Method of controlling a motor vehicle with a compromised driver's level of vigilance

Abstract

Method for controlling a motor vehicle with a compromised level of vigilance of the driver 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, said level of vigilance of the driver having been judged to be compromised, 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, analyzing said at least one piece of information, and re-evaluating the level of vigilance of the driver based on said analysis, in order to trigger actions to leave or restore control of the vehicle to the driver. Figure for abstract: Fig. 1

Description

Title of the invention: Method for controlling a motor vehicle with a compromised driver vigilance level 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.

[0012] Furthermore, if the driver returns to normal driving conditions, the system must return control of the vehicle to the driver and stop the alerts and the stopping maneuver. This phase is quite critical because it must discriminate between the reasonably foreseeable actions of a driver who is feeling unwell and the actions of a driver who genuinely wants to regain control of the vehicle, whether as a result of poor behavior on his part that triggered the system or confusion on the part of the system that misinterpreted the situation.

[0013] Since sources of information on the driver's state of consciousness are unreliable due to the complexity of their development, the criteria for a healthy and fit driver to be able to cancel an Emergency Stop Assist (ESA) maneuver triggered inadvertently are therefore difficult to determine. Statement of the invention

[0014] There is thus a need to further improve the methods for controlling a motor vehicle in the event that the driver's level of vigilance is deemed to be compromised. Summary of the invention Control process

[0015] 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, said level of vigilance of the driver having been judged to be compromised, 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, - analyze said at least one piece of information, and - reassess the driver's level of vigilance based on said analysis, in order to trigger actions to allow or restore control of the vehicle to the driver.

[0016] The invention provides the assurance of being able to regain control over the maneuver in a natural manner in the event of a misinterpretation of the driver's compromised level of vigilance by the system. It is possible to ignore ambiguous actions by the driver, which may be due to symptoms of the current illness or malaise.

[0017] The invention allows for great adaptability with respect to decision-making sources and technologies. The invention induces greater tolerance to behaviors potentially generated by the discomfort itself, such as tension on the brake or accelerator pedals or trembling on the steering wheel. Alert actions

[0018] When the analysis 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 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.

[0019] These actions may correspond to a sequence, triggered to keep the driver safe, and which can be separated into three different phases.

[0020] 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.

[0021] 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 get the driver's attention.

[0022] 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.

[0023] 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. Exit conditions

[0024] In a preferred embodiment, one of the detection elements of the analysis unit being a first sensor for measuring the depression by the driver of the brake pedal of the motor vehicle, another of the detection elements of the analysis unit being a second sensor for detecting whether the driver has his hands on a steering wheel of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the first sensor indicates that the variation in the depression of the brake pedal is greater than a predetermined value of less than 20% depression and if the information from the second sensor indicates that the driver has his hands on the steering wheel.

[0025] Alternatively or in combination, one of the detection elements of the analysis unit being a first sensor for measuring the depression by the driver of the brake pedal of the motor vehicle, another of the detection elements of the analysis unit being a second sensor for detecting whether the driver has his hands on a steering wheel of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the first sensor indicates that the depression of the brake pedal is greater than a predetermined value of less than 20% depression and if the information from the second sensor indicates that the driver has his hands on the steering wheel.

[0026] Alternatively or in combination, one of the detection elements of the analysis unit being a first sensor connected to a button located on the steering wheel of the vehicle, another of the detection elements of the analysis unit being a second sensor for detecting whether the driver has his hands on a steering wheel of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the first sensor indicates a press of the button and if the information from the second sensor indicates that the driver has his hands on the steering wheel.

[0027] Alternatively or in combination, one of the detection elements of the analysis unit being a first sensor for measuring the driver's depression of the pedal acceleration of the motor vehicle, another of the detection elements of the analysis unit being a second sensor for detecting whether the driver has his hands on a steering wheel of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the first sensor indicates that the depression of the accelerator pedal is greater than a predetermined value less than 20% depression and if the information from the second sensor indicates that the driver has his hands on the steering wheel.

[0028] Alternatively or in combination, the vehicle having been immobilized or not following a level of vigilance deemed compromised, one of the detection elements of the analysis unit being a steering torque observation system, control of the vehicle is left or returned to the driver if the information from said system indicates that the steering torque is greater than a predetermined value, in particular greater than or equal to 3 Nm.

[0029] Alternatively or in combination, one of the detection elements of the analysis unit being a sensor for measuring the depression by the driver of the brake pedal of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the sensor indicates that the variation in the depression of the brake pedal is greater than a predetermined value greater than 20% depression.

[0030] Alternatively or in combination, the vehicle having been immobilized or not following a level of vigilance deemed compromised, one of the detection elements of the analysis unit being a sensor for measuring the depression by the driver of the accelerator pedal of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the sensor indicates that the variation in the depression of the accelerator pedal is greater than a predetermined value greater than 20% depression.

