Method and device for controlling a vehicle image projection system based on traffic event detection

Abstract

The present invention relates to a method and device for controlling an image projection system of a vehicle equipped with at least one ADAS system. The method controls (62) the image projection system to display, in augmented reality, on a slat of the vehicle, a first set of images representing the activation of at least one function implemented by said at least one activated ADAS system, and controls (65) the image projection system to display a second set of images in augmented reality on a windshield of the vehicle, the images of said second set of images being representative of at least one alert determined following the detection of a traffic event associated with said vehicle. Figure 11 for the abstract

Description

Title of the invention: Method and device for controlling a vehicle image projection system based on traffic event detection technical field

[0001] The present invention relates to methods and devices for controlling an image projection system for a vehicle, particularly but not exclusively a motor vehicle. The present invention relates in particular to a method and device for controlling an image projection system representing augmented reality graphic objects related to a vehicle driver assistance system. Technological background

[0002] Contemporary vehicles are equipped with functions or systems or driver assistance systems, called AD AS (from the English "Advanced Driver-Assistance System" or in French "Système d'aide à la conduite avancé").

[0003] Some of these ADAS systems assist the driver by automatically controlling the vehicle's speed or trajectory, for example. Speed ​​is controlled via a speed regulation system, for example, an ACC (Adaptive Cruise Control) system, based on a set speed and a set following distance. The vehicle's trajectory is controlled, for example, via a lane-keeping system or a semi-automatic lane-change assist system.Maintaining a vehicle in its lane is achieved through a lane keeping assist system (also called a lane position assist system), known for example as LPA (Lane Position Assist), LKA (Lane Keeping Assist), or LCA (Lane Centering Assist). Such a system keeps the vehicle within its lane, for example, in the center of the lane, by recognizing the lane markings and setting a torque threshold that the driver must exceed to change the vehicle's trajectory and override the LKA system.Semi-automatic lane change assistance is provided by a semi-automatic lane change system, known as a SALC system (from the English "Semi-Automatic Lane Change"). The primary function of such a SALC system is to assist the driver of a vehicle when the driver... The driver wishes to change lanes. Upon detecting the activation of the turn signals on one side of the vehicle to indicate the intention to change lanes from the current lane to the target lane on the side where the turn signals were activated, the SALC system initiates the lane change after performing a few checks. There are also ADAS systems that detect and recognize traffic signs, known as TSR (Traffic Sign Recognition) systems. These systems use onboard cameras to capture images of the front of the vehicle. These images are analyzed by an onboard computer to detect pictograms corresponding to signs defined by the highway code. The TSR system can then transmit data that can influence the operation of other ADAS systems.For example, if a speed limit sign or a stop sign is detected, the data emitted by the TSR system can instruct the ACC system to reduce the set speed. There are also ADAS systems that detect whether the driver's hands are on the steering wheel. These hand-on-steering-wheel detection systems are called HOD systems (Head-Off Detection Sensing System).

[0004] The use of these AD AS systems may be accompanied by a display of virtual reality images that represent instructions or information. These images are superimposed on the reality of the road situation the driver is experiencing, but they are displayed without any real connection between them. The driver, seeing this information as icons, pictograms, or other graphic objects, cannot truly link what is displayed to the actual road situation they are experiencing. Summary of the present invention

[0005] One object of the present invention is to solve at least one of the problems of the technological background described above.

[0006] Another object of the present invention is to improve the driving assistance of a vehicle.

[0007] Another object of the present invention is to improve the driver's understanding of virtual reality images that are superimposed on the reality of a road scene.

[0008] Another object of the present invention is that this driver can make the link between these displayed virtual reality images and the reality of a road scene so that this driver is alerted to an imminent danger or so that he anticipates an action to be carried out on a component of the vehicle.

[0009] Another object of the present invention is to improve road safety.

[0010] According to a first aspect, the present invention relates to a method for controlling an image projection system of a vehicle, said vehicle carrying at least one driver assistance system, referred to as ADAS system, said method being implemented by at least one processor and comprising the following steps: - receipt of initial data representative of the activation of said at least one AD AS system; - control of said image projection system to display a first set of augmented reality images on a strip of transparent material positioned in a field of vision corresponding to a driving position of said vehicle, the images of said first set of images being representative of a first set of graphic objects comprising at least one graphic object representative of an activation of at least one function implemented by said at least one activated AD AS system; - receipt of second representative data indicating the detection of a traffic event associated with said vehicle; - determination of at least one alert relating to at least one function implemented by said at least one AD AS system activated according to said detected traffic event; - control of said image projection system to display a second set of augmented reality images on a windshield of the vehicle, the images of said second set of images being representative of a second set of graphic objects comprising at least one graphic object representative of said at least one determined alert.

[0011] The method controls an onboard image projection system of the vehicle to display, in virtual reality, a first set of graphic objects on a transparent material strip positioned in a field of vision corresponding to a driving position of said vehicle. This first set of graphic objects indicates to the vehicle's driver that at least one ADAS system is activated. When a traffic event associated with said vehicle is detected, the method generates one (or more) alerts relating to at least one function implemented by said at least one activated ADAS system. The method then controls the image projection system to display, in virtual reality, a second set of graphic objects on a windshield of the vehicle. The driver is thus alerted to a change in the behavior of an activated ADAS system or that they must perform an action on a vehicle component.For example, if the TSR system is activated, the first set of graphic objects may include an icon displayed on the slat. When a stop sign is detected (a traffic event associated with the vehicle), the process controls the projection system to display a representative image of a stop sign on the vehicle's windshield, for example, on the side of the road where the sign was detected. The driver is thus alerted to the approach of a stop sign and warned that... will have to stop. Through this example, we understand that the process allows information to be displayed according to the context in which the vehicle is traveling, which allows the driver to easily understand whether this information relates to ADAS system activation information or are alerts that require their attention.

