Method for managing an intersection crossing by an autonomous motor vehicle

Abstract

A method for managing an intersection crossing by an autonomous vehicle includes the following steps: detection (21) of the arrival of the autonomous vehicle at an intersection; if detection (23, 25) of the presence of a second vehicle near the intersection and the second vehicle has priority over the autonomous vehicle for crossing the intersection; then estimation (27) of the behavior of the second vehicle; if the second vehicle is stopped (29); then stopping (31) the autonomous vehicle and starting (33) a predetermined time countdown; if, at the end of the time countdown, the second vehicle is still stopped (35), restarting (37) the autonomous vehicle to cross the intersection. A system for managing an intersection crossing by an autonomous vehicle and a vehicle including the system are also described. Figure to be published with the abbreviation: Fig 2

Description

Title of the invention: Method for managing an intersection crossing of an autonomous motor vehicle Technical field

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

[0002] Currently, many developments in the automotive industry focus on the autonomous motor vehicle. An "autonomous vehicle" is understood to mean a motor vehicle that can drive on a road in real traffic without the intervention of a human being. The latter has no role or only a role of monitoring the proper functioning of the vehicle.

[0003] It is customary to classify autonomous cars into five levels. Level 1 corresponds to driver assistance up to level 5 where the vehicle is fully automatic in all circumstances and on all types of roads.

[0004] Subsequently, we will therefore consider an autonomous vehicle of at least level 3, but more likely level 4 or 5.

[0005] Indeed, among all the automation systems to be put in place to create an autonomous vehicle, the management of crossing an intersection is one of the most complicated automation systems, because extremely varied situations can arise due to the topography of the intersection, its priority system, the presence or absence of traffic lights, the presence of obstacles or pedestrians and also the presence or absence of one or more vehicles arriving from different directions.

[0006] Thus, if the autonomous vehicle detects a vehicle arriving at the intersection with priority status, for example because it is coming from the right, it must stop to let it pass.

[0007] The situation can become more complicated to analyze if this vehicle is stationary: has it stopped to let a pedestrian cross, for example, or is it in fact parked along the road? In the first case, the autonomous vehicle must stop to give way, whereas in the second case, the autonomous vehicle can cross the intersection.

[0008] There is therefore a real need for a method and a system for managing an intersection crossing of an autonomous motor vehicle which allows safe management of the intersection crossing in the presence of a priority vehicle at a standstill.

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[0013] Description of the invention To resolve one or more of the drawbacks cited above, according to a first embodiment, a method for managing an intersection crossing of an autonomous motor vehicle comprises the steps of: • detection of the arrival of the autonomous vehicle at an intersection; • if the presence of a second vehicle is detected near the intersection and the second vehicle has priority over the autonomous vehicle for crossing the intersection; then • estimation of the behavior of the second vehicle; • if the second vehicle is stationary; then • stopping the autonomous vehicle and starting a predetermined time countdown; • if, at the end of the time countdown, the second vehicle is still stationary, restart the autonomous vehicle to cross the intersection. This means that the autonomous vehicle does not get stuck at the intersection if the stationary vehicle is actually parked, for example. Particular features or embodiments, usable alone or in combination, are: • detection that the second vehicle has priority includes detection by mapping or visual analysis of the intersection's priority rules; • detecting that the second vehicle has priority includes determining the position of the second vehicle relative to the intersection; • estimating the behavior of the second vehicle includes determining the distance of the second vehicle from the intersection; • the second vehicle is only taken into account if it is less than a predetermined distance from the intersection; and / or • if, during the time countdown, the second vehicle moves, the autonomous vehicle only restarts when the second vehicle has left the intersection. 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. In a third embodiment, a system for managing an intersection crossing of an autonomous motor vehicle comprises: • a sensor for detecting the arrival of the autonomous vehicle at an intersection; and • a sensor for detecting the presence of a second vehicle near the intersection and that the second vehicle has priority over the autonomous vehicle for crossing the intersection; connected to • a controller suitable for: • estimate the behavior of the second vehicle; • if the second vehicle is stationary; then, • stop the autonomous vehicle and start a predetermined time countdown; • if, at the end of the time countdown, the second vehicle is still stationary, restart the autonomous vehicle to cross the intersection.

[0014] In a fourth embodiment, a motor vehicle comprises a system according to the third embodiment. Brief description of the figures

[0015] 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 an intersection with an autonomous vehicle comprising a system for managing an intersection crossing according to one embodiment and a second vehicle; and • [Fig.2] represents a flowchart of a crossing management process intersection of an autonomous motor vehicle according to one embodiment. Methods of implementation

[0016] The embodiments presented below refer to a motor vehicle, a car. However, those skilled in the art understand that these are also usable with other types of vehicle such as vans, vans, etc.

[0017] The terms “front”, “rear”, “top”, “bottom”, “transverse” are understood in relation to the vehicle.

[0018] With reference to [Fig.l], an autonomous motor vehicle 1 comprises a system 3 for managing an intersection crossing 4.

[0019] The system 3 comprises at least one sensor 5 for detecting arrival at an intersection. The sensor 5 can use the mapping and position data of the vehicle 1 to determine the presence of an intersection. It can also use a perception sensor (such as a camera) to detect the presence of an intersection via traffic signs or the detection of road markings.