[0031] Alternatively or in combination, the vehicle having been immobilized or not following a level of vigilance deemed compromised, one of the detection elements of the analysis unit being a sensor for detecting the position of the gear lever, control of the vehicle is left or given back to the driver if the information from said sensor indicates that a change in the position of the gear lever has taken place.

[0032] Alternatively or in combination, the vehicle having been immobilized or not following a level of vigilance deemed compromised, one of the detection elements of the analysis unit being a sensor connected to a parking brake deactivation button, control of the vehicle is left or given back to the driver if the information from said sensor indicates that the button has been pressed.

[0033] Alternatively or in combination, the vehicle having been immobilized or not following a level of vigilance deemed compromised, one of the detection elements of the analysis unit being a first sensor for measuring the depression by the driver of the accelerator pedal of the motor vehicle, another of the detection elements of the analysis unit being a steering wheel torque observation system, control of the vehicle is left or returned to the driver if the information from the first sensor indicates that the variation in the depression of the accelerator pedal is greater than a predetermined value of less than 20% depression and if the information from said system indicates that the steering wheel torque is greater than a predetermined value.

[0034] Alternatively or in combination, when the vehicle has been immobilized following a level of vigilance deemed to be compromised, one of the detection elements of the analysis unit being a first sensor connected to a button located on the steering wheel of the vehicle, another of the detection elements of the analysis unit being a second sensor for detecting whether the driver has his hands on a steering wheel of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the first sensor indicates a press of the button and if the information from the second sensor indicates that the driver has his hands on the steering wheel.

[0035] Alternatively or in combination, when the vehicle has been immobilized following a level of vigilance deemed compromised, one of the detection elements of the analysis unit being a first sensor for measuring the depression by the driver of the accelerator pedal of the motor vehicle, another of the detection elements of the analysis unit being a second sensor for detecting whether the driver has his hands on a steering wheel of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the first sensor indicates that the depression of the accelerator pedal is greater than a predetermined value of less than 20% depression and if the information from the second sensor indicates that the driver has his hands on the steering wheel.

[0036] All of the conditions described above can be used in combination.

[0037] By "variation of the depression of the brake pedal" is meant the absolute difference in depression of the brake pedal between the present instant and the instant when the first phase of VESA started.

[0038] By "variation in the depression of the accelerator pedal" is meant the absolute difference in depression of the accelerator pedal between the present instant and the instant when the first phase of PESA started.

[0039] Alternatively or in combination with pedal depression, the pressure force on said pedal may also be considered. Analysis of the level of vigilance

[0040] The analysis method for judging whether the level of vigilance of the driver of the motor vehicle is compromised advantageously uses 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. Preferably, the method comprises at least the following steps: - receiving 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.

[0041] 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.

[0042] 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 his hands on a steering wheel of the motor vehicle for a predetermined consecutive duration, in particular greater than or equal to 1000 ms.

[0043] 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. Motor vehicle

[0044] 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.

[0045] The characteristics stated in relation to the method apply to the vehicle and vice versa. Brief description of the drawings

[0046] 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

[0047] [Fig-1] [Fig.l] represents an automaton illustrating an example of implementation of the invention, and

[0048] [Fig.2] [Fig.2] is a diagram illustrating various elements used in an exemplary implementation of the invention. Detailed description

[0049] [Fig.l] shows an automaton corresponding to an example of implementation of the invention.

[0050] 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].

[0051] 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_ConditionsGénériques” represents the generic conditions minimum requirements to activate an ESA maneuver, defined as the functionality being configured on the vehicle and the ESA maneuver exit condition “ESAConditionsSortie” 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, observations of steering wheel torque, observation of vibration excitations or observation of hands by a camera, - “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, i.e. the method according to the invention.

[0052] More particularly, the method for controlling a motor vehicle according to the invention uses a unit 1 for analyzing 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 level of vigilance of the driver having been judged to be compromised, the method comprises at least the following steps: - receiving at least one piece of information from at least one of said detection elements of the analysis unit, - analyzing said at least one piece of information, and - re-evaluating the level of vigilance of the driver as a function of said analysis, in order to trigger actions to leave or restore control of the vehicle to the driver.

[0053] Preferably and as visible in [Fig.2], one of the detection elements of the analysis unit being a first sensor for measuring the depression by the driver of the brake pedal 3 of the motor vehicle, another of the detection elements of the analysis unit being a second sensor 4 for detecting whether the driver has his hands on a steering wheel of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the first sensor indicates that the variation in the depression of the brake pedal is greater than a predetermined value of less than 20% depression and if the information from the second sensor indicates that the driver has his hands on the steering wheel.