[0012] The process thus makes it possible to increase road safety.

[0013] According to one variant, said first set of graphic objects is displayed according to a first degree of opacity and the second set of graphic objects is displayed according to a second degree of opacity.

[0014] According to one variant, the method further includes a first step of adjusting the first and second degrees of opacity following the receipt of said first data so that only the first set of images is visible.

[0015] According to one variant, the method further includes a second step of adjusting the first and second degrees of opacity following the receipt of said second data so that only the second set of images is visible.

[0016] According to one variant, the method further includes a step of receiving third data representative of the end of detection of said traffic event and a third step of adjusting the first and second degrees of opacity following the reception of said third data, so that only the first set of images is visible.

[0017] According to one variant, said traffic event belongs to a set of traffic events comprising: - the presence of another vehicle in front of said vehicle according to the direction of travel of said vehicle; - a change in the lateral position of said vehicle in a regular traffic lane; - a change of lane from the current lane; and - overtaking another vehicle; - a detection of the absence of hands on the vehicle's steering wheel; - detection and recognition of a road sign; and - detection of a turn.

[0018] According to one variant, said at least one ADAS system belongs to a set of ADAS systems comprising: - an adaptive speed control system, known as ACC; and - a lane keeping assistance system, known as the LKA system; - a road sign recognition system, called the Traffic Sign Recognition system; - a hand detection system on a vehicle's steering wheel; - a road sign detection and recognition system.

[0019] According to one variant, said first set of graphic objects includes at least one of the following elements: - an icon; - a pictogram; - a text box. - a set of horizontal segments; - straight or curved lines; - an arrow.

[0020] According to a second aspect, the present invention relates to a control device for a vehicle image projection system, the device comprising a memory associated with a processor configured for the implementation of the steps of the process according to the first aspect of the present invention.

[0021] According to a third aspect, the present invention relates to a vehicle, for example of the automobile type, comprising a device as described above according to the second aspect of the present invention.

[0022] According to a fourth aspect, the present invention relates to a computer program which includes instructions adapted for carrying out the steps of the process according to the first aspect of the present invention, in particular when the computer program is executed by at least one processor.

[0023] Such a computer program may use any programming language, and be in the form of source code, object code, or an intermediate form between source code and object code, such as in a partially compiled form, or in any other desirable form.

[0024] According to a fifth aspect, the present invention relates to a computer-readable recording medium on which is recorded a computer program comprising instructions for carrying out the steps of the process according to the first aspect of the present invention.

[0025] On the one hand, the recording medium can be any entity or device capable of storing the program. For example, the medium can include a storage means, such as a ROM, a CD-ROM or a microelectronic circuit-type ROM, or a magnetic recording means or a hard disk drive.

[0026] On the other hand, this recording medium can also be a transmissible medium such as an electrical or optical signal, such a signal being able to be transmitted via an electrical or optical cable, by conventional or radio frequency, by self-directing laser beam, or by other means. The computer program according to the present invention can, in particular, be downloaded from an Internet-type network.

[0027] Alternatively, the recording medium may be an integrated circuit in which the computer program is incorporated, the integrated circuit being adapted to execute or to be used in the execution of the process in question. Brief description of the figures

[0028] Other features and advantages of the present invention will become apparent from the description of the particular and non-limiting embodiments of the present invention below, with reference to the attached Figures 1 to 11, in which:

[0029] [Fig-1] schematically illustrates part of a vehicle's passenger compartment, according to a example of a particular embodiment of the present invention;

[0030] [Fig.2] illustrates an example of displaying images representative of graphic objects in the case of an ACC system according to a particular embodiment of the present invention.

[0031] [Fig.3] illustrates an example of displaying images representative of graphic objects in the case of an ACC system according to a particular embodiment of the present invention.

[0032] [Fig.4] illustrates an example of displaying images representative of graphic objects in the case of a TSR system according to a particular embodiment of the present invention.

[0033] [Fig.5] illustrates an example of displaying images representative of graphic objects in the case of a TSR system according to a particular embodiment of the present invention.

[0034] [Fig.6] illustrates an example of displaying images representative of graphic objects in the case of an LKA system according to a particular embodiment of the present invention.

[0035] [Fig.7] illustrates an example of displaying images representative of graphic objects in the case of an LKA system according to a particular embodiment of the present invention.

[0036] [Fig.8] illustrates an example of displaying images representative of graphic objects in the case of a HOD system according to a particular embodiment of the present invention.

[0037] [Fig.9] illustrates an example of displaying images representative of graphic objects in the case of a HOD system according to a particular embodiment of the present invention.

[0038] [Fig. 10] illustrates a device configured to control an image projection system of the vehicle of [Fig.1], according to a particular and non-limiting embodiment of the present invention.

[0039] [Fig. 11] illustrates a flowchart of the different stages of a method for controlling an image projection system of the vehicle of [Fig.1], according to a particular and non-limiting embodiment of the present invention. Description of examples of achievements

[0040] A method and a control device for a vehicle image projection system will now be described in what follows with joint reference to Figures 1 to 11. The same elements are identified with the same reference signs throughout the following description.

