Method for controlling the movement of a vehicle and associated system

Abstract

A system for controlling the movement of a first vehicle comprises: - a processing unit (4) configured to determine information (INF1; INF2) indicative of a driving capability, at least partially automated, or a driving mode, of at least a second vehicle located in the vicinity of the first vehicle; - a control unit (6) configured to control the movement of the first vehicle based on the determined information (INF1; INF2). An associated method is also described. Figure for the abstract: Figure 1

Description

Title of the invention: Method for controlling the movement of a vehicle and associated system. Technical field of the invention

[0001] The present invention relates to the technical field of vehicle movement control.

[0002] It relates in particular to a method for controlling the movement of a vehicle and an associated system. State of the art

[0003] Motor vehicles are increasingly capable of at least partially automated driving, such as achieved for example by longitudinal and / or lateral control of vehicle movement.

[0004] According to the classification defined by the SAE (for "Society of Automotive Engineers"), driving that is at least partly automated corresponds to level 1 and higher levels (levels 2 to 5).

[0005] Such vehicles are generally equipped with a control unit configured to control the vehicle's movement while respecting various operating parameters, such as the vehicle's speed, a distance or time gap with the vehicle in front, or a lateral gap relative to other vehicles. Presentation of the invention

[0006] In this context, the present invention proposes a method for controlling the movement of a first vehicle comprising the following steps:

[0007] - determination of indicative information of a driving capacity at least in automated part or at least partially automated driving mode of at least a second vehicle located in the vicinity of the first vehicle;

[0008] - control of the movement of the first vehicle based on the information determined.

[0009] It is therefore possible to take into account, when controlling the movement of a vehicle, the at least partially automated driving capability or the at least partially automated driving mode of the surrounding vehicle(s). The behavior of a surrounding vehicle varies depending on whether that vehicle is capable of at least partially automated driving (the driver of that surrounding vehicle can then rely on driving aids), or even whether that vehicle uses a driving mode that is at least partially automated, during which the vehicle's reactions differ from those observed in the case of driving without assistance.

[0010] Taking into account the at least partially automated driving capability or at least partially automated driving mode of the surrounding vehicle thus makes it possible, for example, to anticipate a potential behavior of this vehicle, for example, a sudden braking potentially triggered by a driving assistance system.

[0011] As indicated above, this information may be indicative of a driving mode that is at least partially automated for the second vehicle; the step of determining this information may then include:

[0012] - a sub-step for determining driving ability at least in part automated second vehicle;

[0013] - if the second vehicle is determined to be at least partially drivable automated, a sub-step of determining said information.

[0014] Various technical solutions can be used to determine indicative information regarding the at least partially automated driving capability or at least partially automated driving mode of the second vehicle. Several of these possible technical solutions are given below.

[0015] The step of determining said information may also include the following sub-steps:

[0016] - obtaining at least one image containing the second vehicle by means of at least an image sensor fitted to the first vehicle;

[0017] - determination of said information by analysis of said at least one image.

[0018] According to one possible embodiment, the step of determining said information by analyzing said at least one image may include (for example, when said information is indicative of a driving capability of at least partially automated operation of the second vehicle):

[0019] - a substep of determining (by image analysis) whether the second vehicle is equipped of at least one sensor (for example, a lidar or radar or an ultrasonic sensor or an image sensor such as a camera), and / or

[0020] - a substep of recognition (by image analysis) of the model of the second vehicle (and then possibly a sub-step of consulting a database).

[0021] The aforementioned information may, however, alternatively be determined by a technical solution other than image analysis.

[0022] Thus, the step of determining said information can generally include the following sub-steps:

[0023] - obtaining data relating to the second vehicle by means of at least one sensor equipping the first vehicle (this sensor could be an image sensor as already indicated or another type of sensor, such as a lidar or a radar);

[0024] - determination of said information by analysis of said data.

[0025] This data can represent, for example, at least one image (in the case where the sensor is an image sensor), or at least one distance associated with the second vehicle (when the image sensor is a radar or a lidar), or even a plurality of distances respectively associated with points in a point cloud (some of which at least are associated with the second vehicle) when the image sensor is a lidar.

