Method for controlling a motor vehicle and analyzing the driver's level of vigilance

Abstract

Method for controlling a motor vehicle and analyzing the driver's level of vigilance Method for controlling a motor vehicle, using a unit for analyzing the level of vigilance of the driver of the motor vehicle, said analysis unit comprising at least two detection elements located in the motor vehicle, the method comprising at least the following steps: receiving at least one item of information from at least one of said detection elements of the analysis unit regarding the level of vigilance of the vehicle driver, analyzing at least said information, and when the analysis of said at least one item of information indicates a compromised level of vigilance, triggering one or more actions to alert the driver and / or take control of the vehicle. Figure for abstract: Fig. 1

Description

Title of the invention: Method for controlling a motor vehicle and analyzing the driver's level of vigilance Technical field

[0001] The present invention relates to a method for controlling a motor vehicle, using a unit for analyzing the level of vigilance of the driver of the motor vehicle. Prior art

[0002] Some of the causes of road accidents are linked to the driver becoming unwell or falling asleep.

[0003] Known technologies now make it possible to detect this state of the driver in various ways. In addition, technologies for longitudinal and lateral control of the partially automated vehicle are also known. It thus becomes possible to make the vehicle safe in this situation in order to limit the consequences and risks of an accident.

[0004] Several methods and technical solutions are known for monitoring the driver's condition. We can find so-called "indirect" solutions where the use of additional sensors is not necessary: ​​already available vehicle information, such as speed, acceleration, steering wheel angle, is used to model the driver's behavior. Atypical behavior, deviating from usual driving, can therefore be interpreted as a lack of awareness or discomfort of the driver.

[0005] More recently, the appearance of new sensors has made it possible to improve detection methods and to have new strategies for detecting problems.

[0006] Sources of information on the driver's state of consciousness are nevertheless unreliable due to the complexity of their development.

[0007] Furthermore, various forms of illness and discomfort can lead to ambiguous behavior on the vehicle controls. Indeed, a driver suffering a heart attack may tense up on the pedals or a driver suffering an epileptic seizure may make steering wheel movements that wrongly suggest that he is in control of the vehicle. Ambiguous behavior by the driver should not be able to trigger the stopping of the safety maneuver on its own.

[0008] It is known from US patent 11,351,989 to propose different choices of alert level depending on the state of the driver. The method described does not, however, propose any element allowing to cancel a maneuver to secure the vehicle, or the prior alert, activated in an untimely manner by the system.

[0009] Application DE 102019124979 describes a method for switching from manual driving mode to autonomous driving mode. It proposes activation of different types of MRM (Minimum Risk Maneuver) taking into account the state of the driver and the external environment.

[0010] Patent US9815460 discloses a safe method for stopping the vehicle following a safety maneuver by the driver. It proposes the use of a digital map and the use of environmental sensors in order to select the optimal stopping position of the vehicle.

[0011] International application WO 2023 / 079007 describes a method using a single criterion, that of detecting the absence of hands on the steering wheel, to decide whether to trigger the vehicle safety maneuver. Statement of the invention

[0012] There is thus a need to further improve the systems for monitoring the level of vigilance of the driver of a motor vehicle. Summary of the invention Analysis of the level of vigilance

[0013] The present invention meets this need thanks to, according to one of its aspects, a method for controlling a motor vehicle, using a unit for analyzing the level of vigilance of the driver of the motor vehicle, said analysis unit comprising at least two detection elements located in the motor vehicle, the method comprising at least the following steps: - receive at least one piece of information from at least one of said detection elements of the analysis unit regarding the level of vigilance of the vehicle driver, - analyze at least the said information, and - when the analysis of said at least one piece of information indicates a compromised level of vigilance, trigger one or more actions to alert the driver and / or take control of the vehicle.

[0014] Thanks to the invention, it is possible to collect several sources of information suggesting an unconscious driver or one unable to drive in order to stop the vehicle preceded by different forms of alerts to the driver. The invention brings together the multiple sources of driver monitoring in order to detect the driver's inability to drive.

