METHOD IMPLEMENTED IN AN ELECTRONIC SYSTEM, SYSTEM FOR DETERMINING A DRIVING INSTRUCTION FOR A VEHICLE

Abstract

The invention relates to a method implemented in an electronic system equipping a first vehicle. According to the invention, the method comprises the following steps: - a step 21 of receiving, via a communication circuit of the first vehicle, at least one safety level relating to a second vehicle, - a step E41 of determining a driving instruction for the first vehicle based on the at least one safety level received. Figure for the abstract: Fig. 3.

Description

Title of the invention: METHOD IMPLEMENTED IN AN ELECTRONIC SYSTEM, SYSTEM FOR DETERMINING A DRIVING INSTRUCTION FOR A VEHICLE technical field

[0001] The present invention relates generally to a method implemented in an electronic system equipping a vehicle.

[0002] It relates more particularly to a method for determining a driving instruction for a vehicle.

[0003] The invention finds a particularly advantageous application in the driving of motor vehicles.

[0004] It also relates to a system for determining a driving instruction for a vehicle as well as a computer program and an information storage medium. Technological background

[0005] Vehicles currently produced, particularly automobiles, incorporate various electronic driver assistance systems.

[0006] These electronic systems, coupled with sensors, make it possible to obtain information on the internal and / or external environment of the vehicle (which are respectively called "internal sensors" and "external sensors").

[0007] The interior sensors include sensors evaluating the behavior of the vehicle, behavior which can be characterized by the position and / or speed and / or acceleration of the vehicle, the steering angle of the steering wheel, the braking pressure or the gear engaged in the vehicle's gearbox.

[0008] The external sensors include cameras directed outwards from the vehicle and located at various points on the vehicle. These cameras allow monitoring of the vehicle's surroundings in one or more directions. The external sensors also include laser sensors for detecting different types of objects (such as obstacles, road signs, or other vehicles) in the vehicle's environment. The external sensors allow for the evaluation of the behavior of surrounding vehicles, which can be characterized by the vehicle's position, speed, acceleration, and / or braking power of surrounding vehicles.

[0009] Based on information transmitted by the vehicle's interior and exterior sensors, the vehicle's electronic system determines a safety level for the vehicle as well as for each surrounding vehicle. Based on the driving quality of the vehicle and surrounding vehicles, these safety levels indicate the level of danger posed by the different vehicles. Depending on these respective safety levels, the electronic system determines a driving instruction for the vehicle adapted to the situation. This can take the form of a recommendation for the vehicle's driver or be used directly for vehicle control, for example, via an autopilot system.

[0010] In the known state of the art, external sensors measure information about surrounding vehicles instantaneously. The transmitted information is therefore limited by the accuracy and acquisition speed of the vehicle's external sensors. Also, given the reliability of many sensors, there is a significant risk of false positives or false negatives when using these sensors, particularly external sensors. The safety levels determined for external vehicles may thus be unreliable. Consequently, the driving instructions issued in such cases may be inappropriate or even dangerous.

[0011] Also, the measured information does not allow for consideration of the history of surrounding vehicles. Consequently, the information transmitted by the sensors is not, or only minimally, contextualized.

[0012] There is therefore a need for a more precise determination of the level of safety of surrounding vehicles, incorporating a better contextualization of the information used for determining the driving instruction. Summary of the invention

[0013] The invention aims to provide a solution to these problems by determining a driving instruction for a first vehicle based on at least a safety level relative to a second vehicle communicated to the first vehicle.

[0014] The invention relates more specifically to a method implemented in an electronic system equipping a first vehicle comprising the reception by a communication circuit of the first vehicle of at least one safety level relating to a second vehicle and the determination of a driving instruction of the first vehicle as a function of the at least one safety level received.

[0015] The invention is not based on predicting the movement of other vehicles using sensors. The invention is based on evaluating other vehicles from information received via communication, for example, V2X or V2V.

[0016] The invention makes it possible to determine a driving instruction for the first vehicle without necessarily having to use the external sensors of the first vehicle to The invention allows for the determination of at least one safety level relative to the second vehicle, for example, based on the safety level of the second vehicle as determined by the second vehicle itself using its own internal and external sensors, thereby improving the reliability and speed of the first vehicle's acquisition of the second vehicle's safety level. Furthermore, the invention enables the determination of a driving instruction for the first vehicle without relying solely on motion prediction algorithms. Consequently, the reliability and speed of determining the first vehicle's driving instruction are also improved.

[0017] The invention allows the use of the driving instruction for the maneuver planner. Furthermore, the invention also applies to the entire decision-making chain, for example, at the operational level (trajectory planning) or even at the stability level (control level).

