Device for driving a vehicle traveling in a tunnel

Abstract

Device for driving a vehicle traveling in a tunnel Driving device (2) for a vehicle (1) traveling in a tunnel, comprising: - sensors (13, 14), - at least one control box (4), allowing at least three driving modes: (i) manual (M), (ii) remotely operated (T), (iii) automatic (A) limited to automatic operation zones (24), each delimited by at least one signaling beacon for the start (25) and end of the automatic operation zone (26), at least one activation button (9) for activating a remote driving function being connected to the control box, the vehicle being kept in manual mode when the remote driving function is not activated, the automatic mode being engaged after validation by an operator, when the remote driving function is activated and the vehicle in an automatic operation zone and automatically disengaged upon detection of an end-of-zone signaling beacon.Figure for abstract: Fig. 1.

Description

Title of the invention: Device for driving a vehicle traveling in a tunnel Technical field

[0001] The present invention relates to a vehicle driving device for moving a vehicle having a non-purely hydraulic steering system in a tunnel according to several differentiated control modes. Prior art

[0002] When digging a tunnel, and more generally when working within a tunnel, a large quantity of equipment and materials must be moved from one location to another. Currently, underground vehicles, and in particular trains driven by operators, transport these elements. However, these journeys are repetitive and monotonous for the drivers.

[0003] Application WO 2020 / 181396 describes a system for the remote operation of vehicles in tunnels being dug. This system is based on a remote operation interface through which a remote operator can understand the situation of the vehicle and its environment using measurements taken by sensors placed on the vehicle and issue commands accordingly. This system also allows the optimization of the route followed by the vehicle. This system, like other automated tunnel driving systems, does not take into account the possible presence of personnel in the driving area and the associated risks.

[0004] Automating at least part of transport within a tunnel, including when personnel are likely to be present, makes it possible to increase operator safety. Furthermore, automation can improve the productivity and condition of transport vehicles by improving the consistency of the operations implemented.

[0005] There is therefore a need to facilitate the automation of underground vehicle traffic in a tunnel, in particular for the transport of materials or people.

[0006] In particular, there is a need for a driving device with differentiated control modes making it possible to automate the driving of the transport of goods or people when the conditions are favorable and to return either to remote operation or to manual driving when these conditions are no longer met. Summary of the invention

[0007] The invention aims to meet this need and thus has as its subject a device for driving a vehicle traveling in a tunnel, the vehicle having at least one control station which is at least partly electronic, the driving device comprising: - at least one control box arranged to be connected to the vehicle control station and comprising a telecommunications unit, - a plurality of sensors arranged on the vehicle and connected to the control box, the control box being configured to allow at least three driving modes of the vehicle, namely: (i) a first manual mode in which the vehicle is driven manually by an operator installed in the vehicle, in particular in a cabin of the vehicle, (ii) a second remotely operated mode in which the vehicle is driven by an operator installed remotely, in particular in a control station located on the surface or in the tunnel, (iii) a third automatic mode in which the vehicle is driven automatically without operator intervention, the automatic mode being limited to one or more automatic operating zones within the tunnel, each automatic operating zone being delimited by at least one automatic operating zone start signal beacon and at least one automatic operating zone end signal beacon, arranged in the tunnel, the driving device being configured to detect by means of the sensors the signaling beacons of the start and end of the automatic operation zone, at least one activation button making it possible to activate a remote driving function being connected to the control box, the vehicle being kept in the first manual mode when the remote driving function is not activated, the third automatic mode being engaged after validation by an operator located in the control station, when the remote driving function is activated and the vehicle is in an automatic operation zone, and automatically disengaged upon detection of a signaling beacon of the end of the automatic operation zone or upon deactivation of the remote driving function.

[0008] This driving device allows differentiated autonomous driving of the vehicle adapting to its local environment.

[0009] The control box may have a binary parameter Z for presence in an automatic operation zone. The parameter Z may take a value of 0, the default value, indicating that the vehicle is not in an automatic operation zone, or a value of 1, indicating that the vehicle is in an automatic operation zone.

[0010] The value of the Z parameter can be kept in memory by the control box.

