Intelligent alert and anticipatory braking system at amber lights using advanced vehicle environment reading

Abstract

The invention relates to a method and device for early warning and braking at amber lights, comprising at least one front detection means (3) capable of detecting the change of state of a traffic light (2) and measuring the distance to said traffic light (2), and a control unit capable of analyzing the data from said front detection means (3) and deciding whether to activate braking means and / or activate driver warning means. The device further comprises at least one rear detection means (4) capable of detecting the rear environment, and in which said control unit is capable of analyzing, in addition to the data from said front detection means (3), data from said rear detection means (4) to decide, according to predetermined conditions, whether to activate said braking means and / or activate said driver warning means. (Fig. 1)

Description

Title of the invention: Intelligent warning and early braking system for amber lights using advanced vehicle environment reading. Technical field of the invention

[0001] The invention relates, in general, to the technical field of advanced driver assistance systems, commonly known as ADAS, for example for autonomous or semi-autonomous vehicles. ADAS encompasses a set of technologies enabling the partial automation of certain driving tasks such as traffic sign recognition and forward collision warning. These tasks rely on detection methods such as sensors and cameras integrated into a vehicle, particularly at the front and rear, to analyze the vehicle's environment and road signs.

[0002] The invention relates in particular to driver assistance when approaching a traffic light and more specifically when the light turns orange.

[0003] The invention applies to any type of vehicle equipped with active driver assistance systems (such as level 1 driver assistance vehicles), semi-autonomous vehicles (such as level 2 driver assistance vehicles), autonomous vehicles (such as level 3 and 4 driver assistance vehicles), or fully autonomous vehicles (such as level 5 driver assistance vehicles). Prior art

[0004] In the following description, the front and rear orientation is defined with respect to the normal direction of travel of a vehicle.

[0005] In a first known type of vehicle, an on-board system for autonomous vehicles decides whether the vehicle should stop or proceed through an amber light. This system assesses the remaining distance to the intersection and calculates the deceleration required to stop the vehicle. If the deceleration is too high, the vehicle will continue to cross to avoid a sudden stop.

[0006] In a second known type of vehicle, an on-board system allows an autonomous vehicle to decide whether to proceed or stop at an amber light. This system assesses the distance or time remaining before an intersection using image analysis and speed and position data. If the vehicle is within a predetermined time or distance threshold, it will proceed through the intersection. Otherwise, it will stop before the intersection. Furthermore, an alert is integrated to inform the driver when the vehicle passes through an amber light.

[0007] Many road accidents occur when vehicles run an amber light instead of stopping. One of the causes of this unplanned running of traffic lights is the difficulty drivers have in deciding whether or not to stop. This type of situation can create stress and consequently lead to inappropriate decisions.

[0008] There is therefore a need for a solution to avoid these situations of uncertainty for drivers, firstly by anticipating the change of phase of the traffic light and alerting the driver, secondly by carrying out a safe stop of the vehicle after analysis and evaluation of the environment of said vehicle. Description of the invention

[0009] The invention aims to overcome all or part of the drawbacks of the prior art by providing a method and an on-board device for early warning and stopping at amber lights. This on-board device uses forward detection means to detect the change of the traffic light from green to amber and that the distance to the traffic light is sufficient for stopping. It also assesses safety conditions using rear detection means that verify the absence of danger behind the vehicle in the event of stopping. If the conditions are favorable, it activates an early stop. Otherwise, it decides to proceed, and, if proceeding is decided, a visual alert informs the driver.

[0010] To this end, according to a first aspect of the invention, a warning and early braking device for amber lights is proposed, comprising at least one front detection means capable of detecting the change of state of a traffic light and measuring the distance to said traffic light. The device further comprises a control unit capable of analyzing the data from said front detection means in order to decide whether to activate braking means and / or activate driver warning means. This device also includes at least one rear detection means capable of detecting the rear environment in which said control unit is capable of analyzing, in addition to the data from said front detection means, data from said rear detection means in order to decide, according to predetermined conditions, whether to activate said braking means and / or activate said driver warning means.

[0011] According to a preferred embodiment, said at least one rear detection means is capable of detecting the presence of a vehicle and / or the distance of said vehicle.