[0018] Other optional and non-limiting features of the method according to the invention, taken individually or in all technically possible combinations, are as follows: - the driving instruction is determined by selection, based on at least one level of safety received, from a plurality of driving instructions recorded on the vehicle's electronic system; - the process further includes a step E31 of prioritizing the plurality of driving instructions recorded on the electronic system of the first vehicle, during which a level of reliability is associated with each driving instruction recorded according to at least one level of safety relating to the second vehicle, the driving instruction of the first vehicle determined by selection in the determination step E41 being the driving instruction recorded for which the highest level of reliability was associated during the prioritization step E31; - The plurality of driving instructions includes at least two of the following instructions: stay in the same lane and maintain the speed of the first vehicle, stay in the same lane and reduce the speed of the first vehicle, change lanes and then overtake the second vehicle, reduce the speed of the first vehicle and then change lanes and overtake the second vehicle, change lanes and then overtake the second vehicle with an increased lateral safety distance between the first and second vehicles, reduce the speed of the first vehicle and then change lanes and then overtake the second vehicle with an increased lateral safety distance between the first and second vehicles. - at least one level of security relating to the second vehicle is sent to the first vehicle by the second vehicle; - the process further includes a determination step El 1, during which at least one level of safety relating to the second vehicle is determined by an electronic device fitted to the second vehicle; - at least one level of safety relating to the second vehicle is determined according to at least one of the following criteria: the acceleration of the vehicle and / or the speed of the vehicle and / or the use of the vehicle's brakes and / or compliance with the highway code and / or compliance with safety distances between vehicles and / or the frequency of use of the vehicle's turn signals and / or the condition of the vehicle's driver; - the at least one level of security received during the acceptance stage E21 is determined on the basis of measurements carried out over a period of time preceding the determination stage E41; - the time period is greater than or equal to one tenth of a second and less than or equal to 24 hours; - the period of time is greater than or equal to 1 day and less than or equal to 1 year; - the driving instruction includes a driving instruction communicated to the driver of the vehicle; - the driving instruction includes a vehicle control instruction; - the process further includes a control step E51 of the first vehicle by a control unit configured to control the first vehicle according to the safety instruction determined during the determination step E41; - at least one level of security related to the second vehicle is associated with the driver of the second vehicle.

[0019] The invention also proposes a system for determining a driving instruction for a vehicle comprising: - a receiving device configured to receive at least one security level relative to a second vehicle, - a first processing unit configured to determine a driving instruction based on at least one safety level relative to the second vehicle.

[0020] Other optional and non-limiting features of the system according to the invention, taken individually or in all technically possible combinations, are as follows: - the determination system also includes: a memory unit on which driving instructions available for the first vehicle are stored, and / or a second processing unit configured to associate a reliability level with each available driving instruction stored on the memory unit based on at least one safety level relative to the second vehicle received by the receiving device, and / or a control unit configured to control the driving of the first vehicle according to the driving instruction determined by the first processing unit, an information device configured to provide the driver of the first vehicle with the driving instruction determined by the second processing unit, wherein the safety instruction determined by the first processing unit is the available driving instruction to which the highest level of reliability has been associated by the second processing unit.

[0021] The invention also proposes a computer program comprising one or more sequences of instructions which are accessible to a processor and which, when executed by said processor, cause said processor to implement a method according to one of the possible embodiments.

[0022] The invention also proposes a non-transient information storage medium, in which it stores one or more sequences of instructions accessible to a processor and which, when executed by said processor, cause said processor to implement a method according to one of the possible embodiments.

[0023] Of course, the various features, variants, and embodiments of the invention can be combined with one another in various ways, provided they are not incompatible or mutually exclusive. Brief description of the figures

[0024] The following description with regard to the attached drawings, given by way of non-limiting examples, will make it clear what the invention consists of and how it can be carried out.

[0025] On the attached drawings:

[0026] [Fig. 1] is a schematic representation of a first vehicle comprising a system for determining a driving instruction and a second vehicle comprising a system for determining a safety level. Also shown is an avoidance maneuver of the second vehicle carried out by the first vehicle thanks to the driving instruction determined by the driving instruction determination system of the first vehicle;

[0027] [Fig.2] is a functional diagram of the second vehicle comprising a system for determining a level of safety of the second vehicle according to an embodiment according to the invention;

[0028] [Fig.3] is a functional diagram of the first vehicle comprising a system for determining a driving instruction for the first vehicle according to an embodiment according to the invention;

[0029] [Fig.4] is a summary diagram of the method implemented in a system Electronic device equipping a vehicle according to an embodiment of the invention.

[0030] A first vehicle 1 and a second vehicle 2 are shown in [Fig. 1], each comprising a device for determining a safety level. The first vehicle 1 also includes a system 10 for determining a driving instruction for the first vehicle 1. In [Fig. 1], the driving instruction consists, by way of non-limiting example, of a maneuver in which the first vehicle 1 overtakes the second vehicle 2, which includes a prior increase in the distance between the two vehicles. The overtaking maneuver 3 of the second vehicle 2 by the first vehicle 1 is shown in [Fig. 1]. Before maneuver 3, the distance between the first vehicle 1 and the second vehicle 2 is equal to d2. During maneuver 3 and before proceeding to overtake the second vehicle 2, vehicle 1 increases the distance separating it from the second vehicle 2 to reach a separation distance equal to dl, with dl greater than d2.

