Autonomous emergency stopping procedure for a vehicle equipped with a haptic pedal

Abstract

Method for autonomous emergency stopping of a vehicle equipped with a haptic pedal. One aspect of the invention relates to a method for autonomous emergency stopping of a vehicle, comprising: A step (101) for detecting a driver's inability to operate the vehicle (200); A step (102) for static alerting the driver, comprising emitting, with an initial intensity, at least one vibration via the haptic pedal (201) of the vehicle (200); In the absence of a driver reaction during the static alert step (102), a step (103) for activating an emergency stopping assistance function implemented on the vehicle (200), resulting in the implementation of the following steps: At least one step (1031, 1032) for dynamically alerting the driver; In the absence of a driver regaining control condition during the alert step (1031, 1032) dynamic, a step (1033) of slowing the vehicle (200) until it comes to a stop. Figure to be published with the abbreviation: Figure 2

Description

Title of the invention: Autonomous emergency stopping method for a vehicle equipped with a haptic pedal. 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 the emergency stopping of a vehicle and, in particular, to an autonomous emergency stopping method for a vehicle equipped with at least one haptic pedal. 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] Today, the detection of driver drowsiness or distraction is increasingly carried out by processing images obtained via a camera pointed at the driver.

[0006] The problem with such detection is that it generates cases of false positives which can lead to the activation of the emergency stop assist function and therefore the triggering of alerts, even though the driver is fit to drive.

[0007] This often results in the driver permanently deactivating the function, leaving them unprotected if they experience a medical emergency.

[0008] There is therefore a need for a method enabling an autonomous emergency stop of a vehicle when its driver is unable to drive, which limits the generation of false alerts. Summary of the invention

[0009] The invention offers a solution to the problems mentioned above, by allowing the autonomous emergency stopping of the vehicle, without generating false alerts for the driver.

[0010] A first aspect of the invention relates to a method for autonomous emergency stopping a vehicle equipped with at least one haptic pedal, comprising: • A step to detect a driver's inability to drive the vehicle; • A static driver alert stage including an emission with an initial intensity of at least one vibration via the vehicle's haptic pedal; • If the driver does not react during the static warning phase, an activation phase of an emergency braking assistance function implemented on the vehicle will occur, resulting in the following steps: • At least one dynamic driver alert step; • In the absence of implementation of a condition for the driver to take back control during the dynamic alert stage, a stage of slowing down the vehicle until it comes to a stop.

[0011] Thanks to the invention, once the driver has been detected as unfit to drive, vibrations are emitted via a haptic pedal in the vehicle, for example the accelerator pedal, to prompt the driver to react. If the driver reacts, for example by releasing or pressing harder on the pedal, the detection is considered erroneous and the emergency braking assistance function is not activated, thus making the detection more robust and preventing the generation of false alerts to the driver. Furthermore, the enhanced detection is achieved using a sensor already present in most vehicles and commonly used, for example, to signal to the driver that they need to lift their foot off the accelerator pedal to slow down and save fuel.

[0012] In addition to the characteristics mentioned in the preceding paragraph, the process according to the invention may have one or more additional characteristics from among the following, considered individually or according to all technically possible combinations.

[0013] According to one embodiment, the dynamic warning stage and / or the deceleration stage includes the emission of at least one vibration via the vehicle's haptic pedal.

[0014] Thus, the haptic pedal is also used to alert the driver more strongly during the autonomous emergency stop of the vehicle by sending vibrations with a higher or lower intensity during one or more stages of the autonomous emergency stop.

[0015] According to a sub-embodiment of the preceding embodiment, the method according to the invention comprises a first dynamic warning stage and a second dynamic warning stage, the first dynamic warning stage comprising an emission, with a second intensity, of at least one vibration via the vehicle's haptic pedal, and the second dynamic warning stage comprising a emission with a third intensity, of at least one vibration via the vehicle's haptic pedal, the third intensity being greater than the second intensity.

[0016] According to an alternative embodiment of the previous sub-variant embodiment, the first intensity is equal to the second intensity.