[0012] Advantageously, said predetermined conditions include at least the following laws. If no vehicle is detected by said rear detection means and a distance of said traffic light greater than or equal to a first threshold value is detected by said front detection means, then said braking means are activated. If a vehicle is detected by said rear detection means, and optionally the distance of said vehicle detected by said rear detection means is less than a second threshold value, or that said distance of said traffic light detected by said front detection means is less than said first threshold value, then it is decided to switch to the amber light and activate said driver alert means.

[0013] Preferably, said front and / or rear detection means comprise at least a camera and / or distance measurement means.

[0014] Advantageously, said alerting means is capable of informing the driver in the event of passing through an orange light, optionally said alerting means is integrated into a user interface capable of generating a visual and / or audible alert.

[0015] According to a second aspect of the invention, a method for early warning and braking at a yellow light is proposed. The method comprises activating an early warning and braking device when approaching a traffic light. Next, it involves detecting the state of the traffic light and analyzing the data from at least one forward detection means to determine if the traffic light is yellow, detecting the rear environment using at least one rear detection means, and analyzing the data from said at least one rear detection means. The method also includes a phase for evaluating the rear environment and the distance to the traffic light, relative to predetermined conditions, as well as a phase for deciding whether to activate braking means and / or driver warning means.

[0016] Preferably, the data from at least one forward detection means include the detection of said traffic light, the recognition of changes in the colour of said traffic light, such as the transition to orange, and / or the distance of said traffic light.

[0017] Advantageously, the data from said at least one rear detection means include the presence of a vehicle, and optionally the distance of said vehicle.

[0018] Preferably, said predetermined conditions include the following rules. If no vehicle is detected by said rear detection means and a distance to said traffic light detected by said front detection means is greater than or equal to a first threshold value, then the braking means are activated. If a vehicle is detected by said rear detection means, and optionally the distance to said vehicle detected by said rear detection means is less than a second threshold value, or if said distance to said traffic light detected by said front detection means is less than said first threshold value, then it is decided to change to an amber light and activate said driver alert means.

[0019] Advantageously, the evaluation of the rear environment and the distance to the traffic light is carried out by a central control unit.

[0020] Other features and advantages of the invention are highlighted by the following description of non-limiting examples of implementation of the different aspects of the invention. Brief description of the figures

[0021] The description refers to the attached figures, which are given as a non-limiting example of an embodiment of the invention: • [Fig.1] [Fig.1] shows a top view of a vehicle approaching a traffic light. • [Fig.2] [Fig.2] shows a schematic representation of the device the invention. • [Fig.3] [Fig.3] represents a diagram of the process of the invention. Detailed description of an implementation method

[0022] Various technologies and systems exist that contribute to advanced driver assistance and can be used to provide early warning and braking assistance for a vehicle at a yellow traffic light. These systems can combine the reading of road signs and the analysis of the environment of the vehicle equipped with them.

[0023] Primarily, advanced driver assistance systems include various technologies that allow for the partial automation of certain driving tasks.

[0024] In advanced driver assistance systems of the state of the art, there are emergency braking (AEB) systems that can brake automatically when the vehicle detects an obstacle.

[0025] The artificial intelligence integrated into the vehicle's front cameras recognizes signs and traffic lights to analyze and alert the driver in case of danger and suggest braking action if necessary.

[0026] Adaptive cruise control (ACC) systems automatically adjust the vehicle's speed to maintain a safe distance from the vehicle in front. They could be adapted to modulate the speed based on detected traffic lights.

[0027] Predictive control laws, in the field of autonomous vehicle control, are predictive algorithms that can be used to anticipate a stop by taking into account signals provided by sensors, such as cameras, and considering the vehicle's driving conditions, such as speed. These predictive control laws are used by a central control unit (CCU), which can then make decisions affecting the vehicle's driving.

[0028] Vehicle-to-infrastructure (V2X) communication systems allow the vehicle to receive information on the status of traffic lights via exchanges data is integrated with urban infrastructure. This technology, combined with detection methods, allows the vehicle to anticipate changes in signage and to brake if appropriate.

[0029] Detection technologies, such as radars and lidars, which allow analysis of the environment around the vehicle and which guarantee optimal conditions for an early stop.

[0030] Fig. 1 illustrates a vehicle 1 seen from above approaching a traffic light 2. This vehicle is equipped with an early warning and braking device for the amber light according to the invention which is described below.