[0031] This increase in distance is only for the general case of Lane Keep Function, that is, maintaining the lane while modifying the longitudinal command in order to adjust the speed. This is independent of the overtaking maneuver.

[0032] A device 120 for determining the security level of the second vehicle 2 and its peripheral components are shown in [Fig. 2]. In addition to the determination device 120, the following elements are mounted on the second vehicle 2: a control unit 188, a memory unit 190, a navigation system 191 and a communication unit 192.

[0033] The control unit 188 allows control of the memory unit 190, the navigation system 191, the communication unit 192 and the determination device 120.

[0034] The memory unit 190 allows, for example, information relating to the second vehicle 2 or to other vehicles, for example the first vehicle 1. The information stored by the memory unit 190 can, for example, be used by the various systems of the vehicle 2 or be transmitted to other vehicles or to a remote server by means of the communication unit 192.

[0035] The navigation system 191 includes, for example, means for geolocating the motor vehicle (for example, using GPS or GSM signals – according to the English acronym for “Global System for Mobile communication”). The location is characterized here by a latitude and a longitude.

[0036] The vehicle can also be located using traffic lane identifiers known as "LinklD". To explain how, it can first be recalled that in a navigation map, each segment of road (commonly called "Link"), has a unique identifier called "LinklD". Each unique LinklD identifier persists across map updates and is not reused if the route changes. It is therefore possible to locate the vehicle using not latitude and longitude, but rather using a unique LinklD identifier.

[0037] The communication unit 192 enables remote communication with a server outside the vehicle, with other vehicles, etc. The communication unit 192 is configured to transmit, for example, information relating to the second vehicle 2 to a remote server or to another vehicle, for example, the first vehicle 1. The communication unit 192 is configured to receive, for example, information relating to the first vehicle 1 transmitted by the first vehicle 1 or the remote server. The information relating to the first vehicle 1 and the second vehicle 2 includes, respectively, for example, at least one security level of the first vehicle 1 and / or at least one security level relating to the second vehicle 2. The communication unit 192 is also configured to receive information concerning the immediate environment of the second vehicle 2 and / or the route taken by the second vehicle 2.Communication unit 192 is connected to navigation system 191, which can then transmit the received information to it.

[0038] The device for determining a safety level 120 comprises internal sensors 194, external sensors 196 and a computing unit 198. The computing unit 198 is configured to determine a safety level relative to a vehicle, for example the second vehicle 2, from the information provided to it by the internal sensors 194 and the external sensors 196 of the second vehicle 2.

[0039] In the embodiment considered, the safety level of the second vehicle 2 is determined by the determination device 120 fitted to the second vehicle 2. The invention thus takes advantage of the fact that vehicles manufactured today are equipped with a determination device enabling them to calculate the safety level of other vehicles and their own safety level. Therefore, it is more advantageous for a vehicle, for example the first vehicle 1, wishing to know the safety level of another vehicle, for example the second vehicle 2, to receive the safety level of that vehicle determined by that same vehicle, rather than using its own determination device to determine it.

[0040] Advantageously, the safety level of the second vehicle 2 is determined more quickly, reliably, and accurately by the second vehicle 2 than by the first vehicle 1. This is because the second vehicle 2 has internal and external sensors to determine its own level. safety, whereas the first vehicle 1 only has external sensors to determine the safety level of the second vehicle 2.

[0041] In the embodiment considered, the level of safety relating to the second vehicle 2 is determined, for example, according to the following parameters measured by the internal sensors 194 and / or the external sensors 196: lateral acceleration and longitudinal acceleration, speed, frequency of use of the brakes of the second vehicle 2, compliance with the highway code, compliance with speed limits by the second vehicle 2, compliance with safety distances between the second vehicle 2 and surrounding vehicles, frequency of use of the turn signals of the second vehicle 2 or the condition of the driver of the second vehicle 2 (for example a level of distraction and / or a level of drowsiness associated with the driver of the second vehicle 2).

[0042] The use of the brakes of the second vehicle 2 includes the frequency of use and the power of use of the brakes as well as the duration of the braking of the second vehicle 2. The power of use of the brakes is, for example, determined by an accelerometer equipping the internal sensors 194 of the second vehicle.

[0043] Compliance with the highway code includes respecting priority between vehicles, respecting traffic signs, respecting the wearing of seat belts, running red lights, driving on a road prohibited to the vehicle, using a mobile phone, driving under the influence of alcohol or drugs, and respecting speed limits.

[0044] The determination of compliance with the highway code by the driver of the second vehicle 2 is, for example, carried out by internal and external cameras equipping respectively the internal sensors 194 and the external sensors 196 of the second vehicle 2.

[0045] Compliance with speed limits is, for example, determined by combining the speed measurements of the second vehicle 2 by the accelerometer with the external cameras of the second vehicle 2, the images captured by the external cameras being analyzed by traffic sign recognition software and / or the data provided by the navigation system of the second vehicle.