[0026] The step of determining said information by analyzing said data may include, for example:

[0027] - a substep of extracting a dynamic evolution (or trajectory) of the second vehicle by analyzing said data (i.e., for example, by analyzing a sequence of images containing the second vehicle, or alternatively by analyzing the distance(s) represented by said data), and then possibly a sub-step of classifying the extracted dynamic evolution (or trajectory) in order to determine whether the second vehicle is operating (or not) in a driving mode that is at least partially automated, and / or

[0028] - an extraction substep, by analysis of said data (for example by analysis from a sequence of images containing the second vehicle, or by analyzing the distance associated with the second vehicle and its evolution over time, or by analyzing the position of the second vehicle based on the distances respectively associated with the points in the point cloud and / or the evolution over time of this position), of an operating parameter of the second vehicle (and then possibly a sub-step for determining a driving mode that is at least partially automated for the second vehicle based on the evolution over time of this operating parameter); and / or

[0029] - an extraction substep, by analysis of said data (for example by analysis of a sequence of images containing the second vehicle or, alternatively, by analysis of the distance associated with the vehicle and its temporal evolution, or by analysis of the position of the second vehicle evaluated on the basis of the distances respectively associated with the points of the point cloud and / or the temporal evolution of this position), of a characteristic parameter observed during a lane change of the second vehicle (and possibly then a sub-step of determining a driving mode at least partly automated of the second vehicle as a function of the extracted characteristic parameter).

[0030] These technical solutions can in particular be used to determine the aforementioned information when this information is indicative of a driving mode that is at least partly automated for the second vehicle.

[0031] The movement control step is for example carried out by a control unit respecting at least one operating parameter.

[0032] The process may in this case include a step of modifying the operating parameter according to said information.

[0033] Furthermore, modeling the behavior of the second vehicle within a second vehicle motion prediction algorithm may depend on this information. Thus, the predicted motion of the second vehicle will vary depending on whether this vehicle has been determined to be capable of at least partially automated driving and / or to be using a driving mode that is at least partially automated.

[0034] The method may further include a step of displaying an element representing the second vehicle and an indication associated with said element and dependent on said information.

[0035] The invention also proposes a system for controlling the movement of a first vehicle, comprising:

[0036] - a processing unit configured to determine indicative information of a driving capability at least partly automated or a driving mode at least partly automated of at least a second vehicle located in the vicinity of the first vehicle;

[0037] - a control unit configured to control the movement of the first vehicle based on the information determined.

[0038] The processing unit may include, for example:

[0039] - a first module configured to determine if the second vehicle is capable of driving at least partially automated;

[0040] - a second module configured to determine the driving mode (at least in (automated or not) of the second vehicle.

[0041] The control unit is configured, for example, to control the movement of the vehicle while respecting an operating parameter.

[0042] The control unit can then be configured to modify the operating parameter according to said information.

[0043] The system may also include a display system configured to display an element representing the second vehicle and an indication associated with said element and dependent on said information.

[0044] In a manner original in itself, the invention also proposes an image processing method comprising the following steps:

[0045] - obtaining, by means of at least one image sensor fitted to the first vehicle, of at least one image containing a second vehicle located in the vicinity of the first vehicle;

[0046] - determination, by analysis of said at least one image, of information indicative of a driving capability at least partially automated or a driving mode at least partially automated of the second vehicle.

[0047] As already explained, this information can be used for controlling the movement of the first vehicle and / or in the context of displaying an element representing the second vehicle, an indication associated with said element being able to depend on this information.

[0048] Correspondingly, the invention also proposes an electronic system, intended to be installed in a first vehicle and comprising:

[0049] - an image sensor configured to obtain at least one image containing a second vehicle located in the vicinity of the first vehicle;

[0050] - a processing unit configured to determine, by analysis of said at least an image, information indicating a driving capability at least partly automated or a driving mode at least partly automated of the second vehicle.

[0051] 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. Detailed description of the invention

[0052] In addition, various other features of the invention become apparent from the attached description made with reference to the drawings which illustrate non-limiting embodiments of the invention and where:

[0053] [Fig-1] represents the main elements of an electronic system equipping a first vehicle; and

[0054] [Fig.2] represents the main steps of an example of a process according to the invention.

[0055] Fig. 1 represents the main elements of an electronic system equipping a first vehicle.

[0056] This electronic system includes an image sensor 2, a processing unit 4, a control unit 6, a set of actuators 8 and a display system 10 comprising a display management unit 12 and a display device 14.

[0057] The processing unit 4, the control unit 6, and the display management unit 12 are, for example, each implemented by means of a processor executing computer program instructions stored in memory associated with the processor in question and designed to implement the functionalities (in particular those described below) of the unit in question. Alternatively, a processor could be programmed to implement the functionalities of several of the aforementioned units.

[0058] The image sensor 2 is directed outwards from the first vehicle so as to observe the environment of the first vehicle. Thus, the IMG images produced by the Image sensor 2 may include one or more second vehicles located in the vicinity of the first vehicle. Only one second vehicle is considered in the following description, but the explanations provided below can be applied to each of a plurality of vehicles located in the vicinity of the first vehicle.