[0011] The control box may be configured to, upon detection of a beacon of if Automatic zone start signaling, set parameter Z to 1.

[0012] The control box can be configured to, upon detection of an automatic end-of-zone signaling beacon, set the parameter Z to 0.

[0013] The control unit can determine by the value of the parameter Z whether or not the vehicle is in an automatic operation zone.

[0014] The control box can be configured to, upon detection of an automatic zone start signaling beacon, emit an information message requiring validation by an operator located in the control station, of the activation of the third automatic mode.

[0015] The control box can be configured to, upon detection of a beacon signaling the end of the automatic operating zone or upon deactivation of the remote driving function, immobilize the vehicle, disengage the third automatic mode and transmit an information message.

[0016] By "at least partly electronic control station" is meant a control station controlling an electro-hydraulic or electric steering system. The steering system is not purely hydraulic. The control station also controls other functions, such as the vehicle's native traction, braking or lighting functions, for example. The control station may include an electronic interface facilitating connection with the control unit.

[0017] The control station may include a user interface or dashboard, allowing an operator from a cabin of the vehicle to operate the vehicle.

[0018] The vehicle may have two control stations, located at two ends of the vehicle, so that the vehicle does not have to make a U-turn in the tunnel. Alternatively, the vehicle may have only one control station.

[0019] By “sensor” is meant any device making it possible to capture information relating to the environment of the vehicle, in particular the presence of objects or people, and to detect the presence of beacons in the tunnel. The sensor can be chosen from: a camera, a photo camera, a receiver, in particular radio, for example of the Lora, Wifi, Bluetooth type, a microphone, a LiDAR, a GPS, a thermal camera, a sonar; this list is not exhaustive.

[0020] The vehicle is configured to travel in a tunnel. The vehicle may be a vehicle for transporting materials, equipment and / or people in a tunnel. It may be a rolling construction machine. In one embodiment, the vehicle is a train. By "train" is meant that the vehicle comprises at least one driver car and zero, one or more cars pulled by the driver car, the cars of the train being connected to each other one after the other in an articulated manner. Alternatively, it may be a truck. The vehicle may be other than an autonomous car.

[0021] The vehicle may not be configured to run on rails, but on a surface without rails, for example with tires. Alternatively, it can run on rails.

[0022] The tunnel may be a tunnel intended for the movement of people and / or goods, such as for example a road, rail or public transport tunnel such as metro or RER, or alternatively a mining tunnel. In one embodiment, the tunnel may be other than a mining tunnel. It may for example be a fluid or gas transport tunnel, such as an outfall.

[0023] The tunnel may be under construction, in particular during excavation. The tunnel may not be empty. It may contain one or more pieces of equipment dedicated to the construction of the tunnel, in particular a tunnel boring machine, and / or dedicated to the creation of branches, and / or all types of work within the tunnel under construction. The tunnel may contain one or more people in charge of carrying out this work.

[0024] The tunnel may have a circulation space for vehicles, in particular central or lateral, and one or two sidewalks. The sidewalk(s) may be separated from the circulation space for vehicles by one or more barriers and / or balustrades. Alternatively, the tunnel may not have sidewalks.

[0025] The traffic space for vehicles may have one or more traffic lanes, in particular two traffic lanes, one in each direction of travel. Alternatively, the traffic space for vehicles may have only one traffic lane. The traffic lane can be used in both directions.

[0026] The tunnel can be traveled, on foot or by vehicle, by people, in particular operators, constructors and other people, moving in particular on the side pavements.

[0027] The tunnel may have one or more service entrances. Loading and unloading of the vehicle may be carried out at a service entrance. The service entrances may be the ends of the tunnel or side entrances, other than the ends of the tunnel.

[0028] The driving device may comprise a single control box, connected to all the control stations of the vehicle. Alternatively, the driving device may comprise two control boxes, each connected to a control station of the vehicle. The two control boxes may be arranged at each end of the vehicle.

[0029] The telecommunications unit of the control box can be a Radio-Wifi unit.

[0030] Preferably, as many activation buttons for activating the remote driving function are connected to the control box as there are control stations in the vehicle.