[0046] The respect of distances between the second vehicle 2 and surrounding vehicles is determined, for example, by an accelerometer equipping the internal sensors and the cameras, radars or lidar equipping the external sensors 196 of the second vehicle 2.

[0047] The frequency of use of the turn signals of the second vehicle 2 is determined, for example, by the internal sensors 194 of the second vehicle 2.

[0048] The state of the driver of the second vehicle 2 is determined, for example, by a driving management device (DMS function) configured to determine if the driver is in a state of sufficient availability to drive the second vehicle 2.

[0049] Based on the information transmitted to the processing unit 198 by the internal sensors 194 and the external sensors 196, the processing unit 198 assigns a level to each parameter. The level includes, for example, the following values: X) undefined; O) catastrophic; 1) very poor; 2) poor; 3) low; 4) medium-low; 5) medium-good; 6) good; 7) very good; 8) excellent; 9) perfect. The processing unit 198 then determines a safety level for the second vehicle 2 from the levels assigned to each parameter. The safety level of vehicle 2 is, for example, determined by calculating a weighted arithmetic mean of the assigned levels. By weighted arithmetic mean, it is understood that each criterion is assigned a coefficient determined, for example, by the manufacturer of the determination device 120.It is also understood that a parameter for which a level equal to X has been assigned is not used to determine the safety level of the second vehicle 2. The safety level relating to the second vehicle 2 includes, for example, the following values: X) not defined; 0) catastrophic; 1) very bad, 2) bad, 3) low, 4) medium-low, 5) medium-good, 6) good, 7) very good, 8) excellent, 9) perfect.

[0050] The computing unit 198 is also configured to predict, for example, using a trajectory prediction algorithm and information provided by internal sensors 194 and external sensors 196, the trajectory of the second vehicle 2. The computing unit 198 is also configured to determine the relative safety level of the second vehicle 2 based on the predicted trajectory for the second vehicle 2. For example, if the computing unit 198 predicts a zigzag trajectory for the second vehicle 2, the computing unit 198 can determine, based on the amplitude and speed of the zigzag movement of the second vehicle 2, a safety level of 0) catastrophic, 1) very poor, 2) poor, or 3) low for the second vehicle 2. The communication unit 192 is also configured to communicate the predicted trajectory for the second vehicle to another vehicle, for example, the first vehicle 1. 2.

[0051] In the embodiment considered, the processing unit 198 of the second vehicle 2 is configured to dynamically redetermine a safety level for the second vehicle 2 at regular intervals and / or when approaching a new section of road and / or after a new route has been determined by the navigation system 191 and / or each time the level of at least one state of the driver of the second vehicle 2 changes and / or each time the second vehicle 2 changes lanes. The time interval between two successive determinations of the safety level of the second vehicle 2 is, for example, greater than or equal to one second and less than or equal to one minute. The processing unit 198 is also configured to respond to an external request, for example, transmitted by communication unit 192, to determine a security level of the second vehicle 2.

[0052] The safety level for the second vehicle 2 is determined instantaneously by the determining unit 120 and / or is based on the second vehicle's history. The safety level is calculated based on information acquired within a tenth-of-a-second time period. Instantaneous means that the instantaneous safety level is calculated within the current trip, from the moment the driver took control at the start of the current driving, and updated with events. Historical data for the second vehicle means that the historical safety level is calculated based on information acquired during previous driving trips. The time period is greater than ten seconds and less than or equal to 24 hours (i.e., medium-term in the following description), or greater than one day and less than or equal to one year (i.e., long-term in the following description).The time interval is determined, for example, by the manufacturer of the determining unit 120, the driver of the second vehicle 2 or the determining device 10 of a driving instruction of the first vehicle 1. .

[0053] The determination device 120 is also configured to allow the identification of a registered driver of the second vehicle 2. The data relating to a registered driver of the second vehicle 2 and allowing its identification are, for example, stored on the memory unit 190. When a driver of the second vehicle 2 takes control of the second vehicle 2, the internal sensors 194 and the external sensors 196 measure information relating to the driver of the second vehicle 2, for example height, weight, face shape, behavior, compliance with the traffic code, and the computing unit 198 determines the presence of a registered user of the vehicle by comparison between on the one hand the data measured by the internal sensors 194 and the external sensors 196, and on the other hand the data stored on the memory unit 190.If the driver is not recognized by the driver identification device 120, the driver identification device 120 creates a new user profile and saves it, for example, on the memory unit 190. The data measured by the internal sensors 194 and the external sensors 196, and relating to the driver of the second vehicle 2, are associated with the new profile recorded and stored, for example, on the memory unit 190. The driver identification device is also configured to update the data relating to a registered driver each time a registered driver takes control of the second vehicle 2.

[0054] The determination device 120 is also configured to associate a level of security determined by the determination device 120 with the driver of the second vehicle 2.