[0059] A single image sensor 2 has been represented in [Fig. 1] for the sake of simplification, but the first vehicle can naturally be equipped with several such image sensors in order to observe various parts of the environment surrounding the first vehicle and thus obtain respective images of these various parts of the environment.

[0060] Furthermore, as explained below, other types of sensors can be used, for example radar or lidar.

[0061] The processing unit 4 includes a first module 16 configured to determine whether the second vehicle is capable of at least partially automated driving and to produce a corresponding INF1 information (information indicating a capacity of at least partially automated driving of the second vehicle).

[0062] To do this, the first module 16 analyzes for example the IMG image containing the second vehicle to determine if the second vehicle is equipped with sensors (which allow at least partial automation of the driving of the second vehicle), such as lidars, radars, ultrasonic sensors, image sensors (for example cameras).

[0063] In the presence of such sensors, the vehicle will be considered capable of at least partially automated driving.

[0064] Alternatively or in addition, the first module 16 can recognize the model of the second vehicle by analyzing the IMG image containing the second vehicle and determine the at least partially automated driving capability of the second vehicle by consulting a database indicating, for each vehicle model, whether or not vehicles of that model have at least partially automated driving capability. In certain embodiments, at least part of the processing just described (image analysis for model recognition of the second vehicle, reading from a database information on at least partially automated driving capability associated with the recognized vehicle model) can be performed by a remote server upon request from the first module 16 via a communication system of the first vehicle.

[0065] The processing unit 4 also includes a second module 18 configured to determine the driving mode (at least partly automated or not) commonly used by the second vehicle and to produce a corresponding INF2 information (information indicating a driving mode at least partly automated of the second vehicle).

[0066] In the example described here, the second module 18 is activated only when the INF1 information relating to the second vehicle indicates that this second vehicle is capable of at least partially automated driving.

[0067] The second module 18 determines, for example, this driving mode by extracting a dynamic evolution (or trajectory) of the second vehicle by analyzing a sequence of IMG images containing the second vehicle (IMG images produced by the image sensor 2), or alternatively by analyzing data provided by a radar or a lidar, and classifying the extracted dynamic evolution (or trajectory) in order to determine whether the second vehicle is operating (or not) according to a driving mode that is at least partially automated.

[0068] The second module 18 can for example extract (by analyzing the IMG image sequence or by analyzing the data provided by the radar or lidar, this data being able for example to represent distances respectively associated with points in a point cloud in the case of a lidar, some at least of these points being able to correspond to the second vehicle) an operating parameter of the second vehicle (such as a speed of the second vehicle, or a distance or a time gap between the second vehicle and a vehicle preceding it in a traffic lane, or a lateral position of the second vehicle in the traffic lane it is using) and determine that the second vehicle is using a driving mode that is at least partly automated if this operating parameter remains constant (or, in practice, shows variations below a predetermined threshold) for a predetermined period of time.

[0069] For example, if the second vehicle maintains a constant speed (i.e. with low entropy) for a predetermined period of time, the second module 18 deduces that the vehicle is using a driving mode that is at least partially automated.

[0070] According to another example, if the lateral deviation of the second vehicle relative to the center of its lane remains constant (for example close to zero), that is to say with low entropy, for a predetermined period of time, the second module 18 deduces that the vehicle is using a driving mode that is at least partly automated.

[0071] In practice, several operating parameters can be extracted and monitored in parallel to test various possible aspects of partially automated driving of the second vehicle.

[0072] According to another embodiment, possibly combinable with the previous one (for example by means of a voting system), the second module 18 can extract (by analyzing the IMG image sequence or by analyzing the data provided by the radar or lidar, this data being, for example, distances respectively associated with points in a point cloud in the case of lidar, at least some of these points being able to correspond to the second vehicle) a characteristic parameter observed during a lane change of the second vehicle (such as the duration of the lane change or the shape of the temporal evolution of the lateral position of the second vehicle) and determine whether the second vehicle uses a driving mode at least partially automated based on this characteristic parameter.

[0073] According to another possible embodiment, possibly combinable with one or more of the previous possibilities (for example by means of a voting system), the second module 18 can evaluate one or more behavioral characteristic(s) of a person located in the driver's seat in the second vehicle by analyzing an IMG image sequence containing the second vehicle and determine whether the second vehicle uses a driving mode that is at least partially automated depending on the behavioral characteristic(s) evaluated.

[0074] Alternatively, the driving mode used by the second vehicle could be determined by receiving corresponding information from an external system (such as the second vehicle itself or a remote server). In this variant, a communication module is used instead of the second module 18.

