Method of assisting with vehicle driving

Abstract

Title: Method for Assisting a Vehicle Driver The invention relates to a computer-implemented method (10) for assisting a driver (6) in driving a vehicle (A). This method (10) comprises the following steps: - controlling the display of a virtual object (8), in particular in the form of a virtual vehicle (8), which appears to the driver (6) in front of their vehicle (A); and - giving the virtual object (8) a personalized behavior determined on the basis of data (40, 50) related to the driver (6). Figure for the abstract: Fig. 1

Description

Title of the invention: Method for assisting in the driving of a vehicle

[0001] The field of the present invention relates to a method for assisting the driving of a vehicle. The present invention also relates to a vehicle driving assistance system.

[0002] The vehicle is of the land, sea and air type. Advantageously, the vehicle is an automobile.

[0003] A driver assistance system (ADAS) (or "advanced driver-assistance system") for vehicles is a well-known and conventional system. ADAS informs and assists the driver in their driving tasks. More specifically, ADAS contributes to increasing driver safety, for example, by improving the driver's ability to anticipate risky or dangerous situations, and also to improving driver comfort, for example, by reducing stress and cognitive load.

[0004] However, conventional ADAS is not sufficient to achieve the "zero accident" objective and the ultimate driver comfort state.

[0005] There is therefore a need, in particular to strengthen and improve driving capabilities and driver comfort.

[0006] The invention thus relates to a computer-based method for assisting a driver in driving a vehicle, said method comprising the following steps:

[0007] - to control the display of a virtual object, in particular in the form of a vehicle virtual, which appears, for the driver, in front of their vehicle; and

[0008] - to give the virtual object a personalized behavior determined on the basis of driver-related data.

[0009] In the invention, the display of the virtual object, particularly in the form of a virtual vehicle, is achieved, for example, on the windshield or on a transparent screen in front of the driver. This display can be achieved by a display device such as a head-up display (HUD). Alternatively, the display device can be augmented reality glasses, in which case the display of the virtual object, particularly in the form of a virtual vehicle, can be superimposed on the road. Augmented reality glasses differ from virtual reality glasses in that augmented reality glasses allow virtual elements to be added to the real driving environment, whereas virtual reality glasses immerse the driver in a completely virtual world.

[0010] For example, the projected virtual object can be located in front of the driver's vehicle, at a predetermined distance, for example the minimum safety distance corresponding to the speed of the driver's vehicle or the maximum authorized speed of the road taken by the driver's vehicle.

[0011] If activated by the driver, the projected virtual object allows, in particular, for the driver to be guided throughout their journey. The driver then only has to steer their vehicle in such a way as to follow the virtual object and reproduce its speed and trajectory. The driver can reproduce the behaviors and trajectories of the virtual object by mimicry. Thus, the driver is freed from the mental burden of deciding on speed adjustments or choosing the direction or lane in which their vehicle travels.

[0012] In particular, the fact that the driver follows the virtual object reduces the driver's attention to driving. The driver can simply follow the virtual object. This requires fewer attentional resources to ensure, for example, that the vehicle is at the correct speed or that it is at a safe distance from surrounding vehicles, or, for example, that it is operating at the correct speed. This reduces the driver's cognitive load.

[0013] Furthermore, the driver may be in a state of impaired attention (for example, due to fatigue or following very monotonous trajectories, such as on a highway, or due to cognitive overload caused, for example, by agitation in the vehicle). Under these conditions, the driver's awareness of environmental parameters is impaired. Thanks to the invention, following the virtual object allows the driver to overcome mental overload related to driving. Advantageously, the driver can thus free up attentional resources and concentrate more on certain essential driving actions, such as detecting dangerous events in the vehicle's environment.

[0014] According to one aspect of the invention, the personalized behavior of the virtual object is determined based on data related to the driver's physiological state and / or related to the driver's history, in particular the driver's physiological state during a previous period of driving the vehicle and / or a history of the driver's driving profile. The driver's physiological state is, for example, a state of fatigue and / or stress and / or the driver's state of attention.