[0041] The terms "first," "second" (or "firsts," "seconds"), etc., are used in this document by arbitrary convention to allow for the identification and distinction of different elements (such as operations, means, etc.) implemented in the embodiments described below. Such elements may be distinct or correspond to a single element, depending on the embodiment.

[0042] Fig. 1 schematically illustrates part of the passenger compartment of a vehicle 10, according to a particular and non-limiting embodiment of the present invention.

[0043] Vehicle 10 corresponds, for example, to a vehicle with an internal combustion engine, with electric motor(s), or even a hybrid vehicle with an internal combustion engine and one or more electric motors. Vehicle 10 thus corresponds, for example, to a land vehicle, for example a car, a truck, a bus.

[0044] According to a particular embodiment, the vehicle 10 carries one or more embedded systems, each controlled by one or more computers, for example, a navigation system, an ACC system, and / or an LKA system, and / or a TSR system, and / or a HOD system. These computers, together with the IVI computer, form, for example, a multiplexed architecture for providing various services useful for the proper functioning of the vehicle and for assisting the driver and / or passengers in controlling the vehicle 10 via the control of the embedded system(s) in the vehicle 10.Computers communicate and exchange data with each other via one or more computer buses, for example a CAN (Controller Area Network), CAN FD (Controller Area Network Flexible Data-Rate), FlexRay (according to ISO 17458), LIN (Local Interconnect Network), or Ethernet (according to ISO / IEC 802-3) type communication bus.

[0045] The navigation system is also called a navigation and geolocation system, or GNSS system (Geolocation and Navigation by a Satellite System), for example a GPS type system (from the English "Global Positioning System" or in French "Système de géo-positionnement par satellites") or Galileo, which system is configured to provide the vehicle 10 with data representative of its geographical position at any time, for example in the form of GPS coordinates (latitude and longitude) and to calculate or determine a route for the vehicle so that it reaches a destination address or position based on a starting address or position (which starting position may correspond to a current geographical position of the vehicle 10 determined automatically by the GNSS system).

[0046] The primary function of the ACC (Adaptive Cruise Control) system is to automatically and adaptively regulate the speed of vehicle 10 according to the environment in which vehicle 10 is traveling, particularly in relation to another vehicle preceding vehicle 10 in its lane. Such an ACC system determines one or more acceleration commands based on a speed command and information relating to the vehicle's environment. The acceleration command(s) are designed to regulate the vehicle's speed adaptively, that is, by taking into account the vehicle's environment and, in particular, the distance, referred to as the inter-vehicle distance (IVD, or an equivalent parameter called IIV, corresponding to the inter-vehicle time), between vehicle 10 and the other vehicle traveling in front of vehicle 10, depending on the direction of travel of vehicle 10.

[0047] When the ACC system is activated, its objective is to achieve a target acceleration, called Asetpoint(t), which varies over time 't' and which allows the system to maintain or reach a set speed and / or maintain a predetermined safety distance from the other vehicle ahead of vehicle 10. Data obtained from one or more sensors on board vehicle 10 allows the ACC system of vehicle 10 to establish a target acceleration value Acibie(t) over time 't'. The target acceleration Acibie(t) becomes an acceleration setpoint Asetpoint(t).The ACC system or a computer of this system transmits for example the acceleration commands Aconsigne(t) that it has determined to the computer(s) supervising the operation of a powertrain of the vehicle 10, in particular so that the latter determine(s) the torque commands to be generated by the powertrain to respect the acceleration commands Aconsigne(t) and regulate the speed of the vehicle 10.

[0048] The sensor(s) of vehicle 10 correspond, for example, to one or more of the following sensors: - one or more millimeter-wave radars arranged on the vehicle 10, for example at the front, at the rear, on each front / rear corner of the vehicle; each radar is adapted to emit electromagnetic waves and to receive the echoes of these waves reflected by one or more objects (for example, the other vehicle located in front of vehicle 10), for the purpose of detecting obstacles and their distances from vehicle 10; and / or - one or more LIDAR(s) (from the English "Light Detection And Ranging", or "Detection and estimation of distance by light" in French), a LIDAR sensor corresponding to an optoelectronic system composed of a laser emitter device, a receiver device including a light collector (to collect the part of the light radiation emitted by the emitter and reflected by any object located in the path of the light rays emitted by the emitter) and a photodetector which transforms the collected light into an electrical signal; a LIDAR sensor thus makes it possible to detect the presence of objects (for example the other vehicle) located in the emitted light beam and to measure the distance between the sensor and each detected object; and / or - one or more cameras (associated or not with a depth sensor) for the acquisition of one or more images of the environment around the vehicle 10 located in the field of vision of the camera(s).

