Safe, autonomous emergency stopping procedure for a vehicle and associated vehicle

Abstract

Autonomous Safe Emergency Stopping Method for a Vehicle and Associated Vehicle One aspect of the invention relates to an autonomous safe emergency stopping method for a vehicle (200) comprising the following steps: Detection (101) of an inability of a driver to drive the vehicle (200); After a regulatory delay (∆t) following the detection (101), activation (103) of an emergency stopping assistance function implemented on the vehicle (200); if the vehicle (200) is traveling on a given type of road from among a predefined set of road types, a step (1022) of activation, during the regulatory delay (∆t), of at least one safety function for controlling the speed or trajectory of the vehicle (200), implemented on the vehicle (200); and / or a step (1022') of disseminating a first alert informing of the driver's inability. Figure to be published with the abbreviation: Figure 2

Description

Title of the invention: Safe, autonomous emergency stopping method for a vehicle and associated vehicle. TECHNICAL FIELD OF THE INVENTION

[0001] The technical field of the invention is that of safety functions in vehicles, and more particularly that of emergency stopping functions in vehicles.

[0002] The present invention relates to a method for emergency stopping a vehicle and, in particular, a safe, autonomous emergency stopping method for a vehicle. The invention also relates to a vehicle and a computer program for implementing the method. TECHNOLOGICAL BACKGROUND OF THE INVENTION

[0003] The emergency stop assistance function or Risk Mitigation Function (RMF) is a feature that allows the driver, in the event of hands being released from the steering wheel, drowsiness or distraction for a certain period of time, to automatically stop the vehicle in its lane after a certain number of alerts and over a period that can extend over more than 30 seconds.

[0004] This function is intended in particular to make the vehicle safe if the driver experiences, for example, a medical emergency.

[0005] The current problem with this function is that the vehicle must wait a regulated period of at least 5 seconds between the moment the driver is detected as incapable of driving the vehicle and the moment the RMF function is activated, in order to prevent unintended activation of the function. This presents a risk to the driver, who is not in control of the vehicle during this regulated period.

[0006] There is therefore a need for a process enabling an autonomous emergency stop of a vehicle when its driver is unable to drive, which complies with regulations while limiting the risks for the driver. Summary of the invention

[0007] The invention offers a solution to the problems mentioned above, by allowing the autonomous emergency stopping of the vehicle in a regulatory manner and without endangering the driver.

[0008] A first aspect of the invention relates to a safe, autonomous emergency stopping method for a vehicle comprising the following steps: • Detection of a driver's inability to drive the vehicle; • After a regulatory delay following detection, activation of an emergency stop assistance function implemented on the vehicle; • If the vehicle is traveling on a specific type of road from a predefined set of road types, an activation step, within the regulatory timeframe, of at least one safety function for controlling the vehicle's speed or trajectory, implemented on the vehicle; and / or • a step of disseminating an initial alert informing of the driver's incapacity.

[0009] Thanks to the invention, a safety function for speed or trajectory control is automatically activated, or an alert is issued, during the regulatory delay before the emergency braking assistance function is activated. Thus, the risk of the vehicle colliding with another vehicle, for example, if the vehicle drifts into another lane, is reduced even before the emergency braking assistance function is activated, thereby preventing the driver from being endangered. Activation of the safety function is conditional upon the vehicle being driven on a specific type of road, for example, a road with undivided lanes, so as not to override the driver's intention to deactivate the safety functions.

[0010] In addition to the characteristics mentioned in the preceding paragraph, the process according to the invention may have one or more complementary characteristics from among the following, considered individually or according to all technically possible combinations.

[0011] According to one embodiment, activation of the emergency stop assistance function results in the implementation of the following sub-steps: • At least one driver alert sub-step; • In the absence of implementation of a condition for the driver to regain control during the alert sub-step, a sub-step of slowing the vehicle down until it comes to a stop; • a sub-step of keeping the vehicle stationary.

[0012] According to a sub-variant of the previous variant of the invention, the method according to the invention comprises a first alert sub-step and a second alert sub-step, an audible and / or visual signal being emitted during the first alert sub-step and the second alert sub-step.