[0015] According to one aspect of the invention, the method includes a machine learning step, in particular of the type involving artificial intelligence, allowing the personalized behavior of the virtual object to be adapted according to a history of the driver, in particular a history of a driving profile of the driver and / or a history of the physiological state of the driver during a period of previous driving of the vehicle.

[0016] According to one aspect of the invention, the driver history includes stored data on the driver's driving profile in a normal driving situation, namely without the assistance of the virtual object (for example in the form of a virtual vehicle).

[0017] According to one aspect of the invention, the driver history includes stored data on the driver's driving profile in an assisted driving situation, namely with the assistance of the virtual object, in particular in the form of a virtual vehicle.

[0018] According to one aspect of the invention, the driver's driving profile includes in particular a driving speed of the vehicle in a given situation (for example on a motorway), and / or a preferred safety distance of the driver left between his vehicle and a vehicle in front, and / or a type of trajectory.

[0019] The invention thus makes it possible to more closely mimic the driver's driving style so that the personalized behavior of the virtual object, in particular the virtual vehicle, does not interfere with the driver. It prevents the virtual object, in particular the virtual vehicle, from adopting behaviors that are aberrant compared to the driver's normal driving habits, that is, without the assistance of the virtual object.

[0020] For example, the method includes the step of memorizing a speed data at which the driver usually drives on a given road and adapting the personalized behavior of the virtual object to this speed, and then displays the virtual object at a distance from the driver's vehicle corresponding to the safety distance relative to this speed.

[0021] According to one aspect of the invention, the learning of the driver's history takes place in a condition without the virtual object, in particular without the virtual vehicle.

[0022] Alternatively, the driver history learning takes place under conditions with the assistance of the virtual object, in particular with the virtual vehicle.

[0023] According to one aspect of the invention, the method includes the step of using one or more physiological sensors configured to collect data relating to a physiological state of the driver.

[0024] According to one aspect of the invention, the personalized behavior of the virtual object, in particular the virtual vehicle, is determined to compensate for a decrease in driver vigilance and / or attention. This can be achieved by making the virtual object blink, increasing or decreasing its size, or changing its appearance, for example, by making it more or less transparent, changing its colors, or modifying its shape or the type of virtual object displayed. Alternatively, the display of the virtual object can be stopped.

[0025] These changes in the display of the virtual object or this stopping of the display force the driver to make a cognitive effort and thus make it possible to compensate for the decrease in vigilance and / or attention of the driver.

[0026] According to one aspect of the invention, the method includes the step of triggering the display of the virtual object, in particular the virtual vehicle, when a predetermined degraded physiological state is detected, for example a physiological state of fatigue or boredom of the driver.

[0027] According to one aspect of the invention, the method comprises the following steps:

[0028] - detecting early warning signs of a degraded physiological state of the driver, for example, a physiological state of fatigue or boredom in the driver,

[0029] - display, upon detection of warning signs, the virtual object, in particular the virtual vehicle.

[0030] In particular, the method comprises the following steps:

[0031] - detect one of the following states: a state of fatigue related to boredom, a state of fatigue linked to a lack of sleep, a state of cognitive fatigue, stress or excessive inattention, which may reduce alertness or disperse the driver's attention;

[0032] - to propose the activation of a display function for the virtual object, in particular the virtual vehicle, to the driver;

[0033] - if the driver accepts the activation of this function, display the virtual object, including the virtual vehicle.

[0034] Thus, the driver benefits from an effective (in terms of safety) and low-cost solution in terms of attentional resources (already weakened or dispersed) to maintain a sufficient level of vigilance for driving. In other words, the method according to the invention is advantageously a means of remedying decreased vigilance.