[0049] The active lane departure warning system (LDWS) of vehicle 10 is configured to indicate to the driver of vehicle 10 when a lane marking line indicating the lateral boundary of a lane being used by vehicle 10 is unintentionally crossed, i.e., without prior activation of the turn signals to indicate the intention to change lanes and thus cross this lane marking line. Such a system is known to those skilled in the art and is not described in detail. The indication is given, for example, by generating vibrations in the driver's seat 15 on the side of the line that was unintentionally crossed.Such a system, in its active version (corresponding to the LKA system (Lane Keeping Assist)), also includes lane keeping assistance, meaning automatic trajectory control by an onboard system, through steering and / or braking actions, to guide and maintain the vehicle within its lane once an unintentional lane departure is detected. The detection of an unintentional lane departure is achieved using data from onboard sensors, such as cameras configured to capture images of the road passing in front of the vehicle, or infrared LEDs (associated with infrared detection sensors) positioned on the front bumper of the vehicle, facing the ground, which detect a lane departure by analyzing differences in infrared reflection on the road surface.Such AFIL and LKA systems are known to those skilled in the art, for example described in UNECE (United Nations Economic Commission for Europe) Regulation 130.

[0050] The TSR system uses on-board cameras of the vehicle 10 which capture images of the front of the vehicle 10. These images are then analyzed by a computer to detect if one of these images includes an object that represents a road sign and to generate information concerning the detected road sign.

[0051] The HOD system uses hand detectors on the steering wheel. These detectors are, for example, based on the capacity of a material which can vary depending on whether or not the driver places their hands on the steering wheel of the vehicle 10.

[0052] The vehicle 10 advantageously incorporates a display system comprising an image projection system configured to display a first set of images (or graphic content) on a slat 13 of a transparent material positioned in the field of vision associated with a driving position of the vehicle 10, and to display a second set of images (or graphic content) on a part of the windscreen 14 of the vehicle 10. Such a projection system includes, for example, a projector integrated into the dashboard 11 of the vehicle 10.Such a system for projecting images or graphic content corresponds, for example, to a so-called augmented reality (AR) system, such as a Head-Up Display (HUD) system, which allows the overlay of virtual graphic objects into the field of vision of the driver seated in the driver's seat 12 in a driving position of the vehicle 10, for example, onto the windshield 14 of the vehicle 10, so as to superimpose the virtual graphic objects onto a real road scene. The driving position of the vehicle 10 corresponds, for example, to the position of a driver seated in the driver's seat 12 and looking straight ahead, that is to say, in the direction of travel of the vehicle 10.

[0053] The projection of the first and second image sets (or graphic contents) is for example controlled by one or more computers of the vehicle's embedded system 10, for example by the computer of the infotainment system, called the IVI computer (from the English "In-Vehicle Infotainment" or in French "Infodivertissement étoilé") of the vehicle 10.

[0054] A control process for the image projection system of the vehicle 10 is advantageously implemented by one or more processors of the display system, for example by one or more processors of one or more computers, for example the computer of the IVI system.

[0055] The different operations of the process are described below with reference to figures 2 to 9, according to different examples of implementation of the process.

[0056] Figures 2 to 9 each illustrate the result of displaying information to the driver of the vehicle 10 in relation to one or more functions implemented by one or more AD / AS systems such as the ACC system (figures 2 to 3) and / or the TSR system (figures 4 and 5) and / or the LKA system (figures 6 and 7) and / or the HOD system (figures 8 and 9).

[0057] In a first operation of the process, first representative data of activation of one or more ADAS systems are received by the computer implementing the process at each activation of an ADAS system, for example at each activation of the ACC system and / or the LKA system and / or the TSR system and / or the HOD system.

[0058] This initial data is received from the control unit controlling the activation of the relevant ADAS system, for example the control unit controlling the ACC system or the control unit controlling the LKA system or the control unit controlling the TSR system or the control unit controlling the HOD system via one or more data buses linking these control units to the control unit implementing the process.

[0059] Activation of an ADAS system is obtained by a command from the driver of the vehicle 10 via a control device or an HMI (Human-Machine Interface) provided for this purpose, for example by pressing a physical button or a touch button displayed on a touch screen on board the vehicle 10.

[0060] The first data are also representative of the deactivation of the ADAS system(s) following a previous activation via the control device(s) or HMI provided for this purpose.

[0061] In a second operation, the image projection system of the vehicle 10 is controlled to display a first set of augmented reality images on the slat 13, the images of said first set of images being representative of a first set of graphic objects comprising at least one graphic object representative of an activation of at least one function implemented by said at least one activated ADAS system.

[0062] In a third operation, second representative data for the detection of a traffic event associated with vehicle 10 are received.

[0063] This second data can be received from the computer controlling each ADAS system or from computers controlling the vehicle's 10 environmental perception sensors (for example radars, LIDAR and / or camera); and / or received from the vehicle's 10 navigation system (geographic data from maps) or from a receiver of a GPS-type geolocation system.

[0064] A traffic event corresponds for example to one of the following events, the list below not being exhaustive and being provided for illustrative purposes: - the presence of another vehicle in front of the vehicle according to a direction of travel of the vehicle 10, the presence of such a vehicle being detected from the data received from one or more environmental sensors of the vehicle 10 (radars, lidar and / or camera); - a change in the lateral position of the vehicle in a current traffic lane, such a driving deviation being detected from data received from one or more environmental sensors of the vehicle 10, for example a camera or infrared sensors detecting the lane marking lines and allowing the vehicle 10 to be positioned in relation to each of these lane marking lines; - a change of traffic lane from the current traffic lane, detected for example by crossing a lane marking line and / or the activation of vehicle indicators 10; - overtaking another vehicle, detected for example by data received from cameras, radars or lidar; - a detection of the absence of hands on the steering wheel of the vehicle 10; - detection and recognition of a road sign; and - detection of a turn.