[0015] The invention makes it possible to automatically protect the driver in situations where his level of vigilance is compromised. This system is called Emergency Stop Assist (ESA), and makes it possible to obtain Euro NCAP points.

[0016] The invention allows for great adaptability with regard to the sources and technologies for decision-making on the driver's inability to drive. The invention induces greater tolerance for behaviors potentially generated by the discomfort itself, such as tension on the brake or accelerator pedals or trembling on the steering wheel.

[0017] The invention makes it possible to detect at least: - driver fatigue, - inattention via the driver's gaze when the latter is not directed onto the road, and / or - discomfort or drowsiness inferred from, for example, abnormal head posture, a facial expression suggesting pain or a stroke, the absence of vehicle controls or the absence of hands on the steering wheel.

[0018] In a preferred embodiment, one of the detection elements of the analysis unit is a camera located in the motor vehicle, configured to observe the driver. In this case, the level of vigilance is advantageously compromised if the information from the camera indicates that the driver is unconscious, asleep or unfit to drive by direct observation of his posture and / or his face, in particular an abnormal head posture, a facial expression suggesting pain or a stroke, closed eyes.

[0019] Alternatively or in combination, one of the detection elements of the analysis unit is a sensor for detecting that the driver does not have his hands on a steering wheel of the motor vehicle, in particular a capacitive steering wheel sensor, or a system for observing the steering wheel torque, or a system for observing the vibrational excitations of the steering wheel, or direct observation of the hands by a camera. In this case, the level of vigilance is advantageously compromised if the information from said sensor indicates that the driver does not have at least one of his hands on a steering wheel of the motor vehicle for a predetermined consecutive duration, in particular greater than or equal to 500 ms.

[0020] Alternatively or in combination, one of the detection elements of the analysis unit is a sensor for detecting that the driver is not touching any pedal of the motor vehicle. In this case, the level of vigilance is advantageously compromised if the information from said sensor indicates that the driver is not touching any pedal of the motor vehicle for a predetermined consecutive period, information that the speed of the motor vehicle is not automatically regulated being available at the analysis unit.

[0021] When the analysis of said at least one piece of information indicates a compromised level of vigilance, the actions triggered to alert the driver and / or take control of the vehicle may consist of at least triggering a visual and / or audible alert, triggering the vehicle to keep in the lane, triggering the maintenance of a safe distance with a preceding vehicle, deactivating the driver's accelerator pedal, and / or triggering the hazard lights, then, if the level of vigilance remains compromised after a new analysis after a first determined period, generating a series of at least one braking jerk, then, if the level of vigilance remains compromised after a new analysis after a second determined period, braking the motor vehicle to a stop and unlocking the vehicle doors.

[0022] These actions can correspond to a sequence, triggered to keep the driver safe, and which can be separated into three different phases.

[0023] The first phase advantageously corresponds to alerting the driver, in particular by the display of a pictogram on the dashboard, a specific sound, the vibration of the steering wheel or the pedals, etc. The aim is to be able to attract the driver's attention so that, if possible, he can correct the problem himself or possibly stop himself, avoiding going on to the following steps.

[0024] After detecting a driver problem and in the absence of a reaction to the alerts, the system may consider that the driver's condition is serious and may take control of various actuators of the vehicle such as the engine, the brakes, the steering or the various warning devices. The system may begin to apply a driver safety strategy such as simple braking, braking and keeping in the lane or braking and stopping on the emergency lane to limit the risk of further accidents linked to the unavailability of the driver. During this phase, the alerts advantageously continue to be issued, or are even intensified, in order to continue to try to attract the driver's attention.

[0025] When the vehicle reaches zero speed, the system advantageously takes the necessary steps to ensure that the vehicle remains stationary and keeps the driver safe, such as activating the hazard lights, calling the emergency services, and unlocking the doors for help.