[0013] According to a sub-variant embodiment of the previous variant embodiment compatible with the previous sub-variant embodiment, at least one vehicle speed or trajectory control function is implemented, and / or the brakes are activated, during the second warning sub-step.

[0014] According to a sub-embodiment of the preceding embodiment compatible with the preceding sub-embodiments, a second alert informing that the vehicle will make an emergency stop is broadcast during the alert sub-stage, a third alert informing that the emergency stop is in progress is broadcast during the slowing down sub-stage and a fourth alert informing that the vehicle is stopped is broadcast during the holding stopped sub-stage, the second, third and fourth alerts indicating the lane and / or kilometer at which the vehicle will be or is stopped.

[0015] According to an embodiment compatible with the previous embodiment, the method according to the invention includes a step of consulting a map which, for a set of roads in a given geographical area, includes the corresponding road type.

[0016] According to an embodiment compatible with the previous embodiments, the safety function is a lane following function and / or an emergency braking function.

[0017] Thus, the activation of the emergency braking function makes it possible to avoid a collision with another vehicle and / or the activation of the lane following function makes it possible to prevent the vehicle from drifting into another lane, during the regulatory period before activation of the emergency stop assistance function.

[0018] According to an embodiment compatible with previous embodiments, the predefined set of road types includes roads with non-separated lanes.

[0019] A second aspect of the invention relates to a vehicle comprising means for implementing the method according to the invention.

[0020] A third aspect of the invention relates to a computer program product comprising instructions which, when the program is executed by a computer, lead the latter to implement the steps of the process according to the invention.

[0021] The invention and its various applications will be better understood by reading the following description and examining the accompanying figures. BRIEF DESCRIPTION OF THE FIGURES

[0022] The figures are presented for illustrative purposes only and are in no way limiting of the invention. • The [Fig. 1] is a synoptic diagram illustrating the sequence of steps of a process according to the invention. • Fig. 2 shows a schematic representation of a vehicle on which an embodiment of the process according to the invention is applied, as a function of time. DETAILED DESCRIPTION

[0023] Unless otherwise specified, the same element appearing on different figures has a unique reference.

[0024] The invention relates to a method for bringing a vehicle to an emergency stop autonomously, that is to say without intervention by a driver of the vehicle.

[0025] The sequence of steps of process 100 is illustrated in [Fig.1] and their effects on vehicle 200 as a function of time are illustrated in [Fig.2].

[0026] A first step 101 of the process 100 consists of detecting an inability of the driver to drive the vehicle 200, for example following a medical episode of the driver.

[0027] Such an incapacity is detected, for example, if the hands are released from the steering wheel, or if drowsiness or distraction is detected in the driver for a certain period of time. The detection of drowsiness or distraction in the driver is, for example, carried out using a camera and artificial intelligence trained to identify certain signs in the driver, such as closed eyes, from images acquired by the camera.

[0028] In [Fig.2], the detection of the driver's incapacity is carried out at time tO.

[0029] A second step 1022, 1022' of the process 100 is carried out for a duration regulatory At following the detection carried out in the first step 101.

[0030] The regulatory duration At is for example greater than 5 seconds.

[0031] The second step 1022, 1022' is for example carried out immediately after the first detection step 101.

[0032] According to a first embodiment, the second step 1022 consists of activating at least one safety function for controlling the speed or trajectory of the vehicle 200, the safety function being implemented on the vehicle 200.

[0033] Such activation is carried out automatically.

[0034] The safety function of speed or trajectory control is for example a lane following function and / or an emergency braking function.

[0035] In [Fig.2], the activation of a lane tracking function is carried out at time tl.

[0036] In the first embodiment, the second step 1022 is only carried out if the vehicle 200 is driving on a given type of road from a set of predefined types of roads, at the time of the first detection step 101.

[0037] The predefined set of route types includes at least one route type.

[0038] The predefined set of road types includes, for example, roads with non-pedestrian lanes separated, and more specifically two-lane roads without separation.