[0031] The activation button(s) may be physical buttons. They may be each integrated into a vehicle control station, in particular on a dashboard of a control station. Alternatively, the activation button(s) may each be integrated into a user interface of a vehicle control station.

[0032] In one embodiment, the activation buttons are only accessible from the vehicle, in particular a cabin of the vehicle, where a control station is located. The remote driving function must then be activated by an operator from the vehicle having access to an activation button. An operator can, for example, drive the vehicle over a portion of the tunnel in manual mode, then activate the remote driving function using an activation button and leave the vehicle.

[0033] When the remote driving function is not activated, the vehicle can only be driven in the first manual mode. When the remote driving function is activated, the vehicle can be driven in the second remote-operated mode or in the third automatic mode.

[0034] By "automatic operation zone" is meant a portion of the tunnel where the safety conditions are met to allow automatic driving of the vehicle. The tunnel may contain several automatic operation zones separated by zones where the vehicle must preferably be driven manually or remotely, for safety reasons. The loading and unloading of the vehicle is carried out in particular outside the automatic operation zones.

[0035] When a vehicle operating according to the third automatic mode is traveling in an automatic operation zone, the automatic operation zone can be described as "active". When no vehicle operating according to the third automatic mode is traveling in the automatic operation zone, it can be described as "inactive".

[0036] One or more signals provided in the tunnel may indicate whether an automatic operation zone is active or inactive. The signal(s) may be located at each end of an automatic operation zone. The signal(s) may be visual signals, such as rotating, flashing or traffic lights, and / or audible signals. These signals improve the safety of tunnel users. In cases where the tunnel does not have barriers and / or railings separating the sidewalk(s) from the vehicle circulation space, users may not be allowed to travel in an active automatic operation zone.

[0037] The vehicle can communicate by means of the driving device with tunnel users and / or with other vehicles present in the tunnel. The driving device may comprise audible warning devices, such as a horn or a siren, and / or luminous warning devices, such as indicators, lights or rotating beacons. These warning devices can indicate the driving mode in which the vehicle is located. In particular, they can be activated when the vehicle is operating according to the third mode above automated.

[0038] The tunnel may include one or more radars or light barriers, making it possible to detect the passage of individuals. These radars and / or light barriers may be activated when the automatic operation zone is active, so as to prevent the passage of users or to send the appropriate information to the vehicle.

[0039] In the second remotely operated mode, the vehicle is driven by a remote operator. In one embodiment, the operator is located in a control station. An operator can remotely operate from the control station one or more vehicles equipped with the driving device according to the invention, for example one, two, three or four vehicles equipped with the driving device according to the invention.

[0040] The control station may be located on the surface. Alternatively, the control station may be underground. The control station may also be located in an underground mobile station.

[0041] A quasi-permanent or even permanent communication can be established between the vehicle's driving device and the control station, fixed or mobile station, so as to allow remote operation of the vehicle from the control station.

[0042] The control station may have a control interface, in particular materialized in the form of one or more screens. The control interface may make it possible to communicate orders to the control box of the vehicle's driving device as well as to display information concerning the vehicle and its environment. The control interface may display the driving mode in which the vehicle is at a given time.

[0043] The control station may comprise several screens. In an embodiment where the plurality of sensors of the driving device comprises one or more cameras, the live image from each camera may be retransmitted by a screen in the control station. This allows the operator in particular to better understand the environment of the vehicle.

[0044] The positioning of the vehicle within the tunnel can be displayed on a screen.

[0045] The control station may have a server.

[0046] The telecommunications unit, in particular Radio-Wifi, of the control box can allow data to be transmitted and received from the control station. This data can include information from among: all the information present on the original dashboard of the vehicle, for example its speed, but also the driving mode of the vehicle, its position, as well as all the information acquired by the plurality of sensors, this list not being limiting.

[0047] The control box can be configured to emit an information message when the remote driving function is activated and / or deactivated or when a change of driving mode is carried out automatically.

[0048] The control box may be configured to transmit messages to the control station. These messages may require action by the operator. These messages make it possible to keep the operator(s) present in the control room informed.

[0049] The signaling beacons may be visual beacons, such as road signs. Alternatively, the signaling beacons may be wave transmitters, in particular radio, for example Lora, Wifi, Bluetooth, this list not being limiting.

