Collaborative method for detecting a pedestrian approaching a target vehicle

Abstract

The invention relates to a collaborative method for detecting a pedestrian (14) approaching a target vehicle (10a), characterized in that it comprises at least one probing step during which the target vehicle (10a) probes its environment to detect the presence of at least one neighboring vehicle (10b), and if a neighboring vehicle (10b) is detected then the target vehicle (10a) enters into communication with said neighboring vehicle (10b) to allow an exchange of information, and a cooperation step during which the neighboring vehicle (10b) collects information on any approaching pedestrian (14) and transmits said information to the target vehicle (10a) to allow the target vehicle (10a) to anticipate the detection and tracking of said approaching pedestrian (14). Figure for abstract: Figure 1

Description

Title of the invention: Collaborative method for detecting a pedestrian approaching a target vehicle Technical field

[0001] The subject of the present patent application is a collaborative method for detecting a pedestrian approaching a motor vehicle, called a target vehicle, as well as a motor vehicle which comprises a central unit duly programmed to implement the method according to the invention.

[0002] It relates to the technical field of detecting, tracking and identifying a pedestrian approaching a motor vehicle and more particularly the field of access systems without apparatus for the automatic opening of a vehicle. Prior art

[0003] In the current state of the art, two types of devices are known for detecting a pedestrian approaching a target vehicle, each of which makes it possible to detect, locate and track an approaching pedestrian.

[0004] On the one hand, a first type of detection device based on pulsed or continuous radars is known, for example using microwave radars.

[0005] This first type of device makes it possible to obtain precise information on the distance and speed of a pedestrian approaching a vehicle, as well as to analyze in detail the human gait and to follow several pedestrians within a range of ten meters.

[0006] This type of device can be used for deviceless vehicle access, adding features such as accurate pedestrian location detection, low-power presence detection, human versus non-human classification, and false detection reduction.

[0007] On the other hand, a second detection device is known which comprises a plurality of cameras arranged on the target vehicle.

[0008] This second technology consists of analyzing the images provided by the cameras to enable the detection and tracking of an approaching pedestrian, and possibly identifying the detected pedestrian as being a user authorized to access the vehicle.

[0009] Such a camera detection device offers the advantage of consuming little energy, in particular by using only a few bits of data from each pixel selected per image for motion detection, with only a few pixels used.

[0010] However, the energy consumption of such a camera detection device is not negligible and we generally seek to avoid or delay as much as possible the awakening of this type of device.

[0011] Thus, such a camera detection device makes it possible to consume a low amount of energy while offering high performance.

[0012] However, the radar device and the camera device each have limitations when the target vehicle is parked next to a neighboring vehicle which partially obstructs the detection capabilities of said devices.

[0013] Indeed, a neighboring vehicle can create blind spots, shadows and interference which disrupt the awakening of the detection device. Statement of the invention

[0014] The present invention aims in particular to propose a method for detecting an approaching pedestrian which makes it possible in particular to overcome a visual obstacle formed by a vehicle parked nearby.

[0015] This objective, as well as others which will appear on reading the following description, is achieved with a collaborative method for detecting a pedestrian approaching a target vehicle, said target vehicle comprising: • a first detection device which is capable of identifying a pedestrian approaching said target vehicle, and • a first communication device adapted to exchange information with a neighboring vehicle,

[0016] the method being characterized in that it comprises at least: • a probing step during which the target vehicle probes its environment to detect the presence of at least one neighboring vehicle, and if a neighboring vehicle is detected then the target vehicle enters into communication with said neighboring vehicle to allow an exchange of information, and • a cooperation step during which the neighboring vehicle collects information on any approaching pedestrian and transmits said information to the target vehicle to enable the target vehicle to anticipate the detection and tracking of said approaching pedestrian.

[0017] Thus, the method according to the invention makes it possible to collaborate with a neighboring vehicle, so that the neighboring vehicle no longer forms an obstacle to the detection of an approaching pedestrian.

[0018] The present invention makes it possible to widen the detection zone in order to anticipate the detection and tracking of approaching pedestrians in order to identify a user of the target vehicle who implements the method according to the invention.