[0065] A traffic event can also correspond to an adjustment of a parameter of an AD AS system (for example the setpoint DIV or the setpoint speed for the ACC system) via an HMI or a control device associated with the AD AS system, the parameter(s) being chosen by the driver of the vehicle 10.

[0066] In a fourth operation, at least one alert is determined based on said detected traffic event. Said at least one alert relates to at least one function implemented by said at least one activated ADAS system.

[0067] For example, an on-board vehicle memory stores associations between traffic events and AD AS system alerts.

[0068] In a fifth operation, the image projection system of vehicle 10 is controlled to display a second set of augmented reality images on the windshield 14 of vehicle 10, the images of said second set of images being representative of a second set of graphic objects comprising at least one graphic object representative of said at least one determined alert.

[0069] The image projection system of the vehicle 10 is configured to project the first set of images and the second set of images into the field of vision corresponding to a driving position of the vehicle 10. The driver can then be alerted to the detected traffic event and understand the alert which is displayed in the context of traffic and according to the activated AD AS systems.

[0070] According to one embodiment, the first set of graphic objects is displayed according to a first degree of opacity and the second set of graphic objects is displayed according to a second degree of opacity.

[0071] The degree of opacity of a graphic object corresponds to a property of the displayed graphic object, namely the property of allowing a greater or lesser amount of the light it receives to pass through. The higher the opacity, the greater the amount of light The light originating from outside the vehicle, passing through the graphic object and reaching the driver's eyes is weak. Opacity is defined, for example, as the ratio of incident to transmitted light. The opacity of an element in an image of the graphic object (i.e., a pixel of the image) is defined by an integer value (e.g., between 0 and 255 when encoded on 8 bits) of the image's alpha channel. The alpha channel of a digital image corresponds to a component indicating the degree of transparency (or opacity) of each pixel in the image.

[0072] The degree of opacity of the set of graphic objects belongs, for example, to a set of opacity degrees comprising a first degree of opacity and a second degree of opacity, the first degree of opacity being greater than the second degree of opacity. The first degree of opacity is, for example, equal to 150, 175 or 200 (on a scale of 0 to 255) and the second degree of opacity is, for example, equal to 75, 100 or 125 respectively.

[0073] According to one embodiment, in a sixth operation, the first and second degrees of opacity are adjusted following the receipt of the first data so that only the first set of images is visible.

[0074] According to one embodiment, in a seventh operation, the first and second degrees of opacity are adjusted following the receipt of the second data so that only the second set of images is visible.

[0075] According to one embodiment, in an eighth operation, third data points are received, and the first and second opacity levels are adjusted following the receipt of said third data points so that only the first set of images is visible. Said third data points represent the end of detection of said traffic event associated with the vehicle.

[0076] According to one variant, said at least one AD AS system belongs to a set of AD AS systems comprising: - an adaptive speed control system, known as ACC; and - a lane keeping assistance system, known as the LKA system; - a road sign recognition system, called the Traffic Sign Recognition system; - a hand detection system on a vehicle's steering wheel; - a road sign detection and recognition system.

[0077] According to one variant, said first set of graphic objects comprises at least one of the following elements: - an icon; - a pictogram; - a text box. - a set of horizontal segments; - straight or curved lines; - an arrow.

[0078] A projection system control for displaying an augmented reality image representing at least one graphic object includes rendering the graphic object, such rendering corresponding to a set of operations performed by one or more processors on the pixels of the image of the graphic object to be displayed. For example, rendering consists of associating a set of pixels in an image with pixel data (for example, color data expressed in an RGB (Red, Green, Blue) color space) associated with the graphic object.

[0079] The display control of a graphic object thus includes the transmission of control signals to the image projection system or to a display device (or screen) of the vehicle 10 to modify the values ​​associated with the pixels associated with the graphic object.

[0080] Displaying a set of graphic objects in augmented reality amounts to displaying one or more virtual graphic objects (for example, computer-generated) superimposed on the real world visible to the driver of the vehicle 10 through the slat 13 or through the windshield 14. The set of graphic objects is displayed with a degree of opacity (for example, semi-transparent) so as to be both visible to the driver of the vehicle 10 and so as not to completely mask or obscure the real road scene located behind this second set of graphic objects from the point of view of the driver of the vehicle 10.

[0081] Each graphic object in the first set of graphic objects displayed is representative of an activation of a function implemented by the activated AD AS system.

[0082] A function implemented by an activated AD AS system can be represented, for example, using one or more pictograms, icons or text areas.

[0083] Each graphic object in the second set of displayed graphic objects represents an alert relating to at least one function implemented by said at least one activated AD AS system.

[0084] Figures 2 and 3 illustrate examples of implementation of the process of controlling the display of representative images of graphic objects in the case of an ACC system according to a particular embodiment of the present invention.

[0085] In this example, a real traffic lane 21 is represented here by a grey area 21. This traffic lane 21 is seen by the driver of the vehicle 10 through the windscreen 14 of the vehicle 10.

[0086] The first set comprises three graphic objects 22 to 24 which can be displayed to represent the activation of the ACC system. The graphic objects 22 to 24 can be pictogram icons or text boxes.

[0087] Graphic object 22 represents the activation of the ACC system, graphic object 23 represents a set speed and graphic object 24 represents the current speed of the vehicle 10.