[0039] The predefined set of road types may also include highways or roads with a bend.

[0040] To determine whether the vehicle 200 is travelling on a given type of road, the method 100 may include a step 1021 of consulting a map showing the type of road for each road in a set of roads in a given geographical area.

[0041] Knowing the location of vehicle 200 at the time of the first detection step 101, it is then possible to know the type of road corresponding to the road on which vehicle 200 is located.

[0042] According to a second embodiment, the second step 1022' of the process 100 consists of disseminating an alert, called the first alert, informing of the driver's incapacity.

[0043] The first alert is, for example, disseminated in such a way that drivers located near vehicle 200 are informed, for example via an alert database shared between a fleet of connected vehicles.

[0044] The first alert may also include information relating to vehicle 200, for example its precise location or its location in relation to a point of interest.

[0045] A point of interest is, for example, a road feature such as a bend, a tollbooth or a roundabout, and an example of the location of vehicle 200 in relation to a point of interest could be that the vehicle is located after the next bend.

[0046] A third step 103 of the process 100 is carried out at the end of the regulatory duration At.

[0047] The third step 103 consists of activating an emergency stop assistance function implemented on the vehicle 200 or Risk Mitigation Function (RMF) in English.

[0048] Such activation is carried out automatically.

[0049] In [Fig.2], the third step 103 is implemented at time t2.

[0050] Activation of the emergency stop assistance function leads to the implementation of the following substeps of process 100.

[0051] At least one sub-step 1031, 1032 of driver alert is implemented following the activation of the emergency stop assist function.

[0052] The 1031, 1032 warning sub-step consists, for example, of emitting an audible signal and / or a visual signal to the driver and / or implementing at least one function to control the speed or trajectory of the vehicle 200 and / or activating the brakes.

[0053] The emission of a visual signal consists for example of the display of a message on a screen of the vehicle 200, the message being for example "Emergency stop Take back control".

[0054] The speed control function is, for example, a speed regulation function.

[0055] The trajectory control function is, for example, a lane following assistance function.

[0056] According to an alternative embodiment, a first warning substep 1031 and a second warning substep 1032 are implemented following the activation of the emergency stop assistance function.

[0057] In [Fig.2], the first substep 1031 is implemented between times t2 and t3 and the second sub-step 1032 is implemented between times t3 and t4.

[0058] The first substep 1031 consists, for example, of implementing the speed control function and the lane keeping assist function, and the second substep 1032 consists, for example, of implementing the speed control function, the lane keeping assist function and activating the brakes in the form of jerks.

[0059] An alert, called a second alert, informing that vehicle 200 is going to make an emergency stop, can be broadcast during each sub-step 1031, 1032 of the alert, for example via an alert database shared between a fleet of connected vehicles.

[0060] The second alert may also indicate the lane in which vehicle 200 will be stopped and / or the kilometer at which vehicle 200 will be stopped.

[0061] The second alert is, for example, broadcast in such a way that drivers located near vehicle 200 are informed.

[0062] The second alert may also include information relating to vehicle 200, for example its precise location or its location in relation to a point of interest.

[0063] If the driver does not implement a takeover condition during the alert substep(s) 1031, 1032, a vehicle 200 slowing-down substep 1033 is carried out.

[0064] A condition for regaining control is, for example, a change in position of the brake pedal and / or the accelerator pedal, and / or a torque action on the steering wheel, and / or the detection of hands on the steering wheel and / or the activation of a cancel button.

[0065] The deceleration substep 1033 consists of slowing down vehicle 200 until vehicle 200 comes to a stop, by applying a deceleration instruction to vehicle 200.

[0066] In [Fig.2], the slowdown substep 1033 is implemented between the instants t4 and t5.

[0067] The deceleration setpoint is for example between 0 and 1 m / s2.

[0068] An alert, referred to as the third alert, informing that vehicle 200 is making an emergency stop, can be broadcast during sub-step 1033 of slowing down, for example via an alert database shared between a fleet of connected vehicles.