[0019] According to other optional characteristics of the invention, taken alone or in combination:

[0020] - the neighboring vehicle is a vehicle which at least partially obstructs the field of detection of the first detection device of the target vehicle;

[0021] - the neighboring vehicle is equipped with: • a second detection device which is capable of providing information on an approaching pedestrian, and • a second communication device adapted to exchange information with the first communication device of the target vehicle, during the cooperation step;

[0022] - the information transmitted by the neighboring vehicle to the target vehicle during the cooperation step includes at least information relating to the position and movement of the detected pedestrian;

[0023] - the first detection device comprises a plurality of cameras which are arranged so as to be able to detect a pedestrian approaching said target vehicle. Such a detection device makes it possible to identify a user authorized to unlock the target vehicle;

[0024] - during the cooperation step, the target vehicle collects information on all approaching pedestrian by means of the first detection device and merges them with the information transmitted by the neighboring vehicle, to facilitate the detection and tracking of said pedestrian;

[0025] - the first detection device and the second detection device are each able to switch from a standby mode which makes it possible to detect an approaching pedestrian, to an active mode which makes it possible to track and identify said detected pedestrian, the standby mode making it possible to limit the energy consumption of the associated detection device, and if the neighboring vehicle detects an approaching pedestrian during the cooperation step, then the neighboring vehicle informs the target vehicle and the first detection device of the target vehicle switches from standby mode to active mode;

[0026] - the method comprises an access control step during which the vehicle target unlocks its doors if a pedestrian is identified as an authorized user.

[0027] The invention also relates to a motor vehicle which comprises at least one central unit duly programmed to implement the method described above. Brief description of the drawings

[0028] Other characteristics, aims and advantages of the invention will appear on reading the detailed description which follows for the understanding of which reference will be made to the appended drawings in which:

[0029] [Fig-1] presents a schematic top view illustrating a target vehicle which is parked next to a neighboring vehicle and which implements the method according to the invention;

[0030] [Fig.2] is a flowchart which illustrates the sequence of the steps of the process according to the invention.

[0031] Throughout these figures, identical or similar elements are identified by identical or similar reference signs. Description of the embodiments

[0032] [Fig.l] shows a first vehicle, called the target vehicle 10a, and a second vehicle called the neighboring vehicle 10b, which are parked next to each other.

[0033] For the sake of clarity, identical elements relating to the target vehicle 10a and the neighboring vehicle 10b are designated by identical reference signs and are differentiated by the letter "a" or "b" respectively.

[0034] The target vehicle 10a is equipped with a first detection device 12a which is capable of detecting, locating, tracking and identifying an approaching pedestrian 14.

[0035] For this purpose, the first detection device 12a comprises a front camera 16a, a right side camera 18a, a rear camera 20a and a left side camera 22a.

[0036] The cameras 16a, 18a, 20a, 22a belong for example to an advanced driver assistance system, also known by the acronym AD AS for “Advanced Driver Assistance Systems” in English.

[0037] Also, each camera 16a, 18a, 20a, 22a is provided to operate in a low power consumption mode which is sufficient for the detection of a pedestrian moving around the target vehicle 10a.

[0038] In addition, the target vehicle 10a comprises a first communication device 24a which is adapted to exchange information with another vehicle, in particular when the target vehicle 10a is stationary and parked.

[0039] Finally, the target vehicle 10a is equipped with a keyless access system 26 which makes it possible to identify a user of the target vehicle 10a and then to automatically unlock the doors of the target vehicle 10a when it is in proximity to the target vehicle 10a.

[0040] The second neighboring vehicle 10b, which is parked close to the target vehicle 10a, is equipped with a second detection device 12b which is capable of detecting, locating and tracking an approaching pedestrian 14.

[0041] The second detection device 12b comprises a front camera 16b, a right side camera 18b, a rear camera 20b and a left side camera 22b.

[0042] Each detection device 12a, 12b is capable of switching from a standby mode which makes it possible to detect an approaching pedestrian, to an active mode which makes it possible to track and identify said detected pedestrian.

[0043] The standby mode makes it possible to limit the energy consumption of the associated detection device, in particular by using only a few bits of data from each pixel selected per image captured for motion detection.

[0044] In addition, the neighboring vehicle 10b comprises a second communication device 24b which is adapted to exchange information with the first communication device 24a of the target vehicle 10a.

[0045] In our example, the communication devices 24a, 24b use the so-called “Vehicle-to-Everything” technology, also known by the acronym V2X or the expression “Vehicle-to-Everything” in English.