[0017] According to an alternative embodiment of the previous sub-variant embodiment compatible with the previous alternative embodiment, the deceleration step includes an emission with a fourth intensity, of at least one vibration via the haptic pedal of the vehicle, the fourth intensity being greater than the third intensity.

[0018] Thus, the intensity with which the vibrations are emitted by the haptic pedal increases crescendo over the stages implemented by the emergency stop assistance function to maximize the chances of the driver regaining control before the vehicle stops.

[0019] According to an embodiment compatible with the previous embodiment, the emergency stop assistance function implements a step of holding the vehicle stopped.

[0020] According to an embodiment compatible with the previous embodiments, an audible and / or visual signal is emitted during the static alert stage and / or the dynamic alert stage.

[0021] According to an embodiment compatible with previous embodiments, at least one vehicle speed or trajectory control function is implemented, and / or the brakes are activated, during the dynamic warning stage.

[0022] A second aspect of the invention relates to a vehicle comprising means for implementing the method according to the invention.

[0023] 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.

[0024] 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

[0025] 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 the process according to the invention is applied, as a function of time. DETAILED DESCRIPTION

[0026] Unless otherwise specified, the same element appearing on different figures has a unique reference.

[0027] The invention relates to a method for bringing a vehicle to an emergency stop autonomously, that is to say without intervention from a driver of the vehicle.

[0028] 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].

[0029] The vehicle 200 is equipped, that is to say includes, at least one haptic pedal 201.

[0030] The haptic pedal 201 is, for example, the accelerator pedal.

[0031] In [Fig. 2], the haptic pedal 201 is represented by an empty circle if it is not emitting any vibration and by a filled circle if it is emitting vibrations. The intensity with which the vibrations are emitted by the haptic pedal 201 is schematically illustrated by one or more lightning bolts above the vehicle 200: the greater the number of lightning bolts, the greater the intensity of the vibration emission.

[0032] 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.

[0033] 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 carried out, for example, using a camera and artificial intelligence trained to identify certain signs in the driver, such as closed eyes, from images acquired by the camera.

[0034] In [Fig.2], the detection of the driver's incapacity is carried out at time tO.

[0035] A second step 102 of the process 100 consists of issuing a so-called static alert to driver's destination.

[0036] A "static alert" is understood to mean an alert which, unlike a dynamic alert, has no effect on the speed and / or trajectory of the vehicle.

[0037] The second step 102 includes the emission of at least one vibration via the haptic pedal 201 of the vehicle 200, the vibrations being emitted with a first intensity.

[0038] On [Fig.2], the second step 102 is implemented between times t0 and tl and the first intensity is illustrated by a flash and can therefore be described as weak.

[0039] The second step 102 may also include the emission of an audible signal and / or a visual signal to the driver.

[0040] If the driver does not react during the second step 102, for example if the driver does not put his hands back on the steering wheel after the detection of a release of the hands on the steering wheel or if the driver is not detected as being sufficiently awake or alert after the detection of drowsiness or distraction, a third step 103 of the method 100 is implemented.

[0041] The third step 103 of the process 100 consists of activating an emergency stop assist function implemented on the vehicle 200.

[0042] Such activation is carried out automatically.

[0043] On [Fig.2], the third step 103 is implemented at time tl.

[0044] Activation of the emergency stop assistance function leads to the implementation of the following steps of process 100.

[0045] At least one step 1031, 1032 of issuing a so-called dynamic alert to the driver is implemented following the activation of the emergency stop assist function.

[0046] The issuance of a dynamic alert consists, for example, of implementing at least one function of controlling the speed or trajectory of the vehicle 200 and / or activating the brakes.

[0047] The speed control function is, for example, a speed regulation function.

[0048] The trajectory control function is, for example, a lane following assistance function.

[0049] An audible and / or visual signal may also be emitted during the dynamic alert stage 1031, 1032.

[0050] 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".

[0051] According to an alternative embodiment, a first dynamic warning stage 1031 and a second dynamic warning stage 1032 are implemented following the activation of the emergency stop assistance function.

[0052] The first step 1031 of dynamic warning consists for example of implementing the speed control function and the lane keeping assist function, and the second step 1032 of dynamic warning consists for example of implementing the speed control function, the lane keeping assist function and activating the brakes in the form of jerks.

