Method and device for detecting a vehicle door in a parking space

Abstract

The present invention relates to a method for detecting an open door of a second vehicle (12) by a first vehicle (11). To this end, data representing the presence of the second vehicle (12) parked on one side of a section of road (100) on which the first vehicle (11) is traveling, in the form of an enclosing box (140), are received. Second data representing the occupancy of a space adjacent (150) to the second vehicle (12) on one side of a lane of the section of road (100) are also received. Information representing the presence or absence of an open door (120) is determined based on said first and second data and transmitted to at least one on-board system of the first vehicle (11). Figure 1 (for the abstract)

Description

Title of the invention: Method and device for detecting a vehicle door in a parking space. Technical field

[0001] The present invention relates to methods and devices for obstacle detection in driver assistance systems, known as ADAS systems, of a vehicle, for example, a motor vehicle. More specifically, the present invention relates to methods and devices for detecting an open door of a vehicle parked on the side of a road, for example, in a parking space. Technological background

[0002] To improve road safety, some contemporary vehicles are equipped Advanced Driver-Assistance Systems (ADAS) are systems or functions used to assist drivers. ADAS systems, for example, implement processes based on the detection of surrounding obstacles using peripheral sensors mounted on a vehicle, such as cameras, radars, or lidars (Light Detection and Ranging).

[0003] This detection makes it possible to avoid collisions between a vehicle equipped with AD AS functions or systems and obstacles, for example a pedestrian, another vehicle, or an element of road infrastructure, thus ensuring the safety of road users.

[0004] Current perception sensor technologies make it easy to detect large objects on the road, for example vehicles. However, for thinner and more complex objects, particularly objects in the vicinity of a larger object already detected, detection can prove more complex, especially in the case of an open vehicle door, as this door encroaches on the traffic lane and therefore constitutes a danger to the moving vehicle.

[0005] In particular, when a vehicle equipped with AD AS systems, including an autonomous vehicle, is travelling on a traffic lane with parking spaces at the edge of the lane, it is necessary for the vehicle to identify the presence of an open door of a parked vehicle, when the open door encroaches on the vehicle's current traffic lane, in order to adapt the speed (for example by triggering emergency braking) and / or the trajectory of the vehicle to avoid the open door of the vehicle. Summary of the present invention

[0006] One object of the present invention is to solve at least one of the problems of the technological background described above.

[0007] Another object of the present invention is to improve the safety of a vehicle travelling on a traffic lane.

[0008] According to a first aspect, the present invention relates to a method for detecting an open door of a second vehicle. The method is implemented by at least one processor of a first vehicle in motion, and comprises the following steps: - receipt of initial data representing the presence of the second vehicle parked on one side of a section of road on which the first vehicle is traveling, the initial data representing the second vehicle in the form of a bounding box, - receiving second data representing the occupancy of a space adjacent to the second vehicle on one side of a traffic lane of the section of road, - determining information representing the presence or absence of an open door of the second vehicle based on the first and second data, - transmitting the information to at least one on-board system of the first vehicle.

[0009] Representing the second vehicle as a bounding box is insufficient on its own to identify an open door of the vehicle, and data representing the occupancy of an adjacent space do not allow the obstacle to be classified as an open door of the second vehicle. Combining the first and second data sets makes it possible to detect the obstacle and the vehicle and to generate the information that the obstacle is the open door of the second vehicle. Thus, this combination makes it possible to accurately characterize a second vehicle and its open door, parked on one side of a section of road on which the first vehicle is traveling. The accurate detection of the second vehicle and its open door improves the safety of the first vehicle traveling on a traffic lane.

[0010] According to one variant, the method further includes a step of receiving third data representative of the presence of a set of parking spaces on one side of a portion of road on which the first vehicle is traveling, and a step of determining the presence of the second vehicle in a parking space of the set of parking spaces.

[0011] According to one variant, the occupancy of the space adjacent to the second vehicle is determined by a method of detecting free space around the first vehicle.

[0012] According to one example, the first data are obtained by at least one first perception sensor of the first vehicle, the perception sensor belonging to a set of perception sensors comprising: - at least one Lidar sensor, - at least one Radar sensor, and - at least one video camera sensor.

[0013] According to another example, the second data is obtained by at least one second perception sensor from the set of perception sensors of the first vehicle.