[0035] For example, at a stop sign or intersection, the virtual object is deactivated to show the driver that it is their responsibility to control the vehicle at the intersection. If there is a real vehicle ahead (in front of the driver's vehicle), the driver can choose to deactivate the virtual object and follow the real vehicle ahead, or maintain a safe distance from the real vehicle ahead and keep the virtual object displayed. Preferably, the virtual object is displayed only if the distance between the driver's vehicle and the real vehicle ahead is greater than a preferred safety distance of the driver or a safe distance appropriate for the road the driver is traveling on.

[0036] According to one aspect of the invention, the virtual object, in particular the virtual vehicle, may undergo color changes and / or be subject to dynamic animation. For example, the virtual object may change its appearance or symbol and could, where appropriate, no longer represent a vehicle.

[0037] For example, this can be achieved by making the virtual object blink, by increasing or decreasing the size of the virtual object or by changing the appearance of the virtual object, for example by making it more or less transparent or by changing its colors.

[0038] According to one aspect of the invention, the method includes the step of modifying the virtual object so that the virtual object becomes a playful virtual object, for example a humorous avatar.

[0039] This helps to capture the driver's attention. This is important when a drop in the driver's attention is detected, for example.

[0040] According to one aspect of the invention, the method comprises the following steps:

[0041] - monitoring the physiological state of the driver while the virtual object is displayed;

[0042] - cut off the display of the virtual object as soon as early warning signs of a degraded physiological state of the driver, for example in the case where the virtual object fails to maintain or restore a physiological state acceptable for driving;

[0043] - possibly encourage the driver to park the vehicle to take a break.

[0044] Indeed, prolonged display of the virtual object, in particular of the virtual vehicle, may induce a decrease in driver vigilance, and the display of the virtual object is interrupted.

[0045] According to one aspect of the invention, the method comprises the step of determining the personalized behavior of the virtual object based on additional data chosen from at least some of the following data:

[0046] - weather condition data;

[0047] - navigation data;

[0048] - data on one or more vehicles surrounding the driver's vehicle; and

[0049] - road topography data.

[0050] The invention can thus make it possible to take into account a broader knowledge of the driving context. Thus, the method according to the invention is capable, in order to adapt the personalized behavior of the virtual object (in particular the virtual vehicle), of making dynamic, adaptive, and non-stereotyped decisions, in particular by matching the topographical aspects of the road with variable information that is sent to it from a meteorological report, a GPS system and / or the vehicle's sensors (in particular capable of identifying neighboring vehicles).

[0051] According to one aspect of the invention, the method is capable of being implemented in manual driving of the vehicle by the driver.

[0052] Alternatively, the method is capable of being implemented in autonomous vehicle driving.

[0053] In autonomous driving situations, the virtual object allows the driver to understand what the autonomous vehicle is doing or what the autonomous vehicle will do, allowing the driver to anticipate what will happen.

[0054] The invention, through the display of the virtual object, makes it possible to avoid, as much as possible, the element of surprise regarding autonomous driving. For example, on the highway, the driver is warned by the virtual object in front of a lane change for overtaking. Thus, the driver is not surprised by the overtaking maneuver initiated by the autonomous vehicle. In other words, this avoids the element of surprise.

[0055] According to one aspect of the invention, the virtual object is merged with an upstream real vehicle which is in front of the driver's vehicle, when a first distance between the virtual object and the driver's vehicle and a second distance between the upstream real vehicle and the driver's vehicle are substantially identical.

[0056] According to one aspect of the invention, the virtual object is projected to appear interposed between the driver's vehicle and the upstream real vehicle, which is in front of the driver's vehicle, if the upstream real vehicle is spaced from the driver's vehicle by the second distance greater than the first distance, in particular at a preferred safety distance or one adapted to the road driven by the driver.

[0057] The substantially identical term means the difference Ad between the first and second distances varies from a distance less than or equal to 3 m, preferably less than or equal to 2 m, more preferably less than or equal to 1 m.