[0050] The driving device may comprise one or more types of sensors configured to detect the presence of a signaling beacon. The signaling beacon(s) may be configured to be detectable by the sensors.

[0051] The plurality of sensors may comprise only sensors of the same type. Alternatively, the plurality of sensors may comprise sensors of different types.

[0052] The signaling beacons arranged in the tunnel may all be of the same type. Alternatively, signaling beacons of different types may delimit the start and end of at least one automatic operation zone in the tunnel. In one embodiment, at least two automatic operation zones in the tunnel may be delimited by signaling beacons of different types.

[0053] The plurality of sensors may include one or more cameras and the automatic operation zone start and end signaling beacons may include one or more traffic signs.

[0054] The driving device may comprise several cameras, for example two. One camera may be located at each front and rear end of the vehicle.

[0055] The images acquired and / or the video stream acquired by the camera(s) can be analyzed by at least one image analysis software, in particular automatic detection software.

[0056] Image analysis software may be based on algorithms inspired by conventional image processing methods and / or on artificial intelligence algorithms, preferably using neural networks, in particular convolutional neural networks (CNN).

[0057] The software or software may be directly integrated into the cameras. Alternatively, they may be integrated into the control box. The use of image analysis software and in particular automatic detection software helps to facilitate the detection of the signaling beacons by the sensors of the driving device and thus to ensure good recognition of the limits of the automatic operation zones within the tunnel.

[0058] In one embodiment, the control box comprises a unit for processing the information acquired by the sensors, for example images acquired by the camera(s). The processing unit may use different software, for example image analysis software or audio analysis software.

[0059] The automatic operation zone start and end signaling beacons may comprise one or more radio transmitters, in particular Bluetooth, and the plurality of sensors may comprise one or more radio receivers, in particular Bluetooth, configured to receive the signals emitted by the transmitter(s).

[0060] Radio receivers and transmitters, particularly Bluetooth, are advantageously less sensitive to dust, which can be abundant in a tunnel under construction, than purely visual beacons. They can therefore ensure good recognition of the operating area.

[0061] The driving device may comprise several radio receivers, for example two. A radio receiver may be arranged at each front and rear end of the vehicle.

[0062] A radio transmitter may be arranged at the ends of each automatic operating zone.

[0063] In addition to the radio transmitters acting as beacons signaling the start and end of the automatic operating zone, other radio transmitters, in particular Bluetooth, may be regularly arranged along the tunnel, for example every 50 meters. The presence of these transmitters can help to estimate the position of the vehicle within the operating zone.

[0064] The driving device may comprise one or more distance sensors.

[0065] The presence of distance sensors allows the vehicle to be better guided within the tunnel. The distance sensors can be connected to the control box.

[0066] The control box can transmit information from the distance sensor(s) to the control station interface.

[0067] The control box can be configured to emit an alert message when the safety distances around the vehicle are not respected. The control box can be further configured to transmit this alert message to the control station.

[0068] The audible and / or luminous warning devices previously described can be activated when the safety distances around the vehicle are not respected.

[0069] The driving device may comprise one or more obstacle detection systems, in particular LiDAR scanners.

[0070] By “obstacle detection system” is meant a module comprising either a sensor capable of directly detecting the presence of an obstacle, or a sensor acquiring information, which is associated with a processing unit capable of analyzing this information to detect the presence of an obstacle.

[0071] These obstacle detection systems make it possible to detect possible objects or individuals that may stand in the way or in the immediate environment of the vehicle. They can possibly determine the distance of an obstacle in relation to to the vehicle. Their presence helps improve safety within the tunnel.

[0072] The obstacle(s) may be static or moving objects, but also animated beings, in particular human beings. The obstacle detection system may be capable of distinguishing the nature of the obstacle, for example whether it is an animated being, in particular a person, or an object.

[0073] The obstacle detection system(s) may comprise one or more LiDAR scanners. LiDAR is the acronym for the English expression “Laser imaging detection and ranging”. These are sensors capable of determining the distance of an object using invisible laser beams.