[0031] This device includes forward detection means 3. These forward detection means 3 may be high-definition cameras, radars, lidars, ultrasonic sensors, or infrared sensors, usable alone or in combination. These forward sensors are capable of detecting the change of state of the traffic light 2 and measuring its distance from the vehicle 1. The forward detection means 3 may be located at the upper edge of the windshield of the vehicle 1, for example in the form of a windshield camera 6, or at the lower part of the front of the vehicle 1, for example at the level of a front bumper 7.

[0032] By using a signal representative of the speed of vehicle 1, such as that delivered to the adaptive cruise control (ACC), 1 the deceleration required to stop vehicle 1 at the traffic light 2 can thus be calculated by a central control unit (CCU) 9 mounted in the vehicle to implement the AD AS with which it is equipped.

[0033] Thus, this UCC 9 is one of the components of the warning and early braking device for amber lights according to the invention. The UCC 9 is capable of analyzing data from the detection means of vehicle 1 and activating braking means 10 of vehicle 1 and activating driver warning means. In the described embodiment of the invention, the UCC 9 activates a user interface (UI) 11 when the driver passes through an amber light to display visual alerts on the dashboard of vehicle 1 and / or audible notifications to capture the driver's attention.

[0034] In the known traffic light approach assistance systems described above, the proposed solutions take into account the vehicle's speed and its distance from the traffic light in order to activate the braking system if the vehicle can stop at the traffic light without too abruptly, or to alert the driver if, on the contrary, stopping would be too abrupt and it is preferable to proceed through the intersection on amber. These solutions are not optimized for complex scenarios where decisions must be anticipated based on the vehicle's overall environment, i.e., also taking into account the analysis of the environment behind the vehicle.

[0035] The amber light warning and early braking device according to the invention is capable of analyzing the conditions in front of and behind the vehicle 1. In addition to front detection means 3, it comprises rear detection means 4. These rear detection means 4 may be high-definition cameras, radars, lidars, ultrasonic sensors, or infrared sensors, usable alone or in combination. For example, these rear detection means 4 are capable of detecting the presence of a rear vehicle 5 following the vehicle 1 and the distance between them.

[0036] The rear detection means 4 can be located at the upper edge of the rear window of the vehicle 1, or at the lower part of the rear of the vehicle 1, for example by being integrated into the rear bumper 8 of the vehicle 1.

[0037] The addition of these rear detection means 4 to vehicle 1 enables the UCC 9 to analyze data from both the front and the rear of vehicle 1. After analyzing this data, which is representative of the front and rear environment of vehicle 1, the UCC 9 decides, according to predetermined conditions, whether to activate a braking means 10 of vehicle 1 and / or to alert the driver. These predetermined conditions include at least one first and one second algorithmic law executed by the UCC 9 as described below.

[0038] According to the first algorithmic law, if no rear vehicle 5 is detected by the rear detection means 4 of vehicle 1 and if the distance between vehicle 1 and the traffic light 2, measured by the front detection means 3, is greater than or equal to a first predetermined threshold value, then the braking means 10 are activated. This first threshold value can be defined as a function of the speed of vehicle 1 to allow for a not-too-abrupt stop of vehicle 1, the speed of vehicle 1 being available at the level of the UCC 9. For example, the first threshold value can be determined by the following function: V * Tl * a = distance separating vehicle 1 from the traffic light 2.

[0039] V corresponds to the speed limit on the road at the time vehicle 1 passes. This speed is determined by the forward detection means 3, by reading the road sign and / or via the navigation system of vehicle 1. Tl corresponds to the average display time of an amber traffic light in seconds. More precisely, Tl is calculated by averaging the duration of an amber traffic light before it is replaced by a red traffic light, between a traffic light installed in a built-up area and a traffic light installed in a rural area. For example, if the duration of an amber traffic light in a built-up area is 3 seconds and that of a traffic light in a rural area is 5 seconds, then Tl = (5 - 3) / 2 = 1 second. Finally, a corresponds to the parameter dependent on weather conditions, calculated by the UCC 9 based on data provided by certain sensors and / or actuators of vehicle 1.For example, if it rains (which is . deduced from the activation and / or repetitive movements of the windshield wipers) then a = 2, otherwise a = 1, that is to say that the conditions are favorable.