[0058] This fusion avoids disrupting the driver's vision when they see a real object partially obscured by the virtual vehicle. This fusion eliminates the need to separate the virtual vehicle from the real vehicle positioned ahead of the one driven by the driver. Thus, the mental effort associated with this separation is eliminated.

[0059] For example, a situation may occur in which another real upstream vehicle is in front of the driver's vehicle and the real upstream vehicle is too close to the driver's vehicle for the virtual object to be located between these two vehicles, then the virtual object merges with the real upstream vehicle or ceases to be displayed.

[0060] The virtual object will detach itself from the real upstream vehicle positioned in front of the driver's vehicle, if the virtual vehicle adopts behaviors that diverge from the real upstream vehicle positioned in front of the driver's vehicle (in terms of speed, direction, etc.).

[0061] According to one aspect of the invention, the virtual object can be projected with transparency so that the driver can see the real scene, for example real obstacles, located behind the image of the virtual object.

[0062] According to one aspect of the invention, the method includes the step of adapting the transparency of the projected virtual object, for example according to an external environmental condition, for example according to the intensity of light.

[0063] According to one aspect of the invention, in the absence of a third vehicle in front of the driver's vehicle, the method includes the step of controlling the display of the virtual object, in particular in the form of a virtual vehicle, which appears, for the driver, in front of his vehicle.

[0064] The invention thus allows the driver to follow the virtual object, in particular the virtual vehicle, even if there is no real vehicle upstream in front of him, and on which the driver can adjust his speed and / or trajectory.

[0065] According to one aspect of the invention, in the absence of a third vehicle or in the presence of a bright environment, the opacity of the virtual object is increased.

[0066] The invention further relates to a computer program product comprising one or more sequences of stored instructions, accessible by a computer processor, and which, when executed by said computer processor, cause said computer processor to implement the steps of the method as defined above.

[0067] The invention also relates to a computer-readable data recording medium comprising one or more sequences of instructions for the computer program product as defined above.

[0068] The invention also relates to a driver assistance system for a vehicle, said system comprising:

[0069] - a display device;

[0070] - a data processing unit configured to control the display of a virtual object by the display device, in particular in the form of a virtual vehicle, which appears, for the driver, in front of his vehicle, and to give the virtual object a personalized behavior based on data related to the driver.

[0071] The system includes one or more physiological sensors configured to collect data relating to a physiological state of the driver, in order to record this data in a computer-readable data recording medium via the data processing unit.

[0072] The invention also relates to a vehicle driver assistance system for a driver, said system comprising:

[0073] - a display device;

[0074] - a data processing unit configured to implement the steps of said method as defined above.

[0075] Other features, details and advantages of the invention will become clearer upon reading the following description on the one hand, and several examples on the other. of implementation given for guidance purposes only and not as a limitation, with reference to the attached schematic drawings, on which:

[0076] [Fig.1] Fig.1 is a schematic representation of a vehicle driving assistance system according to one embodiment of the invention;

[0077] [Fig.2] Fig.2 is a schematic representation of a system to assist the driving a vehicle according to another embodiment of the invention;

[0078] [Fig.3] Fig.3 is a schematic and partial representation of a system assistance in driving a vehicle according to another embodiment of the invention;

[0079] [Fig.4] Fig.4 is a schematic and partial representation of a system assistance in driving a vehicle according to another embodiment of the invention;

[0080] [Fig. 5] Fig. 5 is a block diagram of the method for assisting the operation of a vehicle according to a variant embodiment of the invention.

[0081] The features, variants, and different embodiments of the invention can be combined in various ways, provided they are not incompatible or mutually exclusive. In particular, variants of the invention may be conceived comprising only a selection of features, described hereafter in isolation from the other described features, if this selection of features is sufficient to confer a technical advantage and / or to differentiate the invention from the prior art.