[0088] Figure 3 illustrates the case where a vehicle in front of vehicle 10 has just been detected by at least one on-board sensor of vehicle 10. The process then receives second data which represents this traffic event relating to vehicle 10. The process then determines that this detected traffic event is an alert for the ACC system and controls the display of the second set of images representing the second set of graphic objects.

[0089] According to the example, the second set comprises a first graphic object representing a setpoint inter-vehicle distance (IVD). This first graphic object is illustrated, for example, in [Fig. 2] with reference numeral 31. This first graphic object 31 corresponds, for example, to a set of parallel horizontal segments displayed superimposed on the traffic lane 21 on which the vehicle 10 is traveling, the length of each segment decreasing as the distance from the driver's viewpoint increases. The number of parallel segments is, for example, a function of the IDD selected by the driver: a minimum IDD is represented by a single segment, a maximum IDD by three segments, and an intermediate IDD between the minimum and maximum IDD by two segments.

[0090] Of course, the number of segments is not limited to 3 and extends to other numbers, for example 2, 4, 5 or more. Similarly, the graphical representation of the first graphical object 31 is not limited to parallel segments.

[0091] Other graphic objects representing other functions implemented by the ACC system are also displayed, for example a graphic object representing the measured distance between vehicle 10 and the other vehicle in front of it, with an alert when this distance is less than a threshold.

[0092] The second graphic set also includes a second graphic object 32 represented by straight lines which is superimposed on the edge of the lane or traffic lane 21.

[0093] According to one variant, the graphic object 22 is no longer displayed or according to another variant is displayed with a high degree of opacity making it almost invisible.

[0094] According to one variant, when the vehicle is no longer detected in front of vehicle 10, third data can be received by the process which then controls the projection system to display the first set of graphic objects of the [Fig. 1]. The second set of graphic objects is no longer displayed or its degree of opacity is such that it is no longer visible.

[0095] Figures 4 and 5 illustrate examples of implementation of the process of controlling the display of representative images of graphic objects in the case of a TSR system according to a particular embodiment of the present invention.

[0096] In this example, an actual traffic lane is represented here by a grey area 21. This traffic lane 21 is seen by the driver of the vehicle 10 through the windscreen 14 of the vehicle 10.

[0097] The first assembly includes a graphic object 26 that can be displayed to represent the activation of the TSR systems. The object 26 can be an icon, pictogram, or text box. When a STOP sign 41, for example, is detected, the graphic object 26 can represent this event (the graphic object 26 represents a STOP sign in [Fig. 4]).

[0098] Figure 5 illustrates the case where vehicle 10 is located at a distance from the detected STOP sign that is less than a threshold value. The process then receives second data representing this traffic event related to vehicle 10. The process then determines that this detected traffic event is an alert for the TSR system and controls the display of the second set of images representing the second set of graphic objects.

[0099] According to the example, the second set includes a graphic object 51, for example an icon, pictogram or text area, representing a STOP sign displayed superimposed on the traffic lane 21, preferably on the side of the traffic lane 21 where the STOP sign was detected.

[0100] According to one variant, the visual appearance of the graphic object 51 can vary depending on the distance between the vehicle 10 and the STOP sign 4L. For example, the luminous intensity of the graphic object 51 increases inversely proportionally to the distance between the vehicle 10 and the STOP sign.

[0101] Of course, the graphic representation of a detected panel is not limited to an icon, pictogram or text box and any other graphic object or composition of graphic objects may be used.

[0102] According to one variant, the graphic object 26 is no longer displayed or according to another variant is displayed with a high degree of opacity making it almost invisible.

[0103] According to one variant, when the STOP sign is no longer detected, third data can be received by the process which then controls the image projection system to display the first set of graphic objects in [Fig. 4]. The second set of graphic objects is no longer displayed or its degree of opacity is such that it is no longer visible.

[0104] Figures 6 and 7 illustrate examples of implementation of the process of controlling the display of representative images of graphic objects in the case of an LKA system according to a particular embodiment of the present invention.

[0105] In this example, a real traffic lane 21 separated by a central dividing line is represented here by a shaded area 21 bordered by two straight lines and a central broken line. This traffic lane 21 is seen by the driver of vehicle 10 through the windshield 14 of vehicle 10.

[0106] The first assembly includes a graphic object 25 which can be displayed to represent the activation of the LKA system. The graphic object 25 can be an icon, pictogram or text box.

[0107] Figure 7 illustrates that a curvature of the centerline of lane 21 is detected, indicating an approaching curve. The process then receives second data representing this traffic event related to vehicle 10. The process then determines that this detected traffic event is an alert for the LKA system and controls the display of the second set of images representing the second set of graphic objects.

[0108] According to the example, the second assembly comprises a first graphic object 71 representing road marking lines that laterally delimit the traffic lane 21 on which the vehicle 10 travels, and a broken line that divides the traffic lane 21 into two lanes. This first graphic object 71 is illustrated, for example, in [Fig. 7] by continuous curved lines in thick black and by a broken curved line in thick black. These curved lines overlap the lateral limits of the traffic lane 21 to delineate its left and right lateral limits and overlap a portion of the centerline of the traffic lane 21.

[0109] The graphic representation of this first graphic object 71 varies for example when the vehicle 10 is in the center of a line (fixed display of the first graphic object) and when the vehicle 10 approaches or crosses a lateral limit or the center line (the first graphic object associated with this lateral limit then flashes for example).

[0110] The second assembly also includes a second graphic object 72 representing the close turn. This second graphic object 72 may, for example, represent a road marking line superimposed on part of the dividing line between the two lanes of traffic lane 21 and an arrow indicating the direction of the close turn.