[0046] V2X technology is a vehicular communication system that allows vehicles to exchange information with each other, but also with infrastructure and with pedestrians.

[0047] V2X technology is used, for example, to ensure road safety and reduce traffic jams.

[0048] According to the invention, the target vehicle 10a comprises a central unit 28 which is duly programmed to implement a collaborative method for detecting an approaching pedestrian.

[0049] The collaborative method according to the invention generally consists of delegating the detection of an approaching pedestrian to a neighboring vehicle 10b while maintaining communication with this neighboring vehicle 10b.

[0050] For this purpose, the method according to the invention comprises a probing step E1 during which the target vehicle 10a probes its environment to detect the presence of a neighboring vehicle 10b, or of several neighboring vehicles.

[0051] The term “neighboring vehicle” means a vehicle which at least partially obstructs the detection field of the detection device 12a of the target vehicle 10a.

[0052] If a neighboring vehicle 10b is spotted, then the target vehicle 10a attempts to communicate with this neighboring vehicle 10b.

[0053] Of course, communication between the target vehicle 10a and the neighboring vehicle 10b located is only possible if the neighboring vehicle 10b is equipped with a communication device 24b compatible and capable of exchanging information with the communication device 24a of the target vehicle 10a.

[0054] In our example, which is illustrated in [Fig.l], the target vehicle 10a has spotted the neighboring vehicle 10b and has entered into communication with the latter.

[0055] Also, once the target vehicle 10a and the neighboring vehicle 10b have entered into communication, the target vehicle 10a verifies that the neighboring vehicle 10b is equipped with a detection device 12b capable of providing information on an approaching pedestrian.

[0056] If the neighboring vehicle 10b is equipped with a detection device 12b, then the method moves from the probing step E1 to a cooperation step E2.

[0057] During the cooperation step E2, the neighboring vehicle 10b collects information on any approaching pedestrian by means of the associated second detection device 12b, and transmits this information periodically to the target vehicle 10a to allow the target vehicle 10a to anticipate the detection and tracking of the approaching pedestrian.

[0058] In our example, pedestrian 14 has been spotted by neighboring vehicle 10b and the latter transmits information about pedestrian 14 to target vehicle 10a periodically.

[0059] It will be noted that the detection device 12b of the neighboring vehicle 10b adopts the low energy consumption standby mode during the cooperation step E2, to limit the electrical energy consumed for the implementation of the method according to the invention.

[0060] The information transmitted by the neighboring vehicle 10b includes data relating to the trajectory of the pedestrian, the distance of the pedestrian from the neighboring vehicle 10b and the speed of movement of the pedestrian.

[0061] It should be noted that the data that is exchanged respects the privacy of individuals.

[0062] Furthermore, still during the cooperation step E2, if the neighboring vehicle 10b detects an approaching pedestrian 14 during the cooperation step, then the neighboring vehicle 10b informs the target vehicle 10a and the first detection device 12a of the target vehicle 10a switches from standby mode to active mode, to anticipate tracking the approaching pedestrian 14.

[0063] The transition of the first detection device 12a of the target vehicle 10a from standby mode to active mode does not apply in the case where the neighboring vehicle 10b belongs to the same fleet of vehicles as the target vehicle 10a, and where the approaching pedestrian 14 is identified by the neighboring vehicle 10b as being a user linked to the neighboring vehicle 10b.

[0064] Indeed, in this specific case, it is estimated that the approaching pedestrian 14 is not a user of the target vehicle 10a, so that it is preferable not to put the target vehicle 10a into active mode for the sake of energy saving.

[0065] The term “fleet of vehicles” means a set of vehicles which are paired together in a secure manner, so that this mechanism for inhibiting the awakening of the target vehicle 10a does not represent a security breach.

[0066] Also, during the cooperation step E2, the target vehicle 10a also collects information on any approaching pedestrian by means of the first detection device 12a and merges it with the information transmitted by the neighboring vehicle 10b, to promote the detection and tracking of the approaching pedestrian.

[0067] It will be noted that the communication between the target vehicle 10a and the neighboring vehicle 10b is maintained until the tracking of the pedestrian 14 is entirely carried out by the target vehicle 10a.