[0074] Alternatively or additionally, the obstacle detection system(s) may comprise one or more cameras.

[0075] The driving device may comprise several obstacle detection systems, for example two. An obstacle detection system may be arranged at each end of the vehicle.

[0076] The obstacle detection system(s) may be connected to the control box.

[0077] The control unit may be configured to issue an alert message or a stop message when an obstacle is detected by at least one obstacle detection system on a travel lane of the vehicle. Additionally or alternatively, the control unit may be configured to transmit this message to the control station, where it may be displayed on the control interface, and / or to at least one control station of the vehicle, where it may be displayed on the user interface.

[0078] When an obstacle is detected, the audible and / or luminous warning devices of the driving device described above can be activated. In the case where the obstacle is an animated being, this makes it possible to draw its attention to the arrival of the vehicle.

[0079] The control box can be configured to, when the driving device is operating in the third automatic mode, immobilize the vehicle, disengage the third automatic mode and emit a stop message in the event of detection of an obstacle on a traffic lane of the vehicle by at least one obstacle detection system.

[0080] By "a vehicle traffic lane" is meant any possible trajectory of the vehicle within the tunnel. The vehicle traffic lane may correspond to a tunnel traffic lane as previously described.

[0081] When the vehicle is in an automatic operation zone, and is in the second remotely operated mode, an operator can engage or re-engage the automatic mode.

[0082] The control box may be configured to, when the driving device is operating in the third automatic mode, automatically reduce a speed initial start of the vehicle at a control speed, in particular at a speed of approximately 4 km / h, in the event of detection of at least one obstacle near a vehicle lane by at least one obstacle detection system.

[0083] By "near a vehicle traffic lane" is meant that the obstacle does not prevent the vehicle from passing but requires increased attention.

[0084] By “initial speed” is meant the speed at which the vehicle was traveling before detecting at least one obstacle.

[0085] Obstacle detection systems, including cameras and / or LiDAR scanners, present in tunnels can be affected by dust, mud and other projections due to the works.

[0086] The sensors of the LiDAR scanners can detect a level of dirt preventing their proper functioning. The LiDAR scanners can issue a maintenance request. The issue of maintenance requests by the LiDAR scanners contributes to the positive safety of the driving device.

[0087] The driving device may be configured to detect by means of the sensors one or more speed limit beacons arranged in the tunnel, the control box being configured to, when the driving device operates according to the third automatic mode, automatically reduce an initial speed of the vehicle to a control speed, in particular to a speed of approximately 4 km / h, upon detection of at least one speed limit beacon.

[0088] The driving device may be configured to detect, by means of the sensors, one or more end-of-speed limit beacons arranged in the tunnel, an end-of-speed limit beacon following at least one speed limit beacon, the control unit being configured to, when the driving device operates according to the third automatic mode, automatically return the vehicle to its initial speed upon detection of at least one end-of-speed limit beacon.

[0089] Speed ​​limit beacons can be placed upstream of more dangerous areas, such as work zones. Speed ​​limit beacons can have all the characteristics of the signal beacons described above.

[0090] The vehicle driving device may be configured to detect other types of beacons using the sensors. Upon detection of one of these beacons, the control unit may alter the driving of the vehicle, for example reducing its initial speed or causing a change in driving mode.

[0091] The driving device may be configured to detect by means of the sensors one or more danger signaling beacons arranged in the tunnel, the control box being configured so that, when the driving device operates according to the third automatic mode, immobilize the vehicle, disengage the third automatic mode and issue a stop message requiring the action of an operator located in the control station upon detection of at least one danger signal beacon.

[0092] Danger signaling beacons can be placed upstream of particularly dangerous areas, such as intersection areas or major work areas with a high presence of personnel, which requires driving under the control of an operator. Speed ​​limit beacons can have all the characteristics of the signaling beacons previously described.

[0093] The stop message may require remote operation of the vehicle by a control station operator.

[0094] The control box can be configured to immobilize the vehicle and issue a machine safety alert upon detection of a malfunction of at least one mechanical component of the driving device.