[0082] As illustrated in Figures 1 to 5, a computer-implemented method for assisting the driving 10 of a vehicle A for a driver 6 is shown, comprising the following steps:

[0083] - to control the display of a virtual object 8 which appears, for the driver 6, at the front of his vehicle A; and

[0084] - to give the virtual object 8 a personalized behavior determined on the basis of driver-related data 6.

[0085] Figures 1 to 4 show a driver assistance system 100 for a vehicle A for a driver 6, said system comprising:

[0086] - a display device 110;

[0087] - a data processing unit 120 configured to implement the steps of said method 10.

[0088] The system 100 includes a physiological sensor 130 configured to collect data relating to a physiological state 40 of the driver 6, in order to record this data in a computer-readable data recording medium 140 via the data processing unit 120.

[0089] The computer-readable data storage medium 140 includes instructions which, when executed by a computer, cause the computer to implement the steps of a computer program product (not shown).

[0090] The computer program product includes one or more instructions which, when said computer program product is executed by the computer, cause the computer to implement the steps of said method 10.

[0091] As illustrated in Figures 1 and 2, in the absence of a third vehicle in front of the vehicle A of driver 6 (or also referred to in the application as the upstream actual vehicle B), method 10 includes the step of controlling the display of the virtual object 8, which appears, for driver 6, in front of his vehicle A. (S20)

[0092] The invention thus allows the driver 6 to follow the virtual object 8 even if there is no real vehicle in front of him, and on which the driver 6 can adjust his speed and / or trajectory.

[0093] As can be seen in Figures 1, 3 to 4, the virtual object 8 is a virtual vehicle 8.

[0094] In the invention, the display of the virtual object 8, or of a virtual vehicle 8, is made on the windshield 30 in front of the driver 6. This display can be made by a display device 110 of the type head-up display device 110 (or in English “Head-Up Display”).

[0095] For example, the projected virtual object 8 can be located in front of the vehicle A of driver 6, at a predetermined distance dl (S30), for example the minimum safety distance corresponding to the speed of the vehicle A of driver 6 or the maximum speed of the road taken by the vehicle of driver 6.

[0096] If activated by driver 6, the virtual object 8 guides driver 6 throughout their journey. Driver 6 then only has to drive their vehicle A in such a way as to follow the virtual object 8, and to reproduce its speed and trajectory. Driver 6 is relieved of the mental burden of deciding whether to adjust their speed or choose the direction or lane in which their vehicle A travels.

[0097] In particular, allowing driver 6 to follow the virtual object 8 reduces the driver 6's attention to driving. Driver 6 can simply follow the virtual object 8. This requires fewer attentional resources to ensure that vehicle A is traveling at the correct speed or that vehicle A is at a safe distance from surrounding vehicles, for example, the real vehicle upstream B, or, for example, depending on the speed of vehicle A being driven. This reduces the cognitive load on driver 6.

[0098] Furthermore, it is possible that driver 6 may be in a state of impaired attention (for example, due to fatigue or the fact that driver 6 is following very monotonous trajectories, for example on a motorway, or due to cognitive overload). Driver 6 (for example, due to agitation inside the vehicle) experiences impaired awareness of environmental factors. The invention allows driver 6 to track the virtual object 8, thus mitigating the mental strain associated with driving. Advantageously, driver 6 can free up attentional resources and focus more on essential driving actions, such as detecting dangerous events in the vehicle's environment.

[0099] Continuing with the example in Figures 1 and 2, the personalized behavior of the virtual object 8 is determined based on data related to a physiological state 40 of the driver and / or related to a history 50 of a driver's driving profile 6 or their physiological state during a previous period of driving the vehicle. The physiological state of driver 6 is, for example, a state of fatigue and / or stress and / or a state of driver attention.

[0100] Method 10 includes a machine learning step (not shown), in particular of the type involving artificial intelligence, allowing the personalized behavior of the virtual object 8 to be adapted according to a history 50 on a driver's driving profile and / or a history of the physiological state 40 of the driver 6 during a previous period of driving the vehicle.

