest” lane is on the right in countries where vehicles travel in the right-hand lane (countries such as France, for example). The “slowest” traffic lane 102 is on the left in countries where vehicles travel in the left-hand lane (countries such as the United Kingdom, for example).

[0043] The vehicle 10 advantageously incorporates one or more driving assistance systems, called AD AS (from the English “Advanced Driver-Assistance System” or in French “Système d'aide à la conduite supérieur”). For example, the vehicle 10 incorporates a semi-automatic lane change system, called SALC (from the English “Semi-Automatic Lane Change”). Such a system is based in particular on the detection and recognition of the road marking lines to authorize or not the change of lane from a current traffic lane to a traffic lane adjacent to this current traffic lane, and when the change is authorized, to control the maneuver allowing the vehicle 10 to change lane.

[0044] Among the checks carried out by the SALC system to authorize or not the lane change, the SALC system verifies that the road marking line delimiting the current traffic lane from the adjacent target (or destination) lane corresponds to a broken line for which the lane change is authorized.

[0045] The vehicle 10 advantageously carries one or more cameras having in their field of vision a portion of the road comprising the traffic lanes 100 to 102, which portion is located in front of the vehicle 10 according to the direction of travel of the vehicle 10. Each camera is configured for the acquisition of images of the traffic lane taken by the vehicle 10, for example the portion of road located in front and / or on the sides of the vehicle 10.

[0046] One or more image processing operations are for example applied to the images obtained from the camera(s) to determine information on the presence of lines on the ground, to classify these lines into different categories, for example to determine whether the lines on the ground correspond to lines of the “continuous” type (with a continuous line), “discontinuous” type (with a dotted line) or “mixed” type and to obtain data or indicators on the quality of the tracing of these lines on the ground. An example of image processing for detecting the lines on the ground is for example described in document WO2017194890A1.

[0047] According to a particular embodiment, the vehicle 10 furthermore has an object detection system on board. Such an object detection system is configured to detect a mobile or static object located in the environment of the vehicle 10, around the vehicle 10. Such a system detects any object located within the range of one or more object detection sensors, this or these sensors being controlled by one or more computers of the on-board system of the vehicle 10. The object detection system thus comprises the computer(s) and the object detection sensor(s).

[0048] The object detection sensor(s) correspond(s) for example to: - one or more millimeter wave radars arranged on the vehicle 10, for example at the front, at the rear, on each front / rear corner of the vehicle; each radar is adapted to emit electromagnetic waves and to receive the echoes of these waves returned by one or more objects (for example another vehicle traveling on a traffic lane adjacent to the current traffic lane 100 of the vehicle 10), for the purpose of detecting any object or obstacle and their distances from the vehicle 10; and / or - one or more LIDAR(s) (from the English “Light Detection And Ranging”, or “Light Detection and Ranging” in French), a LIDAR sensor corresponding to an optoelectronic system composed of a laser emitting device, a receiving device comprising a light collector (to collect the part of the light radiation emitted by the emitter and reflected by any object located in the path of the light rays emitted by the emitter) and a photodetector which transforms the collected light into an electrical signal; a LIDAR sensor thus makes it possible to detect the presence of objects located in the emitted light beam and to measure the distance between the sensor and each detected object; and / or - one or more cameras, the presence of an object (for example a vehicle) being detected by processing the image data acquired by the camera(s); this or these cameras correspond for example to the cameras supplying the road marking line recognition system.

[0049] A process for controlling the SALC system of the vehicle 10 traveling on the current traffic lane 100 is advantageously implemented by the vehicle 10, that is to say by a computer or a combination of computers of the on-board system of the vehicle 10, for example by the computer(s) 22 responsible for controlling the SALC system. A particular example of implementation of such a process is illustrated by [Fig.2].

[0050] In a first operation 201, first data representative of a command or request for semi-automatic lane change under the control of the SALC system are received.

[0051] These first data are for example received from a computer of the on-board system of the vehicle 10 connected in communication to the computer 22 implementing the process.