[0020] The sensor 5 also makes it possible to determine the priority regime of the intersection 4. In fact, the information on the priority of the intersection 4 is found in the map or is detectable by the camera via a traffic sign or a road marking.

[0021] The system 3 also comprises a sensor 7 for detecting the presence of a second vehicle 9 near the intersection 4. The sensor 7 may comprise one or multiple perception sensors such as radar, camera, lidar, alone or fused to detect the presence of a vehicle.

[0022] The information on the priority regime coming from the sensor 5 and the position relative to the intersection 4 of the vehicle 9 given by the sensor 7 also makes it possible to determine whether the second vehicle has priority over the autonomous vehicle for crossing the intersection.

[0023] The system 3 also comprises a controller 10.

[0024] The controller 10 can, for example, be integrated into the control system of the vehicle 1, such as an advanced driver assistance system, commonly called AD AS (for “Advanced driver-assistance Systems” according to English terminology) which makes all the driving decisions based on the environment and the programmed destination, the motor vehicle 1 being an autonomous motor vehicle.

[0025] 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). It can also use an Ethernet type data network (ISO / IEC / IEEE 8802-3 standard).

[0026] The operation of system 3 is as follows, [Fig.2].

[0027] The sensor 5 detects, step 21, the arrival of the autonomous vehicle 1 at an intersection.

[0028] Sensor 7 searches, step 23, for the presence of a second vehicle near intersection 1.

[0029] If a second vehicle is detected and its position implies that the second vehicle has priority over the autonomous vehicle for crossing the intersection, step 25, then the controller 10 estimates, step 27, the behavior of the second vehicle.

[0030] If the second vehicle is stopped, step 29, then the autonomous vehicle is stopped, step 31, a predetermined time countdown, for example of five seconds, is started, step 33.

[0031] If, at the end of the time countdown, the second vehicle is still stopped, step 35, the autonomous vehicle 1 restarts, step 37 to cross the intersection.

[0032] Advantageously, it is thus considered that the second vehicle is in fact parking and therefore the vehicle 1 can cross the intersection, which potentially avoids a long wait for a possible start of the second vehicle or for intervention by a human being to force the vehicle 1 to restart.

[0033] On the other hand, if the second vehicle has restarted during the time countdown (corresponding to an “else” clause of step 35), vehicle 1 remains stationary until the second vehicle leaves the intersection, step 39.

[0034] [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 may be implemented using different means or combinations thereof, such as hardware components, software, one or more computers and / or electronic circuits. Each of the components may include at least one computer or a control-command unit. At least one memory may be included in each component. The memory may include computer program instructions or software code.

[0035] 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.

[0036] The different modules are connected to each other by data links adapted to the environment. These can be wired or wireless.

[0037] 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.

[0038] 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.

[0039] The computer program instructions stored in the memory are such that, when executed by the computer, the latter performs one or more of the steps of the methods described above.

[0040] 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.

[0041] In a variant, the position of the second vehicle makes it possible to estimate a distance between the second vehicle and the intersection. If the vehicle is stationary and at a distance from the intersection greater than a predetermined distance, then it is not taken into account and the vehicle 1 crosses the intersection.

Claims

Claims

1. Method for managing the crossing of an intersection by an autonomous motor vehicle comprising the steps of: • detecting (21) the arrival of the autonomous vehicle at an intersection; • if detecting (23, 25) the presence of a second vehicle near the intersection and the second vehicle has priority over the autonomous vehicle for crossing the intersection; then • estimating (27) the behavior of the second vehicle; • if the second vehicle is stationary (29); then • stopping (31) the autonomous vehicle and starting (33) a predetermined time countdown; • if, at the end of the time countdown, the second vehicle is still stationary (35), restarting (37) the autonomous vehicle to cross the intersection.

2. The method of claim 1, wherein detecting that the second vehicle has priority comprises detecting by mapping or visual analysis the priority rules of the intersection.

3. The method of claim 2, wherein detecting that the second vehicle has priority comprises determining the position of the second vehicle relative to the intersection.

4. The method of claim 1, 2 or 3, wherein estimating the behavior of the second vehicle comprises determining the distance of the second vehicle from the intersection.

5. A method according to claim 4, wherein the second vehicle is only taken into account if it is less than a predetermined distance from the intersection.

6. A method according to any preceding claim, wherein, if, during the time countdown, the second vehicle moves, the autonomous vehicle only restarts (39) when the second vehicle has left the intersection.

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 an intersection crossing of an autonomous motor vehicle (1) comprising: a sensor (5) for detecting the arrival of the autonomous vehicle at an intersection; and a sensor (7) for detecting the presence of a second vehicle near the intersection and that the second vehicle has priority over the autonomous vehicle for crossing the intersection; connected to a controller (10) suitable for: • estimate the behavior of the second vehicle; • if the second vehicle is stationary; then, • stop the autonomous vehicle and start a predetermined time countdown; • if, at the end of the time countdown, the second vehicle is still stationary, restart the autonomous vehicle to cross the intersection.

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

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