[0095] A "machine safety alert" means an alert triggered when one or more mechanical components of the driving device no longer operate at the required standard. Several events can trigger the machine safety alert, for example a failure of the braking system. Brief description of the drawings

[0096] The invention may be better understood by reading the detailed description which follows, non-limiting examples of its implementation, and by examining the attached drawing in which:

[0097] [Fig-1] is a schematic and partial view of a vehicle equipped with the driving device according to the invention.

[0098] [Fig.2] represents an example of a vehicle equipped with the driving device according to the invention traveling in a tunnel.

[0099] [Fig.3] is a diagram summarizing the driving modes that a vehicle equipped with the driving device according to the invention can adopt, depending on the signaling and the obstacles encountered in a tunnel in which it is traveling. Detailed description

[0100] [Fig.l] illustrates a vehicle 1 having two control stations 3 which are at least partly electronic. The control stations 3 control a steering system which is not purely hydraulic. They also control the vehicle's native braking, lighting and traction functions.

[0101] The vehicle is equipped with a driving device 2 according to the invention.

[0102] The driving device 2 comprises a control box 4, which is connected to the two control stations 3 of the vehicle. The control box 4 comprises a Radio-Wifi 5 telecommunications unit.

[0103] The control box 4 is configured to allow three driving modes of the vehicle 1: a first manual mode, in which the vehicle 1 is driven manually by an operator 6 installed in the vehicle 1, in particular in a cabin 7 of the vehicle, a second remote-operated mode in which the vehicle is driven by an operator installed remotely, and a third automatic mode.

[0104] An activation button 9 for activating the remote driving function is integrated into a user interface 8 of each control station 3. These activation buttons 9 are only accessible from a cabin 7 of the vehicle 1 by an operator 6.

[0105] The vehicle 1 can take the form of a train. It comprises two driving cars 10 in which the control stations 3 are located, one at each end, so that the vehicle does not have to make a U-turn in a tunnel, and two cars 11 pulled by the driving cars 10. The cars 10, 11 are connected to each other in an articulated manner.

[0106] The vehicle 1 is configured to travel on a surface without rails with tires 12.

[0107] The driving device 2 comprises several sensors arranged on the vehicle 1 which are connected to the control box 4. These sensors comprise two cameras 13, each arranged at one end of the vehicle. They comprise two Bluetooth receivers 14, each arranged at one end of the vehicle 1.

[0108] The driving device comprises at least two distance sensors 15, placed on each side of the vehicle, only one of which is visible in [Fig.l].

[0109] The driving device 2 has two obstacle detection systems 16 which are LiDAR scanners, arranged at each end of the vehicle 1.

[0110] The driving device 2 comprises audible warning devices 17, for example horns, and rotating beacons 18.

[0111] [Fig.2] illustrates an example of a vehicle 1 equipped with a driving device 2 circulating in a tunnel 19 being dug in a terrain 20. The tunnel 19 is not empty. It contains equipment dedicated to the construction of the tunnel such as a tunnel boring machine 21 as well as personnel 22 in charge of carrying out the work within the tunnel. In this example, the tunnel has a single traffic lane 23. Here it does not have sidewalks, but could alternatively be provided with them.

[0112] The tunnel 19 comprises an automatic operation zone 24 delimited by an automatic operation zone start signaling beacon 25 and an automatic operation zone end signaling beacon 26. These beacons 25, 26 take the form of traffic signs in this example. The vehicle 1 can only operate in the third automatic mode in the automatic operation zone 24. Two lights signaling lights 27 surround the automatic operation zone 24 and indicate whether the zone is “active” or “inactive”.

[0113] The tunnel includes a danger signaling beacon 28, placed upstream of a crossing zone 29.

[0114] Bluetooth 30 transmitters are arranged regularly along the tunnel, for example every 50 meters.

[0115] The driving device 2 of the vehicle 1 establishes a quasi-permanent or even permanent communication 34 with a control station 31 located on the surface. It is in this control station 31 that the operator 32 is located who remotely operates the vehicle 1 in the second remotely operated mode.

[0116] The control station 31 has a control interface 33 in the form of several screens.