[0052] These first data are for example representative: - a voice command pronounced by the driver 21 to request the semi-automatic change of lane and acquired by one or more microphones arranged in the passenger compartment of the vehicle, a voice command corresponding for example to a command of the type “Change lane to the right” or “Change into lane 3”, the number of the lane being for example defined from right to left, the rightmost lane 102 corresponding to lane 1, lane 100 being lane 2 and the leftmost lane 101 being lane 3; or - a gesture command made by the driver 21 to request the semi-automatic change of lane and acquired by a camera on board the passenger compartment of the vehicle 10 (for example at the level of the interior rearview mirror in the middle at the top of the windshield), a gesture command corresponding for example to a sweep of the hand to the right or to the left to request a change of lane to the right or to the left, respectively.

[0053] According to an alternative embodiment, the first data comprises, for example, information relating to the triggering of the turn signals on one side of the vehicle 10, the triggering of the turn signals by the driver 21 indicating that the driver of the vehicle 10 wishes to trigger the lane change, by the SALC system, from the current traffic lane 100 of the vehicle 10 to a destination traffic lane adjacent to the current traffic lane which is located on the side corresponding to the side of the triggered turn signals.

[0054] According to the exemplary embodiment, these first data are for example received from a computer controlling the microphone(s), from a computer controlling the camera on board the passenger compartment or from a computer controlling the turn signals, via one or more communication buses of the on-board system of the vehicle 10, for example a communication bus of the CAN (Controller Area Network) type, CAN FD (Controller Area Network Flexible Data-Rate), FlexRay (according to the ISO 17458 standard), Ethernet (according to the ISO / IEC 802-3 standard) or LIN (Local Interconnect Network) type.

[0055] The first data correspond to the raw data obtained from the sensors (microphone(s), camera(s)) or to the result of one or more data processing operations carried out on the raw data.

[0056] When the first data is representative of a voice command, the data acquired by the microphone(s) is processed according to any automatic natural language processing method, known as the NLP (Natural Language Processing) method, known to those skilled in the art to determine the command to be executed from the voice command pronounced by the driver.

[0057] When the first data are representative of a gesture command, the data acquired by the camera are processed according to any image processing method known to those skilled in the art to determine the gesture performed by the driver and the associated command.

[0058] In the remainder of the description, the destination lane will be considered as corresponding to the lane 102 to the right of the current traffic lane 100 of the vehicle 10, according to a particular and non-limiting example of implementation.

[0059] In a second operation 202, the computer 22 controls the display of a graphical representation representative of a set of traffic lanes available for semi-automatic lane change as a function of the first data obtained in the first operation 201.

[0060] The computer 22 thus transmits, for example, a request to a computer controlling one or more screens of the vehicle 10, for example the IVI computer (from the English “In-Vehicle Infotainment” or in French “Infodivertissement embarké”), to display the graphic representation of the lane(s) available for carrying out the lane change.

[0061] An available lane corresponds to a destination lane located on the side of the vehicle 10 towards which the lane change is required (in accordance with the command of the first operation 201).

[0062] For example, if the lane change command corresponds to a command of change to the right of vehicle 10, the destination lane available to carry out the semi-automatic lane change from the current lane 100 corresponds to lane 102 according to the example in [Fig.l].

[0063] If the lane change command corresponds to a command to change to the left of the vehicle 10, the destination lane available for carrying out the semi-automatic lane change from the current lane 100 corresponds to lane 101 according to the example of [Fig.l].

[0064] The graphic representation corresponds for example to a content or a graphic illustration representing one or more possible destination lanes for carrying out the lane change, depending on the number of lanes located to the left or right of the vehicle 10.

[0065] The number of lanes available on the side of the required semi-automatic lane change is for example determined from data received from the camera(s) arranged on the vehicle 10 and configured for the acquisition of images of the portion of the road comprising the traffic lanes 100 to 102 located in front of the vehicle 10 according to the direction of travel of the vehicle 10.

[0066] The available destination lane(s) thus correspond, for example, to each lane located on the side of the required lane change and separated from the current traffic lane (or from the lane adjacent to the current traffic lane) by a dotted road marking line.

[0067] According to this example, when the required lane change corresponds to a change to the right, the available destination lane corresponds to lane 102, which is separated from the current traffic lane 100 by a dotted line 112. When the required lane change corresponds to a change to the left, the available destination lane corresponds to lane 101, which is separated from the current traffic lane 100 by a dotted line 111.

[0068] The graphical representation graphically represents the lane(s) determined to be available to perform the required semi-automatic lane change.