[0054] Alternatively or in combination, one of the detection elements of the analysis unit being a first sensor for measuring the depression by the driver of the brake pedal 3 of the motor vehicle, another of the detection elements of the analysis unit being a second sensor 4 for detecting whether the driver has his hands on a steering wheel of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the first sensor indicates that the depression of the brake pedal is greater than a predetermined value of less than 20% depression and if the information from the second sensor indicates that the driver has his hands on the steering wheel.

[0055] Alternatively or in combination, one of the detection elements of the analysis unit being a first sensor connected to a button 5 located on the steering wheel of the vehicle, another of the detection elements of the analysis unit being a second sensor 4 for detecting whether the driver has his hands on a steering wheel of the motor vehicle, the control of the vehicle is left or given back to the driver if the information from the first sensor indicates a button press and if the information from the second sensor indicates that the driver has his hands on the steering wheel.

[0056] Alternatively or in combination, one of the detection elements of the analysis unit being a first sensor for measuring the depression by the driver of the accelerator pedal 3 of the motor vehicle, another of the detection elements of the analysis unit being a second sensor 4 for detecting whether the driver has his hands on a steering wheel of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the first sensor indicates that the depression of the accelerator pedal is greater than a predetermined value of less than 20% depression and if the information from the second sensor indicates that the driver has his hands on the steering wheel.

[0057] Alternatively or in combination, the vehicle having been immobilized or not following a level of vigilance deemed compromised, one of the detection elements of the analysis unit being a steering torque observation system 4, control of the vehicle is left or returned to the driver if the information from said system indicates that the steering torque is greater than a predetermined value.

[0058] Alternatively or in combination, one of the detection elements of the analysis unit being a sensor for measuring the depression by the driver of the brake pedal 3 of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the sensor indicates that the variation in the depression of the brake pedal is greater than a predetermined value greater than 20% depression.

[0059] Alternatively or in combination, the vehicle having been immobilized or not following a level of vigilance deemed compromised, one of the detection elements of the analysis unit being a sensor for measuring the depression by the driver of the accelerator pedal 3 of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the sensor indicates that the variation in the depression of the accelerator pedal is greater than a predetermined value greater than 20% depression.

[0060] Alternatively or in combination, the vehicle having been immobilized or not following a level of vigilance deemed compromised, one of the detection elements of the analysis unit being a sensor for detecting the position of the gear lever, control of the vehicle is left or given back to the driver if the information from said sensor indicates that a change in position of the gear lever has taken place.

[0061] Alternatively or in combination, the vehicle having been immobilized or not following a level of vigilance deemed compromised, one of the detection elements of the analysis unit being a sensor connected to a button for deactivating the parking brake, control of the vehicle is left or given back to the driver if the information from said sensor indicates a button press.

[0062] Alternatively or in combination, the vehicle having been immobilized or not following a level of vigilance deemed compromised, one of the detection elements of the analysis unit being a first sensor for measuring the depression by the driver of the accelerator pedal 3 of the motor vehicle, another of the detection elements of the analysis unit being a system for observing the steering wheel torque 4, control of the vehicle is left or given back to the driver if the information from the first sensor indicates that the variation in the depression of the accelerator pedal is greater than a predetermined value of less than 20% depression and if the information from said system indicates that the steering wheel torque is greater than a predetermined value.

[0063] Alternatively or in combination, when the vehicle has been immobilized following a level of vigilance deemed to be compromised, one of the detection elements of the analysis unit being a first sensor connected to a button 5 located on the steering wheel of the vehicle, another of the detection elements of the analysis unit being a second sensor 4 for detecting whether the driver has his hands on a steering wheel of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the first sensor indicates a press of the button and if the information from the second sensor indicates that the driver has his hands on the steering wheel.

[0064] Alternatively or in combination, when the vehicle has been immobilized following a level of vigilance deemed compromised, one of the detection elements of the analysis unit being a first sensor for measuring the depression by the driver of the accelerator pedal 3 of the motor vehicle, another of the detection elements of the analysis unit being a second sensor 4 for detecting whether the driver has his hands on a steering wheel of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the first sensor indicates that the depression of the accelerator pedal is greater than a predetermined value of less than 20% depression and if the information from the second sensor indicates that the driver has his hands on the steering wheel.

[0065] The invention is not limited to the examples which have just been described.

[0066] 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, said level of vigilance of the driver having been judged to be compromised, 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, - analyzing said at least one piece of information, and - re-evaluating the level of vigilance of the driver based on said analysis, in order to trigger actions to leave or return control of the vehicle to the driver.