[0053] On [Fig.2], the first step 1031 is implemented between times t1 and t2, and the second step 1032 is implemented between times t2 and t3.

[0054] According to one embodiment, the first dynamic warning step 1031 includes the emission of at least one vibration via the haptic pedal 201 of the vehicle 200, the vibrations being emitted with a second intensity and the second dynamic warning step 1032 includes the emission of at least one vibration via the haptic pedal 201 of the vehicle 200, the vibrations being emitted with a third intensity.

[0055] The third intensity is, for example, greater than the second intensity and the second intensity is, for example, equal to the first intensity.

[0056] On [Fig.2], the second intensity is illustrated by one flash and can therefore be described as low and the third intensity is illustrated by two flashes and can therefore be described as medium.

[0057] If the driver does not implement a takeover condition during the dynamic alert step 1031, 1032, a vehicle 200 slowing-down step 1033 is carried out.

[0058] 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.

[0059] Step 1033 of slowing down consists of slowing down vehicle 200 until vehicle 200 comes to a stop, by applying a deceleration instruction to vehicle 200.

[0060] The deceleration setpoint is for example between 0 and 1 m / s2.

[0061] On [Fig.2], the deceleration step 1033 is implemented between times t3 and t4 and the vehicle 200 goes from a non-zero speed to a zero speed.

[0062] According to one embodiment, the deceleration step 1033 includes the emission of at least one vibration via the haptic pedal 201 of the vehicle 200, the vibrations being emitted with a fourth intensity.

[0063] The fourth intensity is, for example, greater than the third intensity.

[0064] On [Fig.2], the fourth intensity is illustrated by three flashes and can therefore be described as high.

[0065] A step 1034 of holding the vehicle 200 stationary is carried out once the vehicle 200 has stopped.

[0066] An audible and / or visual signal may also be emitted during the 1024 standstill step.

[0067] 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".

[0068] In [Fig.2], the 1034 standstill step is carried out after time t4.

Claims

Demands

1. A method (100) for autonomous emergency stopping of a vehicle (200) equipped with at least one haptic pedal (201), comprising: - A step (101) for detecting a driver's inability to drive the vehicle (200); - A step (102) for statically alerting the driver, comprising emitting, with a first intensity, at least one vibration via the haptic pedal (201) of the vehicle (200); - If the driver does not react during the static alert step (102), a step (103) for activating an emergency stopping assistance function implemented on the vehicle (200), resulting in the implementation of the following steps: • At least one step (1031, 1032) for dynamically alerting the driver; • In the absence of implementation of a condition for the driver to take back control during the dynamic alert stage (1031, 1032), a stage (1033) of slowing down the vehicle (200) until it stops.

2. Method (100) according to the preceding claim, wherein the dynamic warning step (1031, 1032) and / or the deceleration step (1033) includes the emission of at least one vibration via the haptic pedal (201) of the vehicle (200).

3. Method (100) according to the preceding claim, comprising a first dynamic warning stage (1031) and a second dynamic warning stage (1032), the first dynamic warning stage (1031) comprising an emission with a second intensity, of at least one vibration via the haptic pedal (201) of the vehicle (200) and the second dynamic warning stage (1032) comprising an emission with a third intensity, of at least one vibration via the haptic pedal (201) of the vehicle (200), the third intensity being greater than the second intensity.

4. Method (100) according to the preceding claim, wherein the first intensity is equal to the second intensity.

5. A method (100) according to any one of claims 3 or 4, wherein the slowing-down step (1033) includes an emission with a fourth intensity, of at least one vibration via the haptic pedal (201) of the vehicle (200), the fourth intensity being greater than the third intensity.

6. Method (100) according to any one of the preceding claims, wherein the emergency stop assist function implements a step (1034) of holding the vehicle (200) stationary.

7. Method (100) according to any one of the preceding claims, wherein an audible and / or visual signal is emitted during the static alert step (102) and / or the dynamic alert step (1031, 1032).

8. Method (100) according to any one of the preceding claims, wherein at least one vehicle speed or trajectory control function is implemented, and / or the brakes are activated, during the dynamic warning step (1031, 1032).

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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