[0069] The graphic representation corresponds for example to an image of the channels 100 to 102 acquired by a camera, with the addition to this image of a visual effect to show the available channel(s) (for example by modifying the color of the pixels of the image associated with the available channel(s), for example by associating the color green with these pixels).

[0070] According to another example, the graphic representation corresponds to a computer-generated image indicating which lanes are or are available.

[0071] The graphic representation is for example displayed on a screen arranged behind the steering wheel in the dashboard (such a screen being called a handset) or on a screen arranged in the center of the dashboard for example. According to another example, the re graphic presentation is displayed or projected onto a transparent or semi-transparent blade of a head-up display system, known as a VTH or HUD system in English (“Head Up Display”).

[0072] If no traffic lane appears to be available on the side of the desired lane change, then the process ends, for example with the display of a message on a screen for the driver 21 to inform the latter that the lane change is not possible.

[0073] In a third operation 203, the computer 22 remains in a state of waiting for confirmation or validation of the semi-automatic lane change commanded in the first operation 201.

[0074] According to a particular embodiment, the computer 22 triggers for example for this purpose the countdown of a delay (for example set at 2, 3, 4 or 5 seconds) from the reception of the first data representative of the semi-automatic lane change command.

[0075] In a fourth operation 204, the computer 22 receives second data representative of an acceleration command from the vehicle 10 following, that is to say subsequently from a temporal point of view, the display of the graphic representation.

[0076] The second data are for example representative of an acceleration value (expressed in m.s2) required by the driver 21 who presses the accelerator pedal.

[0077] The second data are for example obtained from a sensor associated with the accelerator pedal of the vehicle 10 and configured to measure the pressure applied to the accelerator pedal to determine the acceleration required via this pressure by the driver 21. These second data are for example transmitted to the computer 22 by the computer controlling this sensor via a data bus.

[0078] According to a variant, these second data are transmitted by the computer controlling the engine of the vehicle 10 and receiving the acceleration instruction desired by the driver 21.

[0079] In a fifth operation 205, the SALC system is controlled by the computer 22 as a function of the second data received in the fourth operation 204.

[0080] The control of the SALC system comprises a comparison of the acceleration value represented by the second data with a determined threshold value, the threshold value corresponding to a parameter of the SALC system (defined empirically for example and stored in memory). According to an alternative embodiment, the threshold value is an adjustable parameter of the SALC system, for example via an HMI to give the driver the possibility of defining this threshold value (either freely or in a list of determined values).

[0081] The threshold value is for example equal to 0.5, 0.8 or 1 m.s2.

[0082] The SALC system is then, for example, controlled according to the result of the comparison: - when the second data is representative of an acceleration command greater than the threshold, then a semi-automatic lane change maneuver from the current lane 100 to a target or destination lane 102 of the set of available lanes adjacent to the current lane 100 is triggered by the SALC system; and - when the second data is representative of an acceleration command below the threshold, then the semi-automatic lane change maneuver is inhibited or stopped.

[0083] When a delay countdown is implemented as described with respect to the third operation, then the control of the SALC system is furthermore a function of this delay. Thus, if the second data is received within the delay and representative of an acceleration value greater than the threshold, then the lane change is triggered. If the second data is received within the delay and representative of an acceleration value less than the threshold, then the lane change is not implemented. If the second data is received after the delay has elapsed or if no second data is received, then the lane change is inhibited, i.e. not implemented.

[0084] According to a particular embodiment, the control of the SALC system is furthermore a function of the result of an operation 207 of verifying the presence of other vehicle(s) in the available destination lane(s).

[0085] According to this particular embodiment, the presence or absence of other vehicle(s) is determined from third data received from at least one object detection sensor 23 (or from the computer 23 controlling this or these sensors) on board the vehicle 10, such as a radar, lidar and / or a camera.

[0086] According to this embodiment, the semi-automatic lane change maneuver is triggered only when a second item of information is representative of the absence of any other vehicle in the target lane 102. According to this embodiment, if one or more vehicles are detected in the destination lane 102, then the lane change maneuver is inhibited or stopped and the process ends, for example with the display of a message on a screen of the vehicle to inform the driver that the detection of the presence of a vehicle prevents the semi-automatic lane change. If no vehicle is detected in the destination lane, then the semi-automatic lane change is implemented by the SALC system at the fifth operation 205.