[0111] The graphic representation of this second graphic object 72 can vary as the turn approaches, for example becoming brighter and brighter as the vehicle 10 gets closer to the turn.

[0112] Of course, the graphic objects of the second set of graphic objects are not limited to lines and arrows but extend to any type of graphic object indicating a turn near vehicle 10.

[0113] According to one variant, the graphic object 26 is no longer displayed or according to another variant is displayed with a high degree of opacity making it almost invisible.

[0114] Figures 8 and 9 illustrate examples of implementation of the process of controlling the display of representative images of graphic objects in the case of a HOD system according to a particular embodiment of the present invention.

[0115] In this example, a real traffic lane 21 is represented here by a grey area 21. This traffic lane 21 is seen by the driver of the vehicle 10 through the windscreen 14 of the vehicle 10.

[0116] The first assembly includes a graphic object 27 that can be displayed to represent the activation of the HOD system. The graphic object 27 can be an icon, pictogram, or text box.

[0117] Figure 9 illustrates the case where the driver of vehicle 10 has not placed their hands on the steering wheel of vehicle 10 for a period exceeding a threshold. The process then receives second data representing this traffic event related to vehicle 10. The process then determines that this detected traffic event is an alert for the HOD system and controls the display of the second set of images representing the second set of graphic objects.

[0118] According to the example, the second set includes a first graphic object 91, for example the same as the graphic object 27.

[0119] Of course, the graphic objects of the second set of graphic objects are not limited to icons or pictograms but extend to any type of graphic object indicating that it has been detected that the driver has not placed his hands on the steering wheel for a period exceeding a threshold value.

[0120] According to one variant, the graphic object 27 is no longer displayed or according to another variant is displayed with a high degree of opacity making it almost invisible.

[0121] Figure 10 schematically illustrates a device 5 configured for controlling an image projection system of a vehicle, for example, the vehicle 10, according to particular and non-limiting embodiments of the present invention. The device 5 corresponds, for example, to a device embedded in the vehicle 10, for example, a computer. The device 5 is further configured, for example, to control each device forming the display system of the vehicle 10, for example, the projection system and each screen or display device of the vehicle 10.

[0122] Device 5 is, for example, configured to carry out the operations described opposite Figures 1 to 9 and / or the steps of the process described opposite [Fig. 11]. Examples of such a device 5 include, but are not limited to, a Embedded electronic equipment such as a vehicle's on-board computer, an electronic control unit such as an ECU (Electronic Control Unit), a smartphone, a tablet, or a laptop computer. The elements of device 5, individually or in combination, can be integrated into a single integrated circuit, into several integrated circuits, and / or into discrete components. Device 5 can be implemented as electronic circuits, software (or computer) modules, or a combination of electronic circuits and software modules.

[0123] The device 5 comprises one (or more) processor(s) 51 configured to execute instructions for carrying out the steps of the process and / or for executing instructions from the software embedded in the device 5. The processor 51 may include integrated memory, an input / output interface, and various circuits known to those skilled in the art. The device 5 further comprises at least one memory 52, for example, volatile and / or non-volatile memory, and / or includes a memory storage device that may include volatile and / or non-volatile memory, such as EEPROM, ROM, PROM, RAM, DRAM, SRAM, flash, magnetic disk, or optical disk.

[0124] The computer code of the embedded software(s) including the instructions to be loaded and executed by the processor is for example stored on memory 52.

[0125] According to various particular and non-limiting embodiments, the device 5 is coupled in communication with other similar devices or systems and / or with communication devices, for example a TCU (Telematic Control Unit), for example via a communication bus or through dedicated input / output ports.

[0126] According to a particular and non-limiting embodiment, the device 5 includes a block 54 of interface elements for communicating with external devices. The interface elements of the block 54 include one or more of the following interfaces: - radio frequency RF interface, for example of the Wi-Fi® type (according to IEEE 802.11), for example in the 2.4 or 5 GHz frequency bands, or of the Bluetooth® type (according to IEEE 802.15.1), in the 2.4 GHz frequency band, or of the Sigfox type using UBN (Ultra Narrow Band) radio technology, or LoRa in the 868 MHz frequency band, LTE (Long-Term Evolution), LTE-Advanced; - USB interface (from the English "Universal Serial Bus" or "Universal Serial Bus" in French); - HDMI interface (from the English "High Definition Multimedia Interface", or "High Definition Multimedia Interface" in French); - LIN interface (from the English "Local Interconnect Network", or in French "Réseau interconnecté local").

[0127] According to another particular and non-limiting embodiment, the device 5 includes a communication interface 54 which enables communication with other devices (such as other computers in the embedded system) via a communication channel 540. The communication interface 54 corresponds, for example, to a transmitter configured to transmit and receive information and / or data via the communication channel 540. The communication interface 54 corresponds, for example, to a wired network of the CAN (Controller Area Network), CAN FD (Controller Area Network Flexible Data-Rate), FlexRay (standardized by ISO 17458) or Ethernet (standardized by ISO / IEC 802-3) type.

[0128] According to a particular and non-limiting embodiment, the device 5 can provide output signals to one or more external devices, such as a display screen 550, touch or not, one or more loudspeakers 560 and / or other peripherals 570 (projection system) via output interfaces 55, 56 and 57 respectively. According to a variant, one or more of the external devices is integrated into the device 5.