[0117] The Radio-Wifi telecommunications unit 5 of the control box 4 transmits and receives data from the control station 31, for example the positioning of the vehicle 1 within the tunnel 19, its speed, its driving mode, as well as all the information acquired by the plurality of sensors 13, 14, 15 arranged on the vehicle; this list is not limiting.

[0118] [Fig. 3] is a diagram explaining the driving modes in which the vehicle 1 operates in a tunnel 35, among the first manual mode M, the second remotely operated mode T and the third automatic mode A, depending on the events encountered. The diagram is read from left to right.

[0119] The vehicle 1 equipped with a driving device 2 is first in manual mode M where it is driven by an operator 6 placed in a cabin 7 of the vehicle. The remote driving function is then deactivated and the vehicle 1 can only be in manual mode M.

[0120] In a first action a), the operator 6 activates the remote driving function using the remote driving activation button 9, then leaves the vehicle. The control box 4 emits an information message upon activation of the remote driving function and transmits it to the control station 31. This message requires the action of the operator 32 who begins the remote operation T of the vehicle 1.

[0121] Then, the vehicle 1 detects by means of the cameras 13 the signaling panel 25 of the start of the automatic operation zone 24. The control box sets the parameter Z to 1, indicating that the vehicle is in an automatic operation zone 24. The control box emits an information message requiring validation by an operator located in the control station, of the engagement of the third automatic mode. The control box 4 is configured to transmit this message to the control station at 31. The operator 32 validates the engagement of the automatic mode and the third automatic mode A is then engaged.

[0122] The vehicle 1 then detects by means of the cameras 13 a danger sign 28, arranged upstream of a crossing zone 29. The control box 4 immobilizes the vehicle 1, disengages the automatic mode A and emits a stop message requiring the action of the operator 32 located in the control station 31. The operator 32 resumes the remote operation T of the vehicle 1. Once the crossing zone 30 has been passed, in a step b), the operator 32 re-engages the automatic mode A, the vehicle still being in an automatic operation zone as evidenced by the value of the parameter Z

[0123] The vehicle 1 then detects by means of the cameras 13 a speed limit sign 37, placed upstream of a work zone 36 in which personnel 22 are working. The control box 4 automatically reduces an initial speed v of the vehicle 1 to a control speed of the order of 4 km / h. The vehicle is maintained in automatic mode A.

[0124] The vehicle 1 then detects, by means of the cameras 13, an end of speed limit sign 38 downstream of the work zone 36. The control box 4 automatically causes the vehicle to return to its initial speed v.

[0125] The vehicle 1 then detects, by means of obstacle detection systems 16, an obstacle 39 on a traffic lane of the vehicle. The control unit 4 immobilizes the vehicle, disengages the automatic mode A and emits a stop message. In a step c), the operator 32 resumes the remote operation T of the vehicle and takes care of managing the passage obstructed by the obstacle 39.

[0126] In a step d), once the obstacle 39 has been bypassed, the operator 32 re-engages the third automatic mode A, the vehicle still being in an automatic operation zone as evidenced by the value of the parameter Z.

[0127] The vehicle 2 then detects by means of the cameras 13 an end of automatic operation zone sign 26. The control box 4 immobilizes the vehicle 1 and emits an information message and the automatic mode A is automatically disengaged. The control box sets the parameter Z to 0.

[0128] The operator 32 can restart the remote operation T of the vehicle from the control station 31. Alternatively, an operator can get into the vehicle 1, deactivate the remote driving function using the activation button 9 and drive the vehicle 1 in manual mode M.

[0129] The invention is not limited to the examples described.

[0130] The signaling beacons present in the tunnel can be of different types and in particular be in the form of radio transmitters, the signals of which can be received by radio receivers present on the vehicle.

[0131] The vehicle may have only cameras. It may have only radio receivers.

[0132] The vehicle may have only one control station, in particular located at one end of the vehicle.