[0055] The determination device 120 is also configured to record, for example on the memory unit 190, all the safety levels determined by the determination device 120 associated with a registered driver of the second vehicle 2. The set of safety levels associated with the registered driver constitutes the history of the safety levels of the registered driver.

[0056] Advantageously, determining the level of safety over the medium term makes it possible to take into account the behavior of the driver of the second vehicle 2 from the moment he takes control of the second vehicle 2 up to one or more full days of driving.

[0057] Advantageously, the determination of the long-term safety level groups together all the past safety levels associated with a registered driver of the second vehicle and accumulated during all previous driving in order to take into account the overall behavior over a long period of time of the driver of the second vehicle 2 and not just the behavior during a single drive, or limited number of trips.

[0058] In the embodiment considered, the determination device 120 of the second vehicle 2 is configured to store at least one determined security level of the second vehicle 2 on the memory unit 190 of the second vehicle 2.

[0059] In another embodiment, the security levels of the second vehicle are transmitted by the communication unit 192 of the second vehicle 2 to a remote server outside the second vehicle 2.

[0060] A system for determining a driving instruction for a first vehicle 1 is shown in [Fig.3] with its peripheral components. The determination system 10 is mounted on a first vehicle 1. In addition to the driving load management system 10, the following are mounted on the first vehicle 1: an electronic control unit (or ECU for "Electronic Control Unit" according to the commonly used Anglo-Saxon term, referred to here as the control unit) 88, a general memory unit 90, a navigation system 91, a communication unit 92 and a device for determining a safety level 20.

[0061] In addition to the various elements described above, many other devices can be integrated into the first vehicle 1, such as, for example, sensors for acceleration, braking, obstacles, use of turn signals, compliance with traffic laws, and compliance with safety distances, although these elements are not shown individually in [Fig. 3]. These are represented collectively by the internal sensors 94 and the external sensors 96.

[0062] The control unit 88 allows control of the system for determining a driving instruction 10, the general memory unit 90, the communication unit 92 as well as the device for determining a safety level 20.

[0063] The general memory unit 90 allows, for example, information relating to the first vehicle 1 or to other vehicles to be stored. The information stored by the memory unit 90 can, for example, be used by the various systems of the first vehicle 1 or be transmitted to other vehicles or to a remote server by means of the communication unit 92. As described below, the system 10 for determining a driving instruction has its own memory unit.

[0064] The navigation system 91 includes, for example, means for geolocating the motor vehicle, similar to the navigation system 191 of the second vehicle 2.

[0065] The communication unit 92 enables remote communication with a server outside the vehicle, with other vehicles, etc. The communication unit 92 is configured to transmit, for example, information relating to the first vehicle 1 to a remote server or to another vehicle. The communication unit 92 is configured to receive, for example, information relating to the second vehicle 2 transmitted by the second vehicle 2 or the remote server. The information relating to the first vehicle 1 and the second vehicle 2 includes, respectively, for example, at least one security level of the first vehicle 1 and / or at least one security level relating to the second vehicle 2.The communication unit 92 is also configured to, upon request from the determination system 10, query a remote server or the communication unit of another vehicle, for example, the communication unit 192 of the second vehicle 2, to obtain a safety level from the other vehicle. The communication unit 92 is also configured to receive information concerning the immediate environment of the first vehicle 1 and / or the route taken by the first vehicle 1. The communication unit 92 is connected to the navigation system 91, which can transmit the received information to it.

[0066] The device for determining a safety level 20 comprises internal sensors 94, external sensors 96 and a processing unit 98. The processing unit 98 of the device for determining a safety level 20 is configured to determine a safety level relative to a vehicle, for example the first vehicle 1, from the information provided to it by the internal sensors 94 and the external sensors 96 of the first vehicle 1. The device for determining the safety level 20 of the first vehicle 1 operates in a similar manner to the device for determining the safety level 120 of the second vehicle 2 and is configured to determine, for example, a safety level relative to the first vehicle 1.

[0067] In the embodiment considered, the system for determining a driving instruction 10 comprises a receiving device 12, a memory unit 14, a first processing unit 20, a second processing unit 22, a control unit 30 and an information device 32.

[0068] The receiving device 12 is configured to receive at least one security level relative to a second vehicle 2. In the embodiment considered, the at least one security level relative to the second vehicle 2 is provided to the receiving device 12 by the communication unit 92 of the first vehicle 1. As described above, the communication unit 92 is configured to receive from another vehicle, for example, the second vehicle 2 or from an intermediate network, the at least one security level relative to the second vehicle 2. In the embodiment considered, the at least one security level relative to the second vehicle 2 is provided by the communication unit 192 of the second vehicle 2.In the embodiment considered, the receiving device 12 is configured to actively poll the communication unit 92 at regular intervals, for example greater than or equal to one second and less than or equal to one minute, so that the communication unit 92 polls the second vehicle 2 to obtain an updated safety level relative to the second vehicle 2. Alternatively, the receiving device 12 is configured passively, that is, the receiving device 12 is configured to passively receive at least one safety level relative to the second vehicle 2. The safety level relative to the second vehicle 2 is thus updated according to the determination frequency of the determination device 120 and the transmission frequency of the communication unit 192 of the second vehicle 2.