[0101] Method 10 includes a step (S130) of using the physiological sensor 130 configured to collect data relating to the physiological state 40 of the driver 6. (see Figures 1 and 2)

[0102] The learning of the history 50 of the driver 6 is done in condition with the virtual object 8.

[0103] The driver history 50 6 includes stored data on the driver's driving profile in a normal driving situation, i.e. without the assistance of the virtual object.

[0104] The driver history 50 6 includes stored data on the driver's driving profile in an assisted driving situation, namely with the assistance of the virtual object.

[0105] The driver's driving profile includes in particular a driving speed of vehicle A in a given situation (for example on a motorway), and / or a preferred safety distance of the driver left between his vehicle A and a vehicle in front of B, and / or a type of trajectory.

[0106] The invention thus makes it possible to get closer to the driving style of driver 6 so that the personalized behavior of the virtual object does not hinder driver 6. It prevents the virtual object 8 from adopting aberrant behaviors compared to the driving habits of driver 6 in normal times, namely without the assistance of the virtual object 8.

[0107] For example, the method includes the step of memorizing a speed data at which the driver 6 usually drives on a given road and adapting the personalized behavior of the virtual object 8 to this speed, and then displays the virtual object 8 at a distance from the vehicle of the driver 6 corresponding to the safety distance relative to this speed.

[0108] The personalized behavior of the virtual object 8 is determined to address a decrease in vigilance and / or attention of the driver 6. This can be achieved by flashing the virtual object 8, increasing or decreasing its size, or changing its appearance, for example, by making it more or less transparent, changing its colors, or modifying its shape or the type of virtual object 8 displayed. Alternatively, the display of the virtual object 8 can be stopped.

[0109] These changes in the display of the virtual object 8 or this stopping of the display force the driver 6 to make a cognitive effort and thus make it possible to compensate for the decrease in vigilance and / or attention of the driver 6.

[0110] Method 10 includes the step of triggering the display of the virtual object 8 when a predetermined degraded physiological state 40 is detected, for example a physiological state of fatigue or boredom of the driver 6.

[0111] Method 10 comprises the following steps:

[0112] - detect early warning signs of a degraded physiological state 40 driver 6, for example a physiological state of fatigue or boredom of the driver,

[0113] - display, upon detection of warning signs, the virtual object 8.

[0114] In particular, the method comprises the following steps:

[0115] - detect one of the following states: a state of fatigue related to boredom, a state of fatigue linked to a lack of sleep, a state of cognitive fatigue, stress or excessive inattention, which may reduce alertness or disperse the driver's attention;

[0116] - to offer the activation of a display function for virtual object 8, to the driver 6;

[0117] - if driver 6 accepts the activation of this function, display the virtual object 8.

[0118] Thus, the driver 6 benefits from an effective (in terms of safety) and low-cost solution in terms of attentional resources (already weakened or dispersed) to maintain a sufficient level of vigilance for driving. In other words, the method according to the invention is advantageously a means of remedying decreased vigilance.

[0119] For example, at a stop sign or intersection, the display of the virtual object 8 is deactivated to show driver 6 that it is their responsibility to control the vehicle at the intersection. If there is a real vehicle B ahead (in front of driver 6's vehicle A), driver 6 can choose to deactivate the option and follow the real vehicle B ahead, or maintain a distance from the real vehicle B ahead and keep the virtual object 8 displayed.

[0120] The virtual object 8 may undergo color changes and / or be subject to dynamic animation. For example, the virtual object 8 may change its appearance or symbol and could, if necessary, no longer represent a vehicle.

[0121] For example, this can be achieved by blinking the virtual object 8, by increasing or decreasing the size of the virtual object 8 or by changing the appearance of the virtual object 8.

[0122] As is particularly visible in [Fig.2], the method includes the step of modifying the virtual object 8 so that the virtual object 8 becomes a playful virtual object 8, for example a humorous avatar 8.