[0087] In a sixth operation 206, information representative of confirmation of implementation of the semi-automatic lane change maneuver of cir culation is rendered in the passenger compartment of the vehicle 10 when the conditions necessary for triggering the maneuver are met (acceleration value above the threshold and, according to one variant, absence of vehicle in the destination lane or target of the lane change). The rendering of the information is for example implemented before the triggering of the maneuver to warn the driver.

[0088] The information corresponds for example to a text message and / or a graphic object displayed on a screen of the vehicle 10 and / or to a voice message delivered via the loudspeakers of the vehicle 10.

[0089] When at least one condition necessary for triggering the maneuver is not met (for example acceleration value lower than the threshold or second data not received within the time limit), then information representative of inhibition or stopping of implementation of the semi-automatic lane change maneuver is provided in the passenger compartment of the vehicle 10, for example displayed on a screen and / or provided via the loudspeakers.

[0090] Such a process has the advantage of controlling the triggering of a semi-automatic lane change maneuver by allowing the driver to remain focused on driving the vehicle, avoiding the confirmation sequence of the state of the art (actuation of the turn signals followed by an acknowledgment by pressing a button). Furthermore, validation via the acceleration control of the vehicle 10 is simpler and more intuitive than pressing a physical button.

[0091] [Fig. 3] schematically illustrates a device 3 configured for controlling a SALC system of a vehicle, for example the vehicle 10, according to a particular and non-limiting exemplary embodiment of the present invention. The device 3 corresponds for example to a device on board the vehicle 10, for example a computer.

[0092] The device 3 is for example configured for the implementation of the operations described with regard to figures 1 and 2 and / or the steps of the method described with regard to [Fig.4]. Examples of such a device 3 include, but are not limited to, on-board electronic equipment such as an on-board computer of a vehicle, an electronic calculator such as an ECU (“Electronic Control Unit”), a smartphone, a tablet, a laptop. The elements of the device 3, individually or in combination, can be integrated in a single integrated circuit, in several integrated circuits, and / or in discrete components. The device 3 can be produced in the form of electronic circuits or software (or computer) modules or even a combination of electronic circuits and software modules.

[0093] The device 3 comprises one (or more) processor(s) 30 configured to execute instructions for carrying out the steps of the method and / or for executing the instructions of the software(s) embedded in the device 3. The processor 30 can include integrated memory, an input / output interface, and various circuits known to those skilled in the art. The device 3 further comprises at least one memory 31 corresponding for example to a volatile and / or non-volatile memory and / or comprises a memory storage device which may comprise volatile and / or non-volatile memory, such as EEPROM, ROM, PROM, RAM, DRAM, SRAM, flash, magnetic or optical disk.

[0094] The computer code of the embedded software(s) comprising the instructions to be loaded and executed by the processor is for example stored in the memory 31.

[0095] According to various particular and non-limiting embodiments, the device 3 is coupled in communication with other similar devices or systems and / or with communication devices, for example a TCU (from the English “Telematic Control Unit” or in French “Telematic Control Unit”), for example via a communication bus or through dedicated input / output ports.

[0096] According to a particular and non-limiting exemplary embodiment, the device 3 comprises a block 32 of interface elements for communicating with external devices. The interface elements of the block 32 comprise one or more of the following interfaces: - RF radio frequency interface, for example Wi-Fi® type (according to IEEE 802.11), for example in the 2.4 or 5 GHz frequency bands, or Bluetooth® type (according to IEEE 802.15.1), in the 2.4 GHz frequency band, or Sigfox type using UBN (Ultra Narrow Band) radio technology, or LoRa in the 868 MHz frequency band, LTE (LTE) “Long-Term Evolution” or in French “Long-Term Evolution”), LTE-Advanced (or in French LTE-advanced); - USB interface (from the English “Universal Serial Bus” or “Universal Serial Bus” in French); - HDMI interface (from the English “High Definition Multimedia Interface” or “High Definition Multimedia Interface” in French); - LIN interface (from the English “Local Interconnect Network”).