[0075] The control unit 6 is configured to control the movement of the first vehicle while respecting various operating parameters, such as the speed of the first vehicle, a distance or time gap with the vehicle in front, a lateral gap relative to other vehicles, or a safety margin.

[0076] To achieve this, the control unit 6 implements, for example, the following functionalities:

[0077] - analysis of IMG images produced by image sensor 2 and identification of vehicles located in the vicinity of the first vehicle;

[0078] - prediction of the respective movements of the identified vehicles;

[0079] - determination of a movement instruction for the first vehicle based on the predicted movements of the identified vehicles and in such a way as to respect the operating parameters mentioned above;

[0080] - determination of instructions for actuators to implement the instructions determined;

[0081] - sending these instructions respectively to the different actuators of the assembly 8. actuators

[0082] The actuator assembly 8 includes, for example, a powertrain 20, a steering system 22 and a braking system 24.

[0083] At least some of the operating parameters to be respected by the internal logic of the control unit 6 (in particular the operating parameters relating to the second vehicle mentioned above) are determined here according to the information INF1 indicating a driving capability at least in part automated of the second vehicle and / or based on the INF2 information indicating a driving mode at least partially automated of the second vehicle.

[0084] According to one possible implementation, the safety distance relative to a second vehicle located in front can be determined based on information INF1 indicating a driving capability at least partially automated for this second vehicle and based on information INF2 indicating a driving mode at least partially automated for this second vehicle as follows:

[0085] - the safety distance is set to the value d3 if the information INF1 indicates that this The second vehicle is not capable of at least partially automated driving.

[0086] - the safety distance is set to the value d2 if the information INF1 indicates that This second vehicle is capable of at least partially automated driving, and the INF2 information indicates that the driving mode used by this second vehicle is in no way automated (level 0 in the SAE classification).

[0087] - the safety distance is set to the value dl if the INF1 information indicates that this second vehicle is capable of at least partially automated driving and the INF2 information indicates that the driving mode used by this second vehicle is at least partially automated (level 1 or higher in the SAE classification),

[0088] with for example d2 < d3 < dl (dl being here the largest value because a vehicle in at least partially automated driving may have phases of heavy braking).

[0089] Furthermore, the algorithm for predicting the movement of an identified vehicle can take into account the information INF1 relating to this identified vehicle (information indicating a driving capability at least partly automated for this identified vehicle) and / or the information INF2 relating to this identified vehicle (information indicating a driving mode at least partly automated for this identified vehicle).

[0090] In this case, the modeling of the vehicle's behavior within the motion prediction algorithm depends on the vehicle's at least partially automated driving capability and / or the at least partially automated driving mode used by this vehicle.

[0091] It may also be provided that the display management unit 12 controls the display on the display device 14, for each of the identified vehicles:

[0092] - of an element (for example an icon) representing the vehicle concerned, by example superimposed on a representation of the traffic lane in which the vehicle in question is located, and,

[0093] - of an indication associated with this element (for example a particular color) and depending on the INF1 information relating to the vehicle concerned (indicative information) of a driving capability at least partly automated of the vehicle concerned) and / or INF2 information relating to the vehicle concerned (indicative information of a driving mode at least partly automated of the vehicle concerned).

[0094] Thus, even if the driving of the first vehicle is partly automated, the driver of the first vehicle will be informed of the at least partly automated driving capability of each of the surrounding vehicles and / or of a driving mode (at least partly automated or not) used by each of the surrounding vehicles.

[0095] Fig. 2 represents the main steps of a method for controlling the movement of a first vehicle according to an example of implementation of the invention.

[0096] This process is implemented here in the electronic system shown in [Fig. 1] and described above.

[0097] This process begins with a step E2 of obtaining, by means of one or more image sensor(s) equipping the first vehicle, at least one IMG image containing a second vehicle located in the environment of the first vehicle.

[0098] The process continues with a step E4 of determination (here by the first module 16 and, for example, by analysis of the image or images IMG obtained in step E2) of an information INF1 indicative of a driving capacity at least partly automated of the second vehicle.

[0099] If the second vehicle is determined in step E4 to be capable of at least partially automated driving, the method continues with a step E6 of determining (here by the second module 18 and, for example, by analyzing the image or images IMG obtained in step E2 or, alternatively, by analyzing data provided by a radar or lidar) an INF2 information indicative of a driving mode that is at least partially automated for the second vehicle (a driving mode that is at least partially automated and commonly used by the second vehicle). The method then continues to step E8.

[0100] If the second vehicle is determined in step E4 as not being capable of at least partially automated driving, the process proceeds directly to step E8 described now.