2. Method according to claim 1, in which, one of the detection elements of the analysis unit being a first sensor for measuring the depression by the driver of the brake pedal of the motor vehicle, another of the detection elements of the analysis unit being a second sensor for detecting whether the driver has his hands on a steering wheel of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the first sensor indicates that the variation in the depression of the brake pedal is greater than a predetermined value less than 20% depression and if the information from the second sensor indicates that the driver has his hands on the steering wheel.

3. Method according to claim 1 or 2, wherein, one of the detection elements of the analysis unit being a first sensor for measuring the depression by the driver of the brake pedal of the motor vehicle, another of the detection elements of the analysis unit being a second sensor for detecting whether the driver has his hands on a steering wheel of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the first sensor indicates that the depression of the brake pedal is greater than a predetermined value less than 20% depression and if the information from the second sensor indicates that the driver has his hands on the steering wheel.

4. A method according to any preceding claim, in wherein, one of the detection elements of the analysis unit being a first sensor connected to a button located on the steering wheel of the vehicle, another of the detection elements of the analysis unit being a second sensor for detecting whether the driver has his hands on a steering wheel of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the first sensor indicates a press of the button and if the information from the second sensor indicates that the driver has his hands on the steering wheel.

5. Method according to any one of the preceding claims, in which, one of the detection elements of the analysis unit being a first sensor for measuring the depression by the driver of the accelerator pedal of the motor vehicle, another of the detection elements of the analysis unit being a second sensor for detecting whether the driver has his hands on a steering wheel of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the first sensor indicates that the depression of the accelerator pedal is greater than a predetermined value less than 20% depression and if the information from the second sensor indicates that the driver has his hands on the steering wheel.

6. Method according to any one of the preceding claims, in which, the vehicle having been immobilized or not following a level of vigilance deemed compromised, one of the detection elements of the analysis unit being a steering torque observation system, control of the vehicle is left or returned to the driver if the information from said system indicates that the steering torque is greater than a predetermined value.

7. Method according to any one of the preceding claims, in which, one of the detection elements of the analysis unit being a sensor for measuring the depression by the driver of the brake pedal of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the sensor indicates that the variation in the depression of the brake pedal is greater than a predetermined value greater than 20% depression.

8. Method according to any one of the preceding claims, in which, the vehicle having been immobilized or not following a level of vigilance deemed compromised, one of the detection elements of the analysis unit being a sensor for measuring the depression by the driver of the accelerator pedal of the motor vehicle, the control of the vehicle is left or returned to the driver if the sensor information indicates that the variation in the depression of the accelerator pedal is greater than a predetermined value greater than 20% depression.

9. Method according to any one of the preceding claims, in which, the vehicle having been immobilized or not following a level of vigilance deemed compromised, one of the detection elements of the analysis unit being a sensor for detecting the position of the gear lever, control of the vehicle is left or given back to the driver if the information from said sensor indicates that a change in position of the gear lever has taken place.

10. Method according to any one of the preceding claims, in which, the vehicle having been immobilized or not following a level of vigilance deemed compromised, one of the detection elements of the analysis unit being a sensor connected to a parking brake deactivation button, control of the vehicle is left or given back to the driver if the information from said sensor indicates that the button has been pressed.

11. Method according to any one of the preceding claims, in which, the vehicle having been immobilized or not following a level of vigilance deemed compromised, one of the detection elements of the analysis unit being a first sensor for measuring the depression by the driver of the accelerator pedal of the motor vehicle, another of the detection elements of the analysis unit being a system for observing the steering wheel torque, control of the vehicle is left or given back to the driver if the information from the first sensor indicates that the variation in the depression of the accelerator pedal is greater than a predetermined value of less than 20% depression and if the information from said system indicates that the steering wheel torque is greater than a predetermined value, in particular greater than or equal to 3 Nm

12. Method according to any one of the preceding claims, in which, when the vehicle has been immobilized following a level of vigilance deemed compromised, one of the detection elements of the analysis unit being a first sensor connected to a button located on the steering wheel of the vehicle, another of the detection elements of the analysis unit being a second sensor for detecting whether the driver has his hands on a steering wheel of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the first sensor indicates a press of the button and if the information from the second sensor indicates that the driver has his hands on the steering wheel.

13. Method according to any one of the preceding claims, in which, when the vehicle has been immobilized following a level of vigilance deemed compromised, one of the detection elements of the analysis unit being a first sensor for measuring the depression by the driver of the accelerator pedal of the motor vehicle, another of the detection elements of the analysis unit being a second sensor for detecting whether the driver has his hands on a steering wheel of the motor vehicle, control of the vehicle is left or given back to the driver if the information from the first sensor indicates that the depression of the accelerator pedal is greater than a predetermined value of less than 20% depression and if the information from the second sensor indicates that the driver has his hands on the steering wheel.

14. 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.

Images