[0014] According to one variant, the third data is obtained from mapping data stored in a memory of a navigation system of the first vehicle.

[0015] According to another variant, the third data is obtained by detecting signs indicating the set of parking spaces.

[0016] According to a second aspect, the present invention relates to a computer program which includes instructions adapted for the execution of 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.

[0017] According to a third 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] According to a fourth aspect, the present invention relates to a device for detecting an open door of a second vehicle, the device comprising a memory associated with at least one processor configured to implement the steps of the process according to the first aspect of the present invention

[0022] According to a fifth aspect, the present invention relates to a vehicle, for example a motor vehicle, comprising a device as described above according to the fourth aspect of the present invention. Brief description of the figures

[0023] 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 3, in which:

[0024] [Fig. 1] schematically illustrates a road environment comprising a first vehicle and a second vehicle, according to a particular embodiment of the present invention;

[0025] [Fig.2] illustrates a device configured for the detection of an open door of a second vehicle, for the first vehicle of [Fig.1], according to a particular and non-limiting embodiment of the present invention.

[0026] [Fig. 3] illustrates a flowchart of the different steps of a method for detecting an open door of a second vehicle for the first vehicle in [Fig. 1], according to a particular and non-limiting embodiment of the present invention. Description of embodiment examples

[0027] A method and device for detecting an open door of a parked vehicle will now be described in what follows with joint reference to Figures 1 to 3. The same elements are identified with the same reference signs throughout the description that follows.

[0028] 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.

[0029] According to a particular and non-limiting embodiment of the present invention, the detection of an open door of a second vehicle, implemented by at least one processor of a first vehicle in motion, comprises receiving data representing the presence of a second vehicle parked on one side of a section of road on which the first vehicle is traveling. This data represents the second parked vehicle in the form of a “bounding box.” Such a bounding box corresponds, for example, to a rectangular geometric shape encompassing the second vehicle in space, calculated from data from the vehicle's perception sensors. The detection process also includes receiving secondary data representing the occupancy of a space adjacent to the second parked vehicle. This adjacent space is located on the side of a traffic lane of the road segment on which the first vehicle is traveling. For example, the adjacent space corresponds to a list of points in a three-dimensional space adjacent to the second vehicle, on the side of the traffic lane. The presence or absence of an open door on the second vehicle is determined based on the first and second data points, for example, by comparing the match between the bounding box and the list of points to identify an obstacle adjacent to the second vehicle. The information regarding the presence or absence of an open door is then transmitted to at least one onboard system of the vehicle, for example, a decision-making system for the control and navigation of an autonomous vehicle.

[0030] Such a process makes it possible to improve the safety of vehicle passengers and other road users by limiting the risks of collision with an open door of a vehicle parked along a traffic lane.

[0031] Fig. 1 schematically illustrates a road environment 1 in which a first vehicle 11 is moving, according to a particular and non-limiting embodiment of the present invention.

[0032] Fig. 1 illustrates a first vehicle 11, for example a motor vehicle, travelling on a portion of road 100 of the road environment 1. According to other examples, the first vehicle 11 corresponds to a coach, a bus, a truck, a utility vehicle or a motorcycle, that is to say a motorized land vehicle type vehicle.

[0033] The first vehicle 11 corresponds to a vehicle operating under the full supervision of a driver or operating in an autonomous or semi-autonomous mode. The first vehicle 11 operates according to an autonomy level of 0 or according to an autonomy level ranging from 1 to 5, for example, according to the scale defined by the American federal agency which has established 5 levels of autonomy ranging from 1 to 5, level 0 corresponding to a vehicle with no autonomy, the driving of which is under the full supervision of the driver, level 1 corresponding to a vehicle with a minimal level of autonomy, the driving of which is under the supervision of the driver with minimal assistance from an ADAS system, and level 5 corresponding to a fully autonomous vehicle.