[0069] The third alert may also indicate the lane in which vehicle 200 will be stopped and / or the kilometer at which vehicle 200 will be stopped.

[0070] The third alert is, for example, broadcast in such a way that drivers located near vehicle 200 are informed.

[0071] The third alert may also include information relating to vehicle 200, for example its precise location or its location in relation to a point of interest.

[0072] A substep 1034 of holding the vehicle 200 stationary is carried out once the vehicle 200 has stopped.

[0073] An audible and / or visual signal may also be emitted during substep 1034 of holding stationary.

[0074] The emission of a visual signal consists for example of the display of a message on a screen of the vehicle 200, the message being for example "Emergency stop carried out".

[0075] An alert, referred to as the fourth alert, informing that vehicle 200 is stopped, can be broadcast during sub-step 1034 of holding stopped, for example via an alert database shared between a fleet of connected vehicles.

[0076] The fourth alert may also indicate the lane in which vehicle 200 is stopped and / or the kilometer at which vehicle 200 is stopped.

[0077] The fourth alert is, for example, broadcast in such a way that drivers located near vehicle 200 are informed.

[0078] The fourth alert may also include information relating to vehicle 200, for example its precise location or its location in relation to a point of interest.

[0079] Activation of the emergency stop assist function may also cause the hazard warning lights of vehicle 200 to come on.

[0080] On [Fig.2], the path of vehicle 200 is shown with implementation of the invention in solid lines and without implementation of the invention in dashed lines in the case where the second step 1022 consists of activating a lane following function.

[0081] Thanks to the activation of the safety lane-following function at time tl, vehicle 200 remains in its lane instead of going into the lane with oncoming traffic.

Claims

Demands

1. A method (100) for the safe autonomous emergency stopping of a vehicle (200) comprising the following steps: - Detection (101) of an inability of a driver to drive the vehicle (200); - After a regulatory delay (At) following the detection (101), activation (103) of an emergency stopping assistance function implemented on the vehicle (200), characterized in that the method (100) comprises: - if the vehicle (200) is traveling on a given type of road from among a predefined set of road types, a step (1022) of activation, during the regulatory delay (At), of at least one safety function for controlling the speed or trajectory of the vehicle (200), implemented on the vehicle (200); and / or - a step (1022') of disseminating a first alert informing of the driver's inability.

2. A method (100) according to the preceding claim, wherein the activation (103) of the emergency stop assist function results in the implementation of the following substeps: • At least one substep (1031, 1032) of driver alerting; • In the absence of implementation of a driver takeover condition during the substep (1031, 1032) of alerting, a substep (1033) of slowing the vehicle (200) to a stop; • a substep (1034) of holding the vehicle (200) at a stop.

3. Method (100) according to the preceding claim comprising a first alert substep (1031) and a second alert substep (1032), an audible and / or visual signal being emitted during the first alert substep (1031) and the second alert substep (1032).

4. A method (100) according to claim 2 or 3, wherein at least one function for controlling the speed or trajectory of the vehicle (200) is implemented, and / or the brakes are activated, during the second sub-step (1032) of alert.

5. A method (100) according to any one of claims 2 to 4, wherein a second alert informing that the vehicle is about to make an emergency stop is broadcast during the alert substep (1031, 1032), a third alert informing that the emergency stop is in progress is broadcast during the slowing-down substep (1033), and a fourth alert informing that the vehicle (200) is stopped is broadcast during the holding-at-a-stop substep (1034), the second, third, and fourth alerts indicating the lane and / or kilometer at which the vehicle (200) will be or is stopped.

6. Method (100) according to any one of the preceding claims, comprising a step (1021) of consulting a map showing, for a set of roads in a given geographical area, the corresponding road type.

7. Method (100) according to any one of the preceding claims, wherein the safety function is a lane following function and / or an emergency braking function.

8. Method (100) according to any one of the preceding claims, wherein the predefined set of road types includes roads with unseparated lanes.

9. Vehicle comprising means for implementing the method (100) according to any one of the preceding claims.

10. Product computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the steps of the process (100) according to any one of claims 1 to 8.

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