[0069] As described above, the safety level of the second vehicle 2 is determined by the second vehicle 2 instantaneously or based on the driving history of the second vehicle 2. The determination system 10 is configured to request the second vehicle 2, by means of the communication unit 92, to provide a safety level determined instantaneously or based on the driving history of the second vehicle 2, the driving history being established according to a time interval determined by the determination system 10.

[0070] The first processing unit 20 is configured to receive at least one safety level relative to another vehicle, for example the second vehicle 2, from the receiving device 12 and to determine a driving instruction for vehicle 1 based on at least one safety level relative to the second vehicle 2.

[0071] Memory unit 14 includes driving instructions available for the first vehicle 1. The available driving instructions include: stay in the same lane and maintain the speed of the first vehicle, stay in the same lane and reduce the speed of the first vehicle, change lanes and then overtake the second vehicle, reduce the speed of the first vehicle and then change lanes and overtake the second vehicle, change lanes and then overtake the second vehicle with a safe lateral distance between the first vehicle and the second vehicle increased, reduce the speed of the first vehicle then change lanes and overtake the second vehicle with an increased lateral safety distance between the first vehicle and the second vehicle.

[0072] The second processing unit 22 is configured to associate a reliability level with each available driving instruction stored on the memory unit 14 according to at least one safety level relating to the second vehicle 2 received by the receiving device 12.

[0073] The second processing unit 22 is also configured to associate a reliability level with each available driving instruction stored on the memory unit 14 according to at least one safety level relative to the first vehicle 1 determined by the determination device 20.

[0074] The second processing unit 22 is also configured to prioritize the available driving instructions according to the level of reliability associated with each driving instruction, for example, from the instruction with the highest level of reliability to the instruction with the lowest level of reliability.

[0075] The second processing unit 22 is also configured to prioritize the available driving instructions according to the preferences of the driver of the first vehicle 1. For example, if the driver wishes to overtake the second vehicle 2, the second processing unit 22 prioritizes only the available driving instructions that include overtaking the second vehicle 2. Consequently, the available driving instructions that do not include overtaking the second vehicle 2 are not taken into account for determining a driving instruction.

[0076] The second processing unit 22 is also configured to prioritize the available driving instructions based on a trajectory prediction for the second vehicle 2. The trajectory prediction can be transmitted by another vehicle, for example the second vehicle 2. The trajectory prediction of the second vehicle 2 can also be made by the first vehicle 1. According to this embodiment, the computing unit 98 is configured to predict the trajectory of the second vehicle 2 using a trajectory prediction algorithm and information provided by the internal sensors 194 and the external sensors 196.Advantageously, if, for example, a "zig-zag" trajectory with a large amplitude is predicted for the second vehicle 2, the available driving instructions including overtaking the second vehicle 2 are not taken into account for determining a driving instruction.

[0077] In the embodiment considered, the safety instruction determined by the first processing unit 20 is the available driving instruction for which the highest level of reliability has been associated by the second processing unit 22.

[0078] According to another embodiment, the first processing unit 20 is configured to determine, by direct selection, a driving instruction for vehicle 1 based on the safety level received for the second vehicle 2. Direct selection means that the safety instruction is determined by selecting a driving instruction from among those available on the memory unit 14 without prior prior ranking, as is the case in the embodiment under consideration. According to this embodiment, the first processing unit 20 is configured to determine which driving instruction stored on the memory unit 14 is most appropriate for the situation, based on at least one safety level for the second vehicle 2.The first processing unit 20 is also configured to determine which driving instruction stored on the memory unit 14 is most suitable for the situation based on at least one safety level relative to the first vehicle 1.

[0079] According to another embodiment, the first processing unit 20 is configured to directly determine a driving instruction for vehicle 1 based on the safety level received for the second vehicle 2. By "directly," it is understood that the safety instruction is not determined by prioritizing the available driving instructions or by selecting a driving instruction stored on the memory unit 14.The processing unit 20 is configured to determine a driving instruction including speed, acceleration, safety distances with surrounding vehicles including lateral safety distances when overtaking a vehicle and longitudinal safety distances, an overtaking maneuver or a distancing maneuver between the first vehicle 1 and the second vehicle 2, a lane change maneuver, use of indicators according to at least one safety level relative to the second vehicle 2 and at least one safety level relative to the first vehicle 1.

[0080] The control unit 30 is configured to control the driving of the first vehicle 1 according to the driving instruction determined by the first processing unit 20. This function is implemented for example by an automatic piloting system of the vehicle 1 not shown here.

[0081] The information device 32 is configured to communicate to the driver of the first vehicle the driving instruction determined by the first processing unit 20. This takes, for example, the form of a recommendation provided to the driver of the first vehicle 1. The recommendation is, for example, a message a light displayed by a head-up display not shown here and / or a sound message emitted by the vehicle's audio system not shown here.