[0034] The 5 levels of autonomy in the classification of the federal agency responsible for road safety are: - level 0: no automation, the vehicle driver fully controls the main functions of the vehicle (engine, accelerator, steering, brakes); - level 1: driver assistance, automation is active for certain vehicle functions, the driver retaining overall control over driving the vehicle; cruise control is part of this level, as are other aids such as ABS (anti-lock braking system) or ESP (electronic stability program); - level 2: automation of combined functions, the control of at least two main functions is combined in the automation to replace the driver in certain situations; for example, adaptive cruise control combined with lane centering allows a vehicle to be classified as level 2, as does automatic parking assist; - level 3: limited autonomous driving, the driver can cede complete control of the vehicle to the automated system which will then be in charge of critical safety functions; however, autonomous driving can only take place under certain specific environmental and traffic conditions (only on highways for example); - level 4: fully autonomous driving under certain conditions, the vehicle is designed to independently perform all critical safety functions over a complete journey; the driver provides a destination or navigation instructions but is not required to be available to take back control of the vehicle; - Level 5: Completely autonomous driving without driver assistance in all circumstances.

[0035] The first vehicle 11 advantageously incorporates one or more driver assistance systems, known as ADAS (Advanced Driver-Assistance System). Such an ADAS system is configured to assist, or even replace, the driver of the first vehicle 11 in controlling the first vehicle 11 along its route.

[0036] For example, the first vehicle carries an AD AS system corresponding to an automatic emergency braking system, called an AEB system (from the English “Automatic Emergency Braking”) which is triggered, after an audible and visual alert, to avoid a collision with an obstacle detected by the on-board system of the first vehicle 11.

[0037] The first vehicle 11 also carries one or more perception sensors enabling the detection of an object in the environment of the first vehicle 11, among the following perception sensors: - one or more cameras (with or without a depth sensor) for acquiring one or more images of the environment around the first vehicle 11 located in the field of vision of the camera(s); and / or - one or more millimeter-wave radars arranged on the first vehicle 11, 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, a vehicle traveling in front of the first vehicle 11), in order to detect obstacles and their distances from the first vehicle 11; 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 emitting device, a receiving device including a light collector (to collect the part of the light radiation emitted by the emitter and reflected by any object located on 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 a vehicle parked on the side of the road) located in the emitted light beam and to measure the distance between the sensor and each detected object.

[0038] According to a particular embodiment, the first vehicle 11 operates in a semi-autonomous or autonomous mode, that is to say with a level of autonomy greater than or equal to 2 according to the classification above.

[0039] According to the example in [Fig.1], the first vehicle 11 travels on a traffic lane of a portion of road 100 and approaches a set of parking spaces 130 located on the side of the traffic lane of the portion of road 100.

[0040] In this example, the set of parking spaces is considered 130 corresponds to a parking area with four parking spaces delimited by ground markings. It is understood that the invention described here is not limited to the set of parking spaces 130 in [Fig. 1], but extends to a wide variety of parking space configurations, whether or not delimited by ground markings.

[0041] A second vehicle 12 is parked on the side of the traffic lane of the portion of road 100, in this example in one of the parking spaces of the set of parking spaces 130. In the example illustrated by [Fig.1], the first vehicle 11 moves towards the second parked vehicle 12 and follows a trajectory which leads the first vehicle 11 to overtake the second vehicle 12.

[0042] In one embodiment of the present invention, the door 120 of the second vehicle is open and straddles the traffic lane 100. For example, the driver of the second vehicle 12 wishes to exit or enter the second vehicle 12.

[0043] A problem that then arises concerns the correct detection by the first vehicle 11 of the door 120 of the second vehicle 12. Current on-board AD / AS systems, using vehicle sensor data and algorithms classifications for object detection are effective in determining the presence of the second stationary vehicle 12 on the side of road segment 100, but lack the accuracy to effectively detect the presence of the open door 120 on the traffic lane of road segment 100.

[0044] According to the invention, a process for detecting an open door of the second vehicle 12 is advantageously implemented by the first vehicle 11, for example by one or more processors of one or more computers of the first vehicle 11.

[0045] In a first operation of the process, at least one processor of the first vehicle 11, for example a central computer or a set of computers, receives first data representative of the presence of a second vehicle 12 parked on one side of a portion of road 100 on which the first vehicle 11 is traveling.

[0046] These first data are received from one or more perception sensors of the first vehicle 11, for example one or more radar(s), lidar(s) and / or camera(s).