[0123] This helps to capture the attention of driver 6. This is important when a drop in driver 6's attention is detected, for example.

[0124] Method 10 comprises the following steps:

[0125] - monitor the physiological state 40 of the driver while the virtual object 8 is poster ;

[0126] - cut off the display of the virtual object 8 as soon as early warning signs of a degraded physiological state 40 of the driver 6, for example in the case where the virtual object fails to maintain or restore a physiological state acceptable for driving;

[0127] - possibly encourage driver 6 to park vehicle A to take a break.

[0128] Indeed, prolonged display of the virtual object 8 can induce a decrease in the driver vigilance 6, and the display of the virtual object 8 is interrupted.

[0129] Method 10 includes the step of determining the customized behavior of the virtual object 8 on the basis of additional data chosen from at least some of the following data:

[0130] - weather condition data that are likely to impact the road conditions (slippery road, icy road, etc.), and ultimately the trajectories and driving speed of the virtual object 8);

[0131] - navigation data, in particular from a connection with a system of GPS-type navigation (in particular to allow the virtual object 8, placed in front of the vehicle A of the driver 6, to anticipate specific obstacles such as roadworks, dangerous objects on the road 60,...);

[0132] - data on nearby vehicles (in particular identified by means of sensors such as cameras and / or lidars and / or radars,...); and

[0133] - topographic data of Route 60 (curve direction, radius of curvature, length of a winding road, gradient of a sloping road...).

[0134] The invention can thus allow for a broader understanding of the driving context. Thus, method 10 according to the invention is capable, to adapt the personalized behavior of the virtual object 8, to make dynamic, adaptive, and non-stereotyped decisions, in particular by matching the topographical aspects of route 60 with variable information that is sent to it from a meteorological report, a GPS system and / or the sensors (not shown) of vehicle A (in particular capable of identifying neighboring vehicles).

[0135] Method 10 is capable of being implemented in manual driving of vehicle A by driver 6.

[0136] Alternatively, method 10 is capable of being implemented in autonomous driving of vehicle A.

[0137] In autonomous driving situations, the virtual object 8 allows the driver 6 to understand what the autonomous vehicle is doing or what the autonomous vehicle will do, allowing the driver to anticipate what will happen.

[0138] The invention, through the display of the virtual object 8, makes it possible to avoid, as much as possible, the element of surprise regarding autonomous driving. For example, on a highway, the driver 6 is warned by the virtual object 8, which is in front, of a lane change for overtaking. Thus, the driver is not surprised by the overtaking action initiated by the autonomous vehicle. In other words, this avoids the element of surprise.

[0139] As illustrated in Figures 3 and 5, the virtual object 8 is merged with an upstream real vehicle B which is in front of the driver's vehicle A (S60), when a first distance dl between the virtual object 8 and the driver's vehicle A and a second distance d2 between the upstream real vehicle B and the driver's vehicle are substantially identical.

[0140] Alternatively, the display of the virtual object 8 may cease when a first distance dl between the virtual object 8 and the vehicle of driver A and a second distance d2 between the upstream real vehicle B and the vehicle of driver A are substantially identical or when the distance d2 is less than the distance DL

[0141] The substantially identical term means the difference Ad between the first and second distances dl, d2 varies by a distance less than or equal to 3 m, preferably less than or equal to 2 m, more preferably less than or equal to 1 m.

[0142] This fusion avoids disturbing the vision of driver 6 seeing a real object partially covered by the virtual vehicle 8. This fusion avoids the effort of dissociating the virtual vehicle 8 and the upstream real vehicle B positioned in front of the one driven by driver 6. Thus, the mental load related to this dissociation is absent.

[0143] As illustrated in [Fig. 3], the virtual object 8 will detach itself from the upstream real vehicle B positioned in front of the vehicle A of driver 6, if the virtual vehicle 8 adopts behaviors diverging from the actual upstream vehicle B positioned in front of the vehicle A of driver 6 (in terms of speed, direction etc).