[0129] Figure 11 illustrates a flowchart of the various steps in a method for controlling an image projection system of a vehicle, for example, vehicle 10, according to a particular and non-limiting embodiment of the present invention. The method is implemented, for example, by a device embedded in the vehicle 10 or by the device 5 of Figure 10, in particular by one or more processors of such a device 5.

[0130] In a first step 61, initial representative activation data of one or more AD AS systems are received by the computer implementing the process at each activation of an AD AS system, for example at each activation of the ACC system and / or the LKA system and / or the TSR system and / or the HOD system.

[0131] In a second operation, the image projection system of the vehicle 10 is controlled to display a first set of augmented reality images on the slat 13, the images of said first set of images being representative of a first set of graphic objects comprising at least one graphic object representative of an activation of at least one function implemented by said at least one activated AD AS system.

[0132] In a third operation, second representative data for the detection of a traffic event associated with vehicle 10 are received.

[0133] In a fourth operation, at least one alert is determined based on said detected traffic event. Said at least one alert relates to at least one function implemented by said at least one activated ADAS system.

[0134] In a fifth operation, the image projection system of vehicle 10 is controlled to display a second set of augmented reality images on the windshield 14 of vehicle 10, the images of said second set of images being representative of a second set of graphic objects comprising at least one graphic object representative of said at least one determined alert.

[0135] According to one variant, in a sixth operation, the first and second degrees of opacity are adjusted following the receipt of the first data so that only the first set of images is visible.

[0136] According to one variant, in a seventh operation, the first and second degrees of opacity are adjusted following the receipt of the second data so that only the second set of images is visible.

[0137] According to one variant, in an eighth operation, third data points are received, and the first and second opacity levels are adjusted following the receipt of said third data points so that only the first set of images is visible. Said third data points represent the end of detection of said traffic event associated with the vehicle.

[0138] According to one variant, the variants and examples of the operations described in relation to one of Figures 1 to 9 apply to the steps of the process in [Fig. 11].

[0139] Of course, the present invention is not limited to the embodiments described above but extends to a method for controlling the projection of images (or graphic content) representing information relating to one or more ADAS systems of a vehicle, which would include secondary steps without departing from the scope of the present invention. The same would apply to a device configured for implementing such a method.

[0140] The present invention also relates to a vehicle, for example an automobile or more generally an autonomous land-powered vehicle, comprising the device 5 of [Fig. 10] or a display system comprising the device 5 of [Fig. 10] connected in communication to an image projection system.

Claims

Demands

1. Method for controlling an image projection system of a vehicle (10), said vehicle (10) carrying at least one driver assistance system, said ADAS system, said method being implemented by at least one processor and comprising the following steps: - receiving (61) first data representative of the activation of said at least one ADAS system; - controlling (62) said image projection system to display a first set of augmented reality images on a strip of transparent material positioned in a field of vision corresponding to a driving position of said vehicle, the images of said first set of images being representative of a first set of graphic objects comprising at least one graphic object representative of an activation of at least one function implemented by said at least one activated ADAS system;- receiving (63) second representative data for the detection of a traffic event associated with said vehicle; - determining (64) at least one alert relating to at least one function implemented by said at least one activated ADAS system based on said detected traffic event; - controlling said image projection system to display a second set of augmented reality images on a windshield of the vehicle, the images of said second set of images being representative of a second set of graphic objects comprising at least one graphic object representative of said at least one determined alert.

2. A method according to claim 1, wherein said first set of graphic objects is displayed according to a first degree of opacity and the second set of graphic objects is displayed according to a second degree of opacity.

3. Method according to claim 2, comprising a first step of adjusting the first and second degrees of opacity following the receipt of said first data so that only the first set of images is visible.

4. A method according to claim 3, comprising a second step of adjusting the first and second degrees of opacity following the reception of said second data so that only the second set of images is visible.

5. A method according to claim 4, further comprising a step of receiving third data representative of the end of detection of said traffic event and a third step of adjusting the first and second degrees of opacity following the receipt of said third data, so that only the first set of images is visible.

6. A method according to claim 5, wherein said traffic event belongs to a set of traffic events comprising: - the presence of another vehicle in front of said vehicle (10) in a direction of travel of said vehicle (10); - a change of lateral position of said vehicle (10) in a current traffic lane (21); - a change of traffic lane from the current traffic lane (21); and - an overtaking of another vehicle; - a detection of the absence of hands on the steering wheel of the vehicle; - a detection and recognition of a road sign; and - a detection of a turn.

7. A method according to any one of claims 1 to 6, wherein said at least one AD AS system belongs to a set of AD AS systems comprising: - an adaptive speed control system, referred to as ACC system; and - a lane keeping assist system, referred to as LKA system; - a traffic sign recognition system, referred to as Traffic Sign Recognition system; - a hand detection system on a vehicle steering wheel; - a traffic sign detection and recognition system.

8. A method according to claim 7, wherein said first set of graphic objects and / or said second set of graphic objects comprises at least one of the following: - an icon; - a pictogram; - a text box; - a set of horizontal segments; - straight or curved lines; - an arrow.

9. Device (5) for controlling an image projection system of a vehicle (10), said device (5) comprising a memory (52) associated with at least one processor (51) configured for carrying out the steps of the method according to any one of claims 1 to 8.

10. Vehicle (10) comprising the device (5) according to claim 9.

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