[0047] More specifically, this first data is received in the form of a "bounding box" 140 representing the second vehicle 12. The "bounding box" makes it possible to define the limits of an object detected in the environment of the first vehicle 11, making it possible to facilitate the localization and analysis of an object, for example a second vehicle 12, by the AD AS on-board systems.

[0048] For example, in the case of a video camera-type perception sensor, the "bounding box" 140 corresponds to a two-dimensional rectangular projection onto the image captured by the video camera. The projection is defined by X and Y coordinates in space and encloses the second vehicle 12 in the image captured by the video camera. According to another embodiment, for a LIDAR and / or radar-type perception sensor, the bounding box 140 corresponds to a three-dimensional rectangular box, defined by X, Y, and Z coordinates in space, and encompasses the second vehicle 12.

[0049] To calculate and delimit the bounding box 140, an object recognition method is applied to the received data to detect the presence of the second vehicle 12 by at least one processor of the first vehicle 11, for example, a central computer or a set of computers. The data processing method implemented corresponds, for example, to an image processing method known as machine learning, for example, implemented by a neural network in the case of image data from a video camera. As another example, for data received from a LIDAR and / or radar sensor, the data processing method implemented corresponds to clustering. from a point cloud followed by segmentation and finally an association in the form of a bounding box which delimits the second vehicle 12.

[0050] In a second operation of the process, at least one processor of the first vehicle 11, for example a central computer or a set of computers, receives second data representing the occupancy of an adjacent space 150 of said second vehicle 12 on one side of a traffic lane of the portion of road 100.

[0051] In one embodiment, these second data correspond for example to geographical coordinates of obstacles in three-dimensional space, these obstacles being located in a space adjacent 150 to the second vehicle 12 and on the traffic lane of the section of road 100.

[0052] The adjacent space detection data 150 to the second vehicle 12 is received from one or more perception sensors among the set of perception sensors of the first vehicle 11. For example, for a video camera type sensor, the adjacent space detection data 150 is obtained by detecting obstacles identified by an image processing method. For example, for a LIDAR / Radar type sensor, "point cloud" type data makes it possible to identify a potential obstacle for the first vehicle 11, on the trajectory of the first vehicle 11, located in the space adjacent to the second vehicle 12.

[0053] In the embodiment described by [Fig. 1], the second data indicate the presence of an obstacle in the space adjacent 150 to the second vehicle 12.

[0054] Thus these second data make it possible to identify obstacles in the space adjacent to the second vehicle 12, but do not make it possible to classify an obstacle as being, for example, an open door 120 of the second vehicle 12.

[0055] In a third operation of the process, information representative of the presence or absence of an open door 120 of the second vehicle 12 is determined based on the first and second data.

[0056] For example, by combining the information obtained from the bounding box 140 of the second vehicle 12, and the occupancy information in which there is an unidentified obstacle encroaching on the traffic lane 100, it is determined that the unidentified obstacle is adjacent to the bounding box 140 on the side of the traffic lane of the first vehicle 11. Thus, the obstacle is determined to be the front door 120 of the second vehicle 12, and the information is information of the presence of an open door 120 of the second vehicle 12.

[0057] According to another example, if the occupancy information does not contain an object adjacent to the bounding box 140 of the second vehicle 12, the information is an information of absence of door 120 open of the second vehicle 12.

[0058] Such information is for example coded on 1 bit, the value "0" corresponding to an absence of an open door and the value "1" corresponding to the presence of an open door, or vice versa.

[0059] In a fourth operation of the process, information is transmitted by the processor of vehicle 11 to at least one on-board system of the first vehicle 11. For example, information is transmitted to an on-board ADAS automatic emergency braking (AEB) system, which will decide whether or not to initiate emergency braking based on the information received. In another example, information is transmitted to a human-machine interface (HMI) of the vehicle's navigation system, for example, in the form of a graphical representation of the second vehicle 12 and the door 120, possibly with an associated alert, allowing the driver of the first vehicle 11 to make a decision based on the information received.

[0060] This information is for example transmitted by the computer implementing the process to the computer(s) controlling the embedded system(s) receiving the information via one or more data buses of the embedded network of the first vehicle 11.

[0061] According to one embodiment of the present invention, prior to the first operation, third data representing the presence of a set of parking spaces 130 on one side of a portion of road 100 on which the first vehicle 11 travels are received in a fourth operation, and the presence of the second vehicle 12 on a parking space of the set of parking spaces 130 is determined in a fifth operation.