[0040] According to the second algorithmic law, if a rear vehicle 5 is detected by the rear detection means 4 of vehicle 1 or if the distance between vehicle 1 and the traffic light 2, measured by the front detection means 3, is less than the first threshold value, then it is decided to go to the amber light and the warning means informs the driver of his passing through the amber light.

[0041] Preferably, in the warning and early braking device at the amber light according to the invention, in addition to the presence of a rear vehicle 5 behind vehicle 1, the rear detection means 4 can also detect the distance separating vehicle 1 from the rear vehicle 5. This makes it possible to determine whether the distance separating the two vehicles 1 and 5 is sufficient to ensure that vehicle 1 stops at the amber traffic light 2 without risk of collision between the two vehicles 1 and 5.

[0042] In the following, an example of the implementation of a warning and early braking method at an amber light according to the invention is described in the form of a series of steps. Most of these steps involve an action of the UCC 9, whether it be the reception of a signal from the detection means 3 and 4, the analysis of this signal, its evaluation, a decision-making process, etc. Thus, this method can be considered as an explanation of the operating mode of the warning and early braking device at an amber light described above.

[0043] A first step corresponds to a detection phase. The warning and early braking system for amber lights activates when vehicle 1 approaches a traffic light 2. This detection step can be carried out in two different ways. In a first embodiment, the detection of a traffic light 2 is performed using the front detection means 3 of vehicle 1. For example, a windshield camera 6 captures the image of a traffic light 2 and the associated FIA recognizes that vehicle 1 is approaching a traffic light 2. In a second embodiment, the detection of a traffic light 2 as vehicle 1 approaches it can be carried out by a vehicle-to-infrastructure (V2X) communication system.

[0044] A second step involves real-time analysis of the environment in front of vehicle 1. For example, the forward detection means 3 of vehicle 1 measure the distance between vehicle 1 and the traffic light 2 and detect the state of the traffic light. These forward detection means can be implemented in the form of high-definition cameras, radar, lidar, ultrasonic or infrared sensors, etc. These forward detection means 3 also determine whether the light is amber or turning amber. Alternatively, the vehicle-to-infrastructure (V2X) communication system, if vehicle 1 is equipped with one, can also allow detection of traffic light 2 and its change to orange during the approach phase of traffic light 2.

[0045] Next, a detection of a rear vehicle 5 behind the vehicle 1 and, preferably, a measurement of its distance from the vehicle 1 is carried out by the rear detection means 4, for example via high-definition cameras, radars, lidars, ultrasonic or infrared sensors... This data is analyzed by a central control unit, UCC 9, which undertakes the next step.

[0046] A third step involves the evaluation by a central control unit (CCU) 9 of the vehicle 1's traffic conditions in its front and rear environment. The CCU 9 compares the data provided by the front and rear detection means 3 and 4 with predetermined conditions to decide whether to activate the braking means 10 and / or the driver warning means. These predetermined conditions include a first algorithmic law and a second algorithmic law.

[0047] According to the first algorithmic law, in the case where no rear vehicle 5 is detected by the rear detection means 4 and the distance of vehicle 1 from the traffic light 2 measured by the front detection means 3 is greater than or equal to a first threshold value, then a decision is taken by the UCC 9 to stop vehicle 1 at the traffic light 2 because the overall environment of vehicle 1 allows a safe stop at the amber traffic light.

[0048] According to the second algorithmic law in the case where a rear vehicle 5 is detected by the rear detection means 4 and the distance of the vehicle 1 from the traffic light 2 measured by the front detection means 3 is less than the first threshold value then it is decided to go to the amber light and the driver is informed.

[0049] Advantageously, a distance separating the rear vehicle 5 from vehicle 1 is measured by the rear detection means 4. In this case, the second algorithmic law, in addition to the detection of a rear vehicle 5, takes into account the distance separating the rear vehicle 5 from vehicle 1 measured by the rear detection means 4, and a decision is made to switch to amber if this distance is less than a second threshold value. Thus, the decision to switch to amber is made only when there is a real risk of collision with the rear vehicle 5. For example, this second threshold value can be determined by the following formula: V * T2 * a = distance separating the rear vehicle 5 from vehicle 1.