[0026] Each of these actions are advantageously independent such that if one of them is not effective, such as possibly keeping in the lane being impossible, the other measures such as maintaining a minimum distance or decelerating until the vehicle stops will be independently applied to contribute to reducing the severity of the potential accident due to the driver's inability to drive the vehicle. Motor vehicle

[0027] According to another of its aspects, the invention relates to a motor vehicle comprising a powertrain, a braking system and at least two detection elements connected to or included in an analysis unit, the vehicle comprising at least one electronic module configured to implement the control method according to the invention.

[0028] The characteristics stated in relation to the method apply to the vehicle and vice versa. Brief description of the drawings

[0029] The invention may be better understood by reading the detailed description which follows, a non-limiting example of its implementation, and by examining the attached drawing, in which

[0030] [Fig-1] [Fig.l] represents an automaton illustrating an example of implementation of the invention, and

[0031] [Fig.2] [Fig.2] is a diagram illustrating different elements used in a example of implementation of the invention. Detailed description

[0032] [Fig.l] shows an automaton corresponding to an example of implementation of the invention.

[0033] In the lower part of this diagram, the table indicates the expected actions during the different phases of the Emergency Stop Assist (ESA) method, implemented in the invention, on the different systems such as the display 6, the brakes 7, the powertrain 8, the steering 9, the warning lamps or hazard lights 10 and the doors 12, as shown in [Fig.2].

[0034] The upper part of the diagram indicates the transition logic from one ESA phase to another in the form of a state diagram. It should be noted in this diagram that: - "Phase" represents the number of the ESA phase for which actions specific will be ordered on the vehicle, - “ESA_GenericConditions” represents the generic conditions minimum conditions to activate an ESA maneuver, defined as the functionality being configured on the vehicle and the ESA maneuver exit condition “ESAExitConditions” being false for at least a predefined duration, - “Malaise” represents the confirmation of a state unfit for driving driver from driver surveillance camera 2, - “HOD_Alert_2” represents the no hands on steering wheel alert state confirmed as defined in the MRM maneuver described in the regulations, - “Hands off the wheel” represents the raw state of the measuring device(s) absence of hands on the steering wheel of potentially different natures such as the capacitive steering wheel sensor, steering wheel torque observations or the observation of vibrational excitations, - “Speed” represents the vehicle speed from sensors 14, - T represents the duration of a VESA phase, - Labels starting with P_tng_s_ represent predefined duration values, - “ESAConditionsSortie” and “ESAConditionsSortieArret” represent the conditions for deactivating the ESA maneuver.

[0035] More particularly, the method for controlling a motor vehicle according to the invention uses an analysis unit 1 of the level of vigilance of the driver of the motor vehicle. This analysis unit comprises at least two detection elements located in the motor vehicle, and the method comprises at least the following steps: - receive at least one piece of information from at least one of said detection elements of the analysis unit regarding the level of vigilance of the vehicle driver, - analyze at least the said information, and - when this analysis indicates a compromised level of vigilance, trigger one or more actions to alert the driver and / or take control of the vehicle.

[0036] Preferably and as illustrated in [Fig.2], one of the detection elements of the analysis unit is a camera located in the motor vehicle, configured to observe the driver. In this case, the level of vigilance is compromised if the information from the camera indicates that the driver is unconscious, asleep or unfit to drive by direct observation of his posture and / or his face, in particular an abnormal head posture, a facial expression suggesting pain or a stroke, closed eyes.

[0037] In the illustrated example, one of the detection elements of the analysis unit is a sensor for detecting that the driver does not have his hands on a steering wheel of the motor vehicle, in particular a capacitive steering wheel sensor, or a system for observing the steering wheel torque, or a system for observing the vibration excitations of the steering wheel. In this case, the level of vigilance is compromised if the information from said sensor indicates that the driver does not have his hands on a steering wheel of the motor vehicle for a predetermined consecutive duration, in particular greater than or equal to 1000 ms.

[0038] In the illustrated example, one of the detection elements of the analysis unit may also be a sensor for detecting that the driver is not touching any pedal of the motor vehicle. In this case, the level of vigilance is compromised if the information from said sensor indicates that the driver is not touching any pedal of the motor vehicle for a predetermined consecutive period, information according to which the speed of the motor vehicle is not automatically regulated being available at the analysis unit level.