[0144] Indeed, as illustrated in Figures 4 and 5, the virtual object 8 is projected to appear interposed between the vehicle of driver A and the real upstream vehicle B (S50), which is in front of the vehicle of driver A (S20), if the real upstream vehicle B is spaced from the vehicle of driver A by the second distance d2 greater than the first distance dl (S40), in particular at a preferred safety distance or one adapted to the road used by driver 6.

[0145] The virtual object 8 can be projected with transparency so that the driver 6 can see the real scene, for example real obstacles, located behind the image of the virtual object 8.

Claims

Demands

1. A computer-implemented method for assisting a driver (6) in driving a vehicle (A) (10), comprising the following steps: - controlling the display of a virtual object (8), in particular in the form of a virtual vehicle (8), which appears to the driver (6) in front of his vehicle (A); and - giving the virtual object (8) a personalized behavior determined on the basis of data (40, 50) related to the driver (6).

2. Method (10) according to claim 1, wherein the personalized behavior of the virtual object (8) is determined on the basis of data related to a physiological state (40) of the driver (6) and / or related to a history (50) of the driver (6), in particular to a physiological state (40) of the driver (6) during a period of previous driving of the vehicle and / or to a history (50) on a driving profile of the driver (6).

3. Method (10) according to claim 1 or 2, comprising a machine learning step, in particular of the type involving artificial intelligence, allowing the personalized behavior of the virtual object (8) to be adapted according to a history (50) of the driver (6), in particular a history (50) on a driving profile of the driver (6) and / or a history of the physiological state (40) of the driver (6) during a previous period of driving the vehicle.

4. Method (10) according to claim 2 or 3, comprising the step of triggering the display of the virtual object (8), in particular the virtual vehicle (8), when a predetermined degraded physiological state (40) is detected, for example a physiological state of fatigue or boredom of the driver (6).

5. Method (10) according to any one of the preceding claims, wherein the virtual object (8), in particular the virtual vehicle (8), undergoes color changes, and / or is subject to dynamic animation.

6. Method (10) according to claim 5, wherein the virtual object (8) changes its appearance, or symbol.

7. Method (10) according to any one of claims 2 to 6, comprising the step of determining the customized behavior of the virtual object (8) on the basis of additional data selected from at least some of the following: - weather conditions data; - navigation data; - data on one or more vehicles near the driver's vehicle (A); and - road topography data.

8. Method (10) according to any one of claims 1 to 7, wherein the virtual object (8) is merged with an upstream real vehicle (B) which is in front of the driver vehicle (A) (S60), when a first distance (d1) between the virtual object (8) and the driver vehicle (A) and a second distance (d2) between the upstream real vehicle (B) and the driver vehicle (A) are substantially identical.

9. Method (10) according to claim 8, wherein the virtual object (8) is projected to appear interposed between the driver's vehicle (A) and the upstream real vehicle (B) (S50), which is in front of the driver's vehicle (A) (S20), if the upstream real vehicle (B) is spaced from the driver's vehicle (A) by the second distance (d2) greater than the first distance (dl) (S40), in particular at a preferred safety distance or one adapted to the road being driven by the driver (6).

10. Method (10) according to any one of the preceding claims, wherein the virtual object (8) is projected with transparency so that the driver (6) can see the real scene, for example real obstacles, lying behind the image of the virtual object (8).

11. Product computer program comprising one or more sequences of stored instructions, accessible by a computer processor, and which, when executed by said computer processor, cause said computer processor to implement the steps of method (10) according to any one of claims 1 to 10.

12. Computer-readable data storage medium (140) comprising one or more sequences of instructions from the computer program product of claim 11.

13. A vehicle driver assistance system (100) for a driver (6), said system comprising: - a display device (110); - a data processing unit (120) configured to implement the steps of the method (10) according to any one of claims 1 to 10.

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