[0062] The upstream detection by the first vehicle 11 of the presence of a set of parking spaces 130 on one side of a section of road 100 makes it possible to anticipate the execution of the operations of the open door 120 detection process, and therefore to accelerate the decision-making by an on-board AD AS system following the detection of an open door 120.

[0063] According to one embodiment of the present invention, described in [Fig. 1], the second data are free space data. This data is represented by an area, for example coordinates in a three-dimensional coordinate system, or according to another example by a set of points delimiting an empty area from an occupied area, in which the first vehicle 11 can move freely.

[0064] The second data obtained by free space detection is constructed, for example by a computer of an embedded system of the first vehicle 11, from the data received from one or more perception sensors among the set of perception sensors of the first vehicle 11. For example, for a video camera type sensor, the free space data is obtained by segmenting images obtained by the camera to differentiate the portion of road 100 from surrounding objects. For example, for a LIDAR / Radar type sensor, light beams (in the case of a LIDAR sensor), or radio waves (in the case of a radar sensor), are emitted in all directions of the field of view of the sensor, and an angular detection makes it possible to determine the free and clear spaces in the environment of the first vehicle 11, and thus to generate the second data.

[0065] According to one embodiment, the third data is obtained from mapping data stored in a memory of a navigation system of the first vehicle 11. For example, the mapping data contains the geographical positions of known parking areas.

[0066] According to another embodiment, the third data is obtained by a sixth operation of detecting signs indicating the set of parking spaces 130. For example, the detection is obtained by an image processing method on data from a video camera of the first vehicle 11, the method being for example a method of recognizing objects of the type of traffic signs on the data from the video camera.

[0067] According to one embodiment of the present invention, the first data are obtained by at least one first perception sensor of the first vehicle 11, the perception sensor(s) correspond to one or more of the following sensors, according to all possible combinations: - at least one LIDAR sensor, and / or - at least one radar sensor, and / or - at least one video camera sensor.

[0068] According to one embodiment of the present invention, the second data points are obtained by at least one second perception sensor from the set of perception sensors of the first vehicle 11. The second vehicle(s) may, for example, be the same as the first sensor(s). According to another example, the second sensor(s) may be different from the first sensor(s), i.e., the second and first data points are not obtained by the same sensors of the first vehicle 11.

[0069] Thus, this open door detection process of a second vehicle 12 allows the first vehicle 11 to effectively detect an obstacle corresponding to an open door 120 in its lane 100, i.e., in its trajectory. The combination of bounding box data 140 and adjacent space occupancy data 150 to the second vehicle 12 improves the accuracy of open door detection 120, and allows the ADAS systems of the first vehicle 11 to trigger emergency braking with increased precision on the detected obstacle.

[0070] Figure 2 schematically illustrates a device 2 configured to detect a an open door of a parked vehicle, according to a particular and non-limiting embodiment of the present invention. Device 2 corresponds, for example, to a device embedded in the first vehicle 11, for example a computer.

[0071] Device 2 is, for example, configured to carry out at least some of the operations described opposite [Fig. 1] and / or the steps of the process described opposite [Fig. 3]. Examples of such a device 2 include, but are not limited to, embedded electronic equipment such as a vehicle's on-board computer, an electronic control unit such as an ECU (Electronic Control Unit), a TCU, a controller, an on-board computer, or a mobile communication device (e.g., one embedded in a vehicle and connected to that vehicle by wired or wireless communication). The elements of device 2, individually or in combination, may be integrated into a single integrated circuit, into several integrated circuits, and / or into discrete components.Device 2 can be implemented in the form of electronic circuits or software (or computer) modules, or a combination of electronic circuits and software modules.

[0072] The device 2 comprises one (or more) processor(s) 20 configured to execute instructions for carrying out the steps of the process and / or for executing instructions from the software embedded in the device 2. The processor 20 may include integrated memory, an input / output interface, and various circuits known to those skilled in the art. The device 2 further comprises at least one memory 21, corresponding, for example, to 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.

[0073] 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 21.

[0074] According to various specific and non-limiting embodiments, the device 2 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.