[0068] For example, communication is maintained during an overlap period of a predetermined duration, during which the pedestrian 14 is followed by both vehicles 10a, 10b at the same time.

[0069] Finally, the method according to the invention comprises a step of controlling access E3 to the during which the target vehicle 10a unlocks its doors if a pedestrian is identified as an authorized user, via the keyless access system 26.

[0070] Thus, the present invention makes it possible to widen the detection zone of approaching pedestrians and makes it possible to create a map illustrating the intention of the detected pedestrians, in order to anticipate the detection and tracking of approaching pedestrians, pedestrians who possibly include a user authorized to unlock the target vehicle 10a.

[0071] Naturally, the invention is described in the above by way of example. It is understood that those skilled in the art are able to carry out different variant embodiments of the invention without departing from the scope of the invention.

[0072] For example, the target vehicle 10a can cooperate with several neighboring vehicles simultaneously.

[0073] Similarly, the neighboring vehicle 10b and / or the target vehicle 10a can follow several approaching pedestrians simultaneously.

Claims

Claims

1. Collaborative method for detecting a pedestrian (14) approaching a target vehicle (10a), said target vehicle (10a) comprising: • a first detection device (12a) which is capable of identifying a pedestrian approaching said target vehicle (10a), and • a first communication device (24a) adapted to exchange information with a neighboring vehicle (10b), the method being characterized in that it comprises at least: • a probing step (El) during which the target vehicle (10a) probes its environment to detect the presence of at least one neighboring vehicle (10b), and if a neighboring vehicle (10b) is detected then the target vehicle (10a) enters into communication with said neighboring vehicle (10b) to allow an exchange of information,and • a cooperation step (E2) during which the neighboring vehicle (10b) collects information on any approaching pedestrian (14) and transmits said information to the target vehicle (10a) to enable the target vehicle (10a) to anticipate the detection and tracking of said approaching pedestrian (14).,

2. Collaborative method for detecting an approaching pedestrian (14) according to claim 1, characterized in that the neighboring vehicle (10b) is a vehicle which at least partially obstructs the detection field of the first detection device (12a) of the target vehicle (10a).

3. Collaborative method for detecting an approaching pedestrian (14) according to any one of the preceding claims, characterized in that the neighboring vehicle (10b) is equipped with: • a second detection device (12b) which is capable of providing information on an approaching pedestrian (14), and • a second communication device (24b) adapted to exchange information with the first communication device (24a) of the target vehicle (10a), during the cooperation step (E2).

4. Collaborative method for detecting an approaching pedestrian (14) according to any one of the preceding claims, characterized in that that the information transmitted by the neighboring vehicle (10b) to the target vehicle (10a) during the cooperation step (E2) includes at least information relating to the position and movement of the detected pedestrian (14).

5. Collaborative method for detecting an approaching pedestrian (14) according to any one of the preceding claims, characterized in that the first detection device (12a) comprises a plurality of cameras (16a, 18a, 20a, 22a) which are arranged so as to be able to detect a pedestrian (14) approaching said target vehicle (10a).

6. Collaborative method for detecting an approaching pedestrian (14) according to any one of the preceding claims, characterized in that during the cooperation step (E2), the target vehicle (10a) collects information on any approaching pedestrian (14) by means of the first detection device (12a) and merges it with the information transmitted by the neighboring vehicle (10b), to promote the detection and tracking of said pedestrian (14).

7. Collaborative method for detecting an approaching pedestrian (14) according to any one of the preceding claims, characterized in that the first detection device (12a) and the second detection device (12b) are each capable of switching from a standby mode which makes it possible to detect an approaching pedestrian, to an active mode which makes it possible to track and identify said detected pedestrian, the standby mode making it possible to limit the energy consumption of the associated detection device, and in that, if the neighboring vehicle (12b) detects an approaching pedestrian during the cooperation step (E2), then the neighboring vehicle (10b) informs the target vehicle (10a) and the first detection device (12a) of the target vehicle (10a) switches from standby mode to active mode.

8. Collaborative method for detecting an approaching pedestrian (14) according to any one of the preceding claims, characterized in that it comprises an access control step (E3) during which the target vehicle (10a) unlocks its doors if a pedestrian is identified as being an authorized user.

9. Motor vehicle which comprises at least one central unit (28) duly programmed to implement the method according to any one of claims 1 to 8.

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