[0101] In step E8, the control unit 6 determines (i.e., possibly modifies) the operating parameters of the first vehicle based, in particular, on the information INF1 indicating the second vehicle's at least partially automated driving capability and / or the information INF2 indicating the second vehicle's at least partially automated (or non-automated) driving mode. The operating parameters may depend on other values ​​or conditions, for example, weather conditions, which are, however, unrelated to the present invention and will therefore not be described here.

[0102] The process then continues with a step E10 of controlling the movement of the vehicle while respecting the operating parameters determined in step E8. Reference may be made to the description of the control unit 6 (see above) for more details on the functionalities (i.e. the substeps) implemented during this step E10.

[0103] The method can finally include a step E12 of displaying (here on the display device 14) an element representing the second vehicle and an indication associated with said element and dependent on the information INF1 indicating a driving capability at least partly automated of the second vehicle and / or the information INF2 indicating the driving mode at least partly automated (or not) of the second vehicle.

Claims

Demands

1. Method of controlling the movement of a first vehicle comprising the following steps: - determining (E4; E4, E6) information (INF1; INF2) indicative of a driving capability at least partly automated or a driving mode at least partly automated of at least a second vehicle located in the environment of the first vehicle; - controlling (E10) the movement of the first vehicle according to the information (INF1; INF2) determined.

2. A method according to claim 1, wherein said information (INF2) is indicative of a driving mode at least partly automated of the second vehicle and wherein the step of determining said information comprises: - a substep (E4) of determining the driving capability at least partly automated of the second vehicle; - if the second vehicle is determined to be capable of driving at least partly automated, a substep (E6) of determining said information.

3. A method according to claim 1 or 2, wherein the step of determining said information (INF1; INF2) comprises the following substeps: - obtaining (E2) at least one image (IMG) containing the second vehicle by means of at least one image sensor (2) equipping the first vehicle; - determining said information (INF1; INF2) by analyzing said at least one image (IMG).

4. Method according to claim 3, wherein the step of determining said information (INF1) by analyzing said at least one image includes a substep of determining whether the second vehicle is equipped with at least one sensor.

5. A method according to claim 3 or 4, wherein the step of determining said information (INF1) by analyzing said at least one image includes a substep of recognizing the model of the second vehicle.

6. A method according to claim 1 or 2, wherein the step of determining said information (INF2) comprises the following substeps: - obtaining (E2) data relating to the second vehicle by means of at least one sensor (2) fitted to the first vehicle; - determination of said information (INF2) by analysis of said data.

7. A method according to claim 6, wherein the step of determining said information (INF2) by analyzing said data comprises a substep of extracting a dynamic evolution of the second vehicle by analyzing said data.

8. A method according to claim 6 or 7, wherein the step of determining said information (INF2) by analyzing said data comprises a substep of extracting, by analyzing said data, an operating parameter of the second vehicle.

9. A method according to any one of claims 6 to 8, wherein the step of determining said information (INF2) by analyzing said data includes a substep of extracting, by analyzing said data, a characteristic parameter observed during a lane change of the second vehicle.

10. A method according to any one of claims 1 to 9, wherein the movement control step (E10) is carried out by a control unit (6) respecting at least one operating parameter, and wherein the method includes a modification step (E8) of the operating parameter as a function of said information (INF1; INF2).

11. A method according to any one of claims 1 to 10, wherein a model of the behavior of the second vehicle within a second vehicle motion prediction algorithm depends on said information (INF1; INF2).

12. A method according to any one of claims 1 to 11, comprising a step (E12) of displaying an element representing the second vehicle and an indication associated with said element and dependent on said information (INF1; INF2).

13. Movement control system of a first vehicle, comprising: - a processing unit (4) configured to determine information (INF1; INF2) indicative of a driving capability at least partly automated or a driving mode at least partly automated of at least a second vehicle located in the environment of the first vehicle; - a control unit (6) configured to control the movement of the first vehicle according to the information (INF1; INF2) determined.

14. System according to claim 13, wherein the processing unit (4) comprises: - a first module (16) configured to determine whether the second vehicle is capable of at least partially automated driving; - a second module (18) configured to determine the driving mode of the second vehicle.

15. System according to claim 13 or 14, wherein the control unit (6) is configured to control the movement of the vehicle respecting an operating parameter and wherein the control unit (6) is configured to modify the operating parameter according to said information (INF1; INF2).

16. System according to any one of claims 13 to 15, comprising a display system (10) configured to display an element representing the second vehicle and an indication associated with said element and dependent on said information (INF1; INF2).

Images