[0075] According to a particular and non-limiting embodiment, the device 2 includes a block 22 of interface elements for communicating with external devices. The interface elements of block 22 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, 5G; - 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").

[0076] According to another particular and non-limiting embodiment, the device 2 includes a communication interface 23 which allows communication to be established with other devices (such as other computers in the embedded system) via a communication channel 230. The communication interface 23 corresponds, for example, to a transmitter configured to transmit and receive information and / or data via the communication channel 230. The communication interface 23 corresponds, for example, to a wired network of the CAN (Controller Area Network) type, CAN FD (Controller Area Network Flexible Data-Rate), FlexRay (standardized by ISO 17458) or Ethernet (standardized by ISO / IEC 802-3).

[0077] According to a particular and non-limiting embodiment, the device 2 can provide output signals to one or more external devices, such as a display screen 240, touch or not, one or more speakers 250 and / or other peripherals 260 (projection system) via output interfaces 24, 25 and 26 respectively. According to a variant, one or more of the external devices is integrated into the device 2.

[0078] Figure 3 illustrates a flowchart of the various steps of a method for detecting an open door of a second vehicle for a first vehicle traveling in a road environment, for example the first vehicle 11, according to a particular and non-limiting embodiment of the present invention. The method is implemented, for example, by a computer or set of computers of the vehicle, for example by the device 2 of Figure 2.

[0079] In a first step 31, initial data representing the presence of the second vehicle parked on one side of a section of road on which the first vehicle is traveling are received. The initial data represent the second vehicle in the form of a bounding box.

[0080] In a second step 32, second representative data on the occupancy of a space adjacent to the second vehicle on one side of a traffic lane of the road segment are received.

[0081] In a third step 33, information representative of the presence or absence of an open door of the second vehicle is determined based on the first and second data.

[0082] In a fourth step 34, the information is transmitted to at least one on-board system of the first vehicle.

[0083] According to one variant, the variants and examples of the operations described in relation to [Fig.1] apply to the steps of the process in [Fig.3].

[0084] Of course, the present invention is not limited to the embodiments described above but extends to a method for controlling a vehicle driver assistance system that 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.

Claims

Demands

1. A method for detecting an open door of a second vehicle (12), said method being implemented by at least one processor of a first vehicle (11) in motion, said method comprising the following steps: - receiving (31) first data representing the presence of said second vehicle (12) parked on one side of a section of road (100) on which said first vehicle (11) is traveling, said first data representing said second vehicle (12) in the form of a bounding box (140), - receiving (32) second data representing the occupancy of an adjacent space (150) of said second vehicle on one side of a traffic lane of said section of road (100), - determining (33) information representing the presence or absence of an open door (120) of said second vehicle (12) based on said first and second data,- transmission (34) of said information to at least one on-board system of said first vehicle (11).

2. Method according to claim 1, said method further comprising a step of receiving third data representative of the presence of a set of parking spaces (130) on said side of the portion of road (100) on which said first vehicle (H) is traveling, and a step of determining the presence of said second vehicle (12) in a parking space of the set of parking spaces (130) according to the first and third data.

3. Method according to claim 1 or 2, wherein said occupation of said adjacent space (150) of said second vehicle is determined by a free space detection method around said first vehicle (11).

4. A method according to any one of the preceding claims, wherein the first data are obtained by at least one first perception sensor of said first vehicle (11), said at least one perception sensor belonging to a set of perception sensors comprising: - at least one Lidar sensor, - at least one Radar sensor, and - at least one video camera sensor.

5. A method according to any one of the preceding claims, wherein said second data are obtained by at least one second perception sensor of said perception sensor array of said first vehicle (11).

6. A method according to any one of claims 2 to 5 depending on claim 2, wherein said third data are obtained from mapping data stored in a memory of a navigation system of said first vehicle (11).

7. A method according to any one of claims 2 to 5 depending on claim 2, wherein said third data are obtained by detecting signs indicating said set of parking spaces (130).

8. Computer program comprising program code instructions for implementing the method according to any one of the preceding claims, when said program is executed by a processor.

9. Device (2) for detecting an open door of a second vehicle (12), said detection device comprising a memory associated with at least one processor configured for carrying out the steps of the method according to any one of claims 1 to 7.

10. Vehicle (11) comprising the device (2) according to claim 9.