Claims

Claims

1. Driving device (2) of a vehicle (1) traveling in a tunnel (19, 35), the vehicle (1) having at least one control station (3) at least partly electronic, the driving device (2) comprising: - at least one control box (4) arranged to be connected to the control station (3) of the vehicle (1) and comprising a telecommunications unit (5), - a plurality of sensors (13, 14) arranged on the vehicle (1) and connected to the control box (4), the control box (4) being configured to allow at least three driving modes of the vehicle, namely: (i) a first manual mode (M) in which the vehicle (1) is driven manually by an operator (6) installed in the vehicle, in particular in a cabin (7) of the vehicle, (ii) a second remote-operated mode (T) in which the vehicle is driven by an operator (32) installed remotely, in particular in a control station (31) located on the surface or in the tunnel (19, 35), (iii) a third automatic mode (A), in which the vehicle is driven automatically without operator intervention, the automatic mode being limited to one or more automatic operation zones (24) within the tunnel (19, 35), each automatic operation zone (24) being delimited by at least one automatic operation zone start signaling beacon (25) and at least one automatic operation zone end signaling beacon (26), arranged in the tunnel (19, 35), the driving device (2) being configured to detect by means of the sensors (13, 14) the automatic operation zone start and end signaling beacons (25, 26), at least one activation button (9) for activating a remote driving function being connected to the control box, the vehicle (1) being kept in the first manual mode (M) when the remote driving function is not activated,the third automatic mode (A) being engaged after validation by an operator located in the control station (31), when the remote driving function is activated and the vehicle is in an automatic operation zone (25) and automatically disengaged upon detection of an end of automatic operation zone signaling beacon (26) or, deactivating the remote driving function.

2. Driving device (2) according to the preceding claim, the plurality of sensors comprising one or more cameras (13) and the automatic operation zone start and end signaling beacons comprising one or more signaling panels (25, 26).

3. Driving device (2) according to any one of the preceding claims, the automatic operation zone start and end signaling beacons comprising one or more radio transmitters (30), in particular Bluetooth, and the plurality of sensors comprising one or more radio receivers (14), in particular Bluetooth, configured to receive the signals emitted by the transmitter(s) (30).

4. Driving device (2) according to any one of the preceding claims, comprising one or more distance sensors (15).

5. Driving device (2) according to any one of the preceding claims, comprising one or more obstacle detection systems (16), in particular LiDAR scanners.

6. Driving device (2) according to the preceding claim, the control box (4) being configured to, when the driving device (2) operates according to the third automatic mode (A), immobilize the vehicle, disengage the third automatic mode (A) and emit a stop message in the event of detection of an obstacle (39) on a traffic lane (23) of the vehicle (1) by at least one obstacle detection system (16).

7. Driving device (2) according to one of the two preceding claims, the control box (4) being configured to, when the driving device (2) operates according to the third automatic mode (A), automatically reduce an initial speed of the vehicle (1) to a control speed, in particular to a speed of approximately 4 km / h, in the event of detection of at least one obstacle (39) near a traffic lane of the vehicle, by at least one obstacle detection system (16).

8. Driving device (2) according to any one of the preceding claims, being configured to detect by means of the sensors (13, 14) one or more speed limit beacons (37) arranged in the tunnel (19, 35), the control box (4) being configured to, when the driving device (2) operates according to the third automatic mode (A), automatically reduce an initial speed of the vehicle to a speed control, in particular at a speed of approximately 4 km / h, upon detection of at least one speed limit beacon (37).

9. Driving device (2) according to the preceding claim, being configured to detect by means of the sensors (13, 14) one or more end of speed limit beacons (38) arranged in the tunnel (19, 35), a end of speed limit beacon (38) following at least one speed limit beacon (37), the control box (4) being configured to, when the driving device (2) operates according to the third automatic mode (A), automatically return the vehicle to its initial speed upon detection of at least one end of speed limit beacon (38).

10. Driving device (2) according to any one of the preceding claims, being configured to detect by means of the sensors (13, 14) one or more danger signaling beacons (28) arranged in the tunnel (19, 35), the control box (4) being configured to, when the driving device (2) operates according to the third automatic mode (A), immobilize the vehicle, disengage the third automatic mode (A) and emit a stop message requiring the action of an operator (32) located in the control station (32) upon detection of at least one danger signaling beacon (28).

11. Driving device (2) according to any one of the preceding claims, the control box (4) being configured to immobilize the vehicle (1) and issue a machine safety alert upon detection of a malfunction of at least one mechanical component of the driving device (2).

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