[0082] Certain elements of the system can be implemented in practice by at least one processor, which executes computer program instructions designed to implement the element in question. These instructions can be stored on a non-transient information storage medium, which stores one or more sequences of instructions accessible to a processor and which, when executed by said processor, cause said processor to implement a method according to one of the possible embodiments. However, certain elements of the system can also be implemented by a dedicated electronic circuit, such as an application-specific integrated circuit. Process

[0083] The invention also relates to methods implemented in an electronic system equipping a vehicle. The system 10 for determining a driving instruction for a vehicle can, for example, be advantageously used for implementing such methods.

[0084] A method implemented in an electronic system equipping a first vehicle 1 is shown in [Fig. 4] and comprises: a step E21 of receiving by a communication circuit of the first vehicle 1 at least one safety level relative to a second vehicle 2, a step E41 of determining a driving instruction of the first vehicle 1 according to the at least one safety level received.

[0085] During the acceptance step E21, at least one safety level relating to a second vehicle 2 is provided to a first vehicle 1. The acceptance of at least one safety level relating to the second vehicle 2 is carried out, for example, by the acceptance unit 12 of the determination system 10.

[0086] During the determination step E41, a driving instruction for the first vehicle 1 is determined based on at least one safety level relative to the second vehicle 2. The determination of the driving instruction for the first vehicle 1 is, for example, carried out by the processing unit 20 of the determination system 10.

[0087] Preferably, the driving instruction is communicated to the driver of the first vehicle 1. The driving instruction is communicated, for example, in the form of a light message displayed, for example, by a head-up display or in the form of an audible message broadcast, for example, by the audio system of the first vehicle 1.

[0088] Alternatively, the method further includes a control step E51 of the first vehicle 1, for example, by the control unit 30 to check the first vehicle 1 according to the safety instruction determined during the determination step E41. According to this embodiment, the driving instruction takes the form of an instruction to control the first vehicle 1.

[0089] Preferably, the process also includes a step El 1 of determining a security level.

[0090] During the determination step El 1, at least one safety level relating to the second vehicle 2 is determined by an electronic device, for example the safety level determination device 120 equipping the second vehicle 2.

[0091] Preferably, at least one level of security relating to the second vehicle 2 is associated with the driver of the second vehicle 2.

[0092] Preferably, at least one security level relating to the second vehicle 2 is transmitted from the second vehicle 2 to the first vehicle 1. The at least one security level is, for example, sent by the communication unit 192 of the second vehicle 2 to the communication unit 92 of the first vehicle 1.

[0093] Alternatively, at least one security level relating to the second vehicle 2 is transmitted via an intermediate network to the communication unit 92 of the first vehicle 1.

[0094] Preferably, the driving instruction is determined by selection, based on at least one level of safety received, from among a plurality of driving instructions recorded on the electronic system of the first vehicle 1.

[0095] Preferably, the method also includes a prioritization step E31 of a plurality of driving instructions recorded, for example, on the memory unit 14 of the electronic system 10 of the first vehicle 1.

[0096] During the prioritization step E31, a reliability level is associated with each recorded driving instruction based on at least one safety level related to the second vehicle 2. The driving instruction of the first vehicle 1 determined by selection in the determination step E41 is the recorded driving instruction for which the highest reliability level was associated during the prioritization step E31.

[0097] Memory unit 14 includes, for example, the following driving instructions: stay in the same lane and maintain the speed of the first vehicle 1, stay in the same lane and reduce the speed of the first vehicle 1, change lanes and then overtake the second vehicle 2, reduce the speed of the first vehicle 1 and then change lanes and overtake the second vehicle 2, change lanes and then overtake the second vehicle 2 with an increased lateral safety distance between the first vehicle 1 and the second vehicle 2, reduce the speed of the first vehicle 1 and then change lanes then overtake the second vehicle 2 with an increased lateral safety distance between the first vehicle 1 and the second vehicle 2.

[0098] Preferably, the at least one level of security received during the acceptance step E21 is determined on the basis of measurements carried out over a period of time preceding the determination step E41.

[0099] The time period used to determine the level of security is, for example, greater than or equal to 1 second and less than or equal to 24 hours. Alternatively, the time period is greater than or equal to 1 day and less than or equal to 1 year.

[0100] It should be noted that all or part of the operations of the various methods in which the above achievements can be understood by a person skilled in the art can be accomplished by giving instructions to the hardware concerned through the computer program, and the computer program can be stored in the computer-readable storage medium, which can include, but is not limited to: read-only memory (ROM), random-access memory (RAM), a disk, a CD or a memory unit having a similar function.

[0101] Of course, the various features, variants, and embodiments of the invention can be combined with one another in various ways, provided they are not incompatible or mutually exclusive. Variants

[0102] The present invention is in no way limited to the embodiment described and represented, but a person skilled in the art will be able to make any variation in accordance with the invention.

[0103] In a variant of the invention, the driving instruction of the first vehicle 1 is determined by an intermediate network, external to the first vehicle 1.