[0039] As shown in [Fig.2], the invention proposes to define the conditions for activating a vehicle safety maneuver determined in the analysis unit or calculation device 1 from information received in particular from a driver surveillance camera 2, from actions on the pedals 3, on the steering wheel 4 and on the buttons 5 carried out by the driver.

[0040] Once the maneuver has been decided, the calculation device 1 controls the brakes including the parking brake 7, the powertrain 8, the steering 9 and the indicators of the vehicle 10 to make the vehicle safe while allowing a healthy and attentive driver to regain control at any time. If the maneuver is completed, the system can also use the telephony 11 to contact the emergency services and open the doors in anticipation of their intervention 12. Furthermore, the radars and cameras 13 can also be used to adjust the maneuver to the environment around the vehicle, including in particular maintaining a minimum distance from other vehicles or staying in the traffic lane, the vehicle speed sensor 14 being used for the decision.At the same time, the calculation device 1 may ask the display and sound system 6 to emit auditory or visual messages to alert the driver of the imminence of the maneuver or its activation in order to encourage him to regain control if he is able to do so.

[0041] The invention is not limited to the examples which have just been described.

[0042] In particular, other detection elements may be used.

Claims

Claims

1. Method for controlling a motor vehicle, using a unit for analyzing the level of vigilance of the driver of the motor vehicle, said analysis unit comprising at least two detection elements located in the motor vehicle, the method comprising at least the following steps: - receiving at least one piece of information from at least one of said detection elements of the analysis unit as to the level of vigilance of the vehicle driver, - analyzing at least said piece of information, and - when this analysis indicates a compromised level of vigilance, triggering one or more actions to alert the driver and / or take control of the vehicle.

2. Method according to claim 1, wherein one of the detection elements of the analysis unit is a camera located in the motor vehicle, configured to observe the driver.

3. A method according to claim 2, wherein the level of alertness is compromised if the information from the camera indicates that the driver is unconscious, asleep or unfit to drive by direct observation of his posture and / or his face, in particular an abnormal head posture, a facial expression suggesting pain or a stroke, closed eyes.

4. Method according to any one of the preceding claims, in which one of the detection elements of the analysis unit is a sensor for detecting that the driver does not have his hands on a steering wheel of the motor vehicle, in particular a capacitive steering wheel sensor, or a system for observing the steering wheel torque, or a system for observing the vibration excitations of the steering wheel.

5. Method according to claim 4, in which the level of vigilance is compromised if the information from said sensor indicates that the driver does not have at least one of his hands on a steering wheel of the motor vehicle for a predetermined consecutive duration, in particular greater than or equal to 500 ms.

6. A method according to any preceding claim, wherein one of the sensing elements of the analysis unit is a sensor to detect that the driver is not touching any pedals of the motor vehicle.

7. Method according to claim 6, in which the level of vigilance is compromised if the information from said sensor indicates that the driver does not touch any pedal of the motor vehicle for a predetermined consecutive period, information according to which the speed of the motor vehicle is not automatically regulated being available at the analysis unit.

8. Method according to any one of the preceding claims, wherein, when the analysis of said at least one piece of information indicates a compromised level of vigilance, the actions triggered to alert the driver and / or take control of the vehicle consist at least of triggering a visual and / or audible alert, triggering the vehicle to keep in the lane, triggering the maintenance of a safety distance with a preceding vehicle, deactivating the driver's accelerator pedal, and / or triggering the hazard lights, then, if the level of vigilance remains compromised after a new analysis after a first determined duration, generating a series of at least one braking jerk, then, if the level of vigilance remains compromised after a new analysis after a second determined duration, braking the motor vehicle to a stop and unlocking the vehicle doors.

9. A motor vehicle comprising a powertrain, a braking system and at least two detection elements connected to or included in an analysis unit, the vehicle comprising at least one electronic module configured to implement the control method according to any one of the preceding claims.

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