[0097] According to another particular and non-limiting exemplary embodiment, the device 3 comprises a communication interface 33 which makes it possible to establish communication with other devices (such as other computers of the on-board system) via a communication channel 330. The communication interface 33 corresponds for example to a transmitter configured to transmit and receive information and / or data via the communication channel 330. The communication interface 33 corresponds for example to a wired network of the CAN type (from the English “Controller Area Network (or in French “Controller Area Network”), CAN FD (from the English “Controller Area Network Flexible Data-Rate”), FlexRay (standardized by ISO 17458) or Ethernet (standardized by ISO / IEC 802-3).

[0098] According to a particular and non-limiting exemplary embodiment, the device 3 can provide output signals to one or more external devices, such as a display screen 340, touch-sensitive or not, one or more speakers 350 and / or other peripherals 360 (projection system) via output interfaces 34, 35 and 33 respectively. According to a variant, one or other of the external devices is integrated into the device 3.

[0099] [Fig.4] illustrates a flowchart of the different stages of a control process of a semi-automatic lane change system, called SALC system, of a vehicle, for example the vehicle 10, according to a particular and non-limiting exemplary embodiment of the present invention. The method is for example implemented by a device on board the vehicle 10 or by the device 3 of [Fig.3],

[0100] In a first step 41, first data representative of a semi-automatic lane change command to be implemented by the SALC system are received.

[0101] In a second step 42, the display of a graphical representation representative of a set of traffic lanes available for semi-automatic lane change is controlled as a function of the first data.

[0102] In a third step 43, second data representative of an acceleration command of the vehicle are received, following the display of the graphic representation.

[0103] In a fourth step 44, the SALC system is controlled according to the second data.

[0104] According to a variant, the variants and examples of the operations described in relation to one of figures 1 and 2 apply to the steps of the method of [Fig.4].

[0105] Of course, the present invention is not limited to the exemplary embodiments described above but extends to a method for controlling a semi-automatic lane change maneuver which would include secondary steps without thereby departing from the scope of the present invention. The same would apply to a device configured for implementing such a method.

[0106] The present invention also relates to a vehicle, for example an automobile or more generally an autonomous land-based motor vehicle, comprising the device 3 of [Fig.3].

Claims

Claims

1. Method for controlling a semi-automatic lane change system, called SALC system, of a vehicle (10) traveling on a current lane (100) of a road comprising a plurality of lanes (101 to 103) having the same direction of travel, said method comprising the following steps: - receiving (41) first data representative of a semi-automatic lane change command to be implemented by said SALC system; - controlling the display (42) of a graphical representation representative of a set of available lanes (102) for said semi-automatic lane change as a function of said first data; - receiving (43) second data representative of an acceleration command of said vehicle (10) following the display of said graphical representation; - controlling (44) said SALC system as a function of said second data.

2. Method according to claim 1, for which the control of said SALC system comprises: - triggering a semi-automatic lane change maneuver from said current lane (100) to a target lane (102) of said set of available lanes adjacent to said current lane (100) when said second data is representative of an acceleration command greater than a threshold; and - rendering (206) of first information representative of a confirmation of implementation of said semi-automatic lane change maneuver.

3. Method according to claim 2, for which said control of said SALC system further comprises a determination (207) of a second information representative of presence or absence of other vehicles in said target traffic lane as a function of third data received from at least one object detection sensor (23) on board said vehicle (10), said semi-automatic traffic lane change maneuver being triggered only when said second information is representative of absence of other vehicle in said target traffic lane.

4. Method according to claim 2 or 3, for which said control of the SALC system comprises: - an inhibition of said semi-automatic lane change maneuver when said second data are representative of an acceleration command lower than said threshold; and - a rendering (206) of third information representative of said inhibition.

5. Method according to any one of claims 1 to 4, for which said first data are representative of a voice command or a gesture command for semi-automatic lane change to be implemented by said SALC system.

6. Method according to one of claims 1 to 5, for which said display control (42) of said graphic representation is furthermore a function of fourth data representative of ground marking line obtained from at least one camera on board said vehicle (10).

7. Computer program comprising instructions for implementing the method according to any one of the preceding claims, when these instructions are executed by a processor.

8. A computer-readable recording medium on which is recorded a computer program comprising instructions for carrying out the steps of the method according to one of claims 1 to 6.

9. Device (3) for controlling a semi-automatic lane change system for a vehicle, said device (3) comprising a memory (31) associated with at least one processor (30) configured for implementing the steps of the method according to any one of claims 1 to 6.

10. Vehicle (10) comprising the device (3) according to claim 9.

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