[0104] In another embodiment of the invention, the driving instruction of the first vehicle 1 is determined by a vehicle driving determination system equipping the second vehicle 2.

[0105] In another embodiment of the invention, the at least one safety level relative to the second vehicle 2 is determined by the electronic systems of the vehicles surrounding the second vehicle 2, jointly or not with the determination device 120 of the second vehicle 2. Advantageously, by increasing the number of determination devices used to determine the at least one safety level relative to the second vehicle 2, the reliability and accuracy of the determined safety level are strengthened. According to this embodiment, the at least one safety level relative to the second vehicle 2 is determined, for example, by aggregating the information from the internal sensors and the sensors of each vehicle and then determining a safety level from the information transmitted to the second vehicle 2 or to a remote server. The safety level relative to the second vehicle is, for example, determined by the determination device 120 of the second vehicle 2 or by a computing unit connected to the remote server. Alternatively, the device for determining a safety level of each vehicle determines a relative safety level for the second vehicle 2. In this embodiment, an average safety level is determined from the safety levels provided by the determination device, for example, by the determination device 120 of the second vehicle 2 or by a computing unit connected to the remote server.

Claims

Demands

1. A method implemented in an electronic system equipping a first vehicle, the method comprising the following steps: - a step E21 of receiving by a communication circuit of the first vehicle at least one safety level relating to a second vehicle, - a step E41 of determining a driving instruction for the first vehicle as a function of the at least one safety level received.

2. Method according to claim 1, wherein the driving instruction is determined by selection, based on at least one level of safety received, from a plurality of driving instructions recorded on the vehicle's electronic system.

3. Method according to claim 2, wherein the method further comprises: - a step E31 of prioritizing the plurality of driving instructions recorded on the electronic system of the first vehicle, during which a level of reliability is associated with each driving instruction recorded according to at least one level of safety relating to the second vehicle, the driving instruction of the first vehicle determined by selection in the determination step E41 being the driving instruction recorded for which the highest level of reliability was associated during the prioritization step E31.

4. A method according to claim 2 or 3, wherein the plurality of driving instructions includes at least two of the following instructions: stay in the same lane and maintain the speed of the first vehicle, stay in the same lane and decrease the speed of the first vehicle, change lanes and then overtake the second vehicle, decrease the speed of the first vehicle and then change lanes and overtake the second vehicle, change lanes and then overtake the second vehicle with an increased lateral safety distance between the first and second vehicles, decrease the speed of the first vehicle and then change lanes and then overtake the second vehicle with an increased lateral safety distance between the first and second vehicles.

5. A method according to any one of claims 1 to 4, wherein at least one level of security relating to the second vehicle is sent to the first vehicle by the second vehicle.

6. A method according to any one of claims 1 to 5, wherein the method further comprises: - a determination step El 1, during which at least one safety level relating to the second vehicle is determined by an electronic device equipping the second vehicle.

7. A method according to claim 5, wherein at least one safety level relating to the second vehicle is determined according to at least one of the following parameters: vehicle acceleration, vehicle speed, use of vehicle brakes, compliance with traffic laws, compliance with safety distances between vehicles, frequency of use of vehicle turn signals or the condition of the vehicle driver.

8. A method according to any one of claims 1 to 7, wherein the at least one level of safety received during the acceptance step E21 is determined on the basis of measurements carried out over a period of time preceding the determination step E41.

9. A method according to claim 8, wherein the time period is greater than or equal to one tenth of a second and less than or equal to 24 hours.

10. A method according to claim 8, wherein the time period is greater than or equal to 1 day and less than or equal to 1 year.

11. A method according to any one of claims 1 to 10, wherein the driving instruction includes a driving instruction communicated to the driver of the vehicle.

12. A method according to any one of claims 1 to 11, wherein the driving instruction includes a vehicle control instruction.

13. A method according to claim 12, wherein the method further comprises: - a control step E51 of the first vehicle by a control unit configured to control the first vehicle according to the safety instruction determined during the determination step E41.

14. A method according to any one of claims 1 to 13, wherein at least one level of safety relating to the second vehicle is associated with the driver of the second vehicle.

15. System for determining (10) a driving instruction for a vehicle comprising: - a receiving device (12) configured to receive at least one safety level relating to a second vehicle, - a first processing unit (20) configured to determine a driving instruction based on at least one safety level relating to the second vehicle.

16. A determination system (10) according to claim 15, further comprising: - a memory unit (14) on which driving instructions available for the first vehicle are stored, - a second processing unit (22) configured to associate a reliability level with each available driving instruction stored on the memory unit (14) according to at least one safety level relating to the second vehicle received by the receiving device (12), - a control unit (30) configured to control the driving of the first vehicle according to the driving instruction determined by the first processing unit (20), - an information device (32) configured to provide the driver of the first vehicle with the driving instruction determined by the first processing unit (20),in which the safety instruction determined by the first processing unit (20) is the available driving instruction to which the highest level of reliability has been associated by the second processing unit (22).