[0050] V corresponds to the permitted speed on the road at the time of the passage of vehicle 1; this speed is determined by the forward detection means 3, by reading the road sign and / or via the navigation system of vehicle 1. T2 corresponds to the interval to be left between 2 vehicles close together, according to the rules for calculating distances. safety regulations included in the highway code. Finally, a corresponds to the parameter dependent on weather conditions, calculated by the UCC 9 based on data from sensors and / or actuators of vehicle 1. For example, if it is raining (which is deduced by the activation and / or repetitive movements of the windshield wipers) then a = 2, otherwise a = 1, i.e. that the conditions are favorable.

[0051] Similarly, for the first algorithmic law, in addition to detecting a rear vehicle 5, the distance separating the rear vehicle 5 from vehicle 1, measured by the rear detection means 4, is taken into account, and a decision is made to stop at the amber light if this distance is greater than or equal to the second threshold value. Thus, when there is no real risk of collision by the rear vehicle 5, a decision is made to stop vehicle 1.

[0052] In addition to the distance between vehicle 1 and traffic light 2, the speed of vehicle 1 approaching traffic light 2 can also be taken into account by the UCC 9 when deciding whether to stop at the traffic light. As indicated above, the UCC 9 can receive data corresponding to the speed of vehicle 1 to operate the ACC.

[0053] Finally, a fourth step corresponds to the decision-making phase by the UCC 9. In this step, the braking means 10 of vehicle 1 are activated when the result of the first algorithmic law corresponds to the decision to stop vehicle 1 at the traffic light 2. However, if the result of the second algorithmic law corresponds to the decision to proceed through the traffic light, then driver warning means are activated. Thus, when vehicle 1 passes through the amber light, for example, a visual and / or audible alert is issued by the IU 11 to inform the driver that the light has passed through the amber light.

[0054] As indicated in the preceding description, the various aspects of the invention can be implemented, depending on the context, in configuration variants different from those described above. For example, the front and rear detection means 3 and 4 can be selected from among the sensors commonly used by ADAS and with which the majority of autonomous or semi-autonomous vehicles are equipped. Similarly, the detection of the approach of a traffic light 2 by vehicle 1 and the state of the traffic light and its change to amber can be indicated to the UCC 9 by the vehicle-to-infrastructure (V2X) communication system if vehicle 1 is equipped with it.

[0055] Figure 2 illustrates an example of an embodiment of the warning and early braking device for amber lights. The device in Figure 2 comprises front 3 and rear 4 detection means. These front 3 and rear 4 detection means can be high-definition cameras, radars, lidars, ultrasonic sensors, or infrared sensors, usable alone or in combination. The front 3 detection means are capable of detecting the change of state of the traffic light 2 and measuring its distance from vehicle 1. The rear detection means 4 are capable of detecting the presence of a rear vehicle 5 following vehicle 1 and the distance between them. These detection means 3 and 4 transmit to the UCC 9 the data coming from the front and rear of vehicle 1.

[0056] After analysis by the UCC 9 of these data representative of the front and rear environment of the vehicle 1, the UCC 9 decides according to predetermined conditions to activate a braking means 10 of the vehicle 1 or to alert the driver by activating a user interface 11.

[0057] Figure 3 shows a diagram of the method of the invention. According to this diagram, the method is initiated by the detection of the approach to a traffic light 12. Then, on the one hand, the change of the traffic light to amber 13 is detected. If the traffic light is amber or changes to amber, the distance separating the vehicle 1 from the traffic light is analyzed 15. If this distance is not sufficient compared to the first threshold value (see above), then the IU is activated 17. On the other hand, if this distance is sufficient, a first condition for activating the braking means 18 is met. On the other hand, the presence of a rear vehicle is detected 14. If the presence of a rear vehicle is detected, the distance separating the vehicle from the rear vehicle is analyzed 16. If this distance is not sufficient compared to the second threshold value (see above), then the UI is activated 17.Conversely, if this distance is sufficient or no rear vehicle is detected, then a second condition for activating the braking means 18 is met.

[0058] Thus, if the first and second conditions for activating the braking means 18 are met, these are activated 18 to immobilize the vehicle 1 at the traffic light 2. However, if the distance separating the vehicle 1 from the traffic light 2, or the distance separating the vehicle from the vehicle behind is insufficient, then the vehicle 1 passes the traffic light 2 on amber and the IU is activated 17 to inform the driver.

[0059] Naturally, the invention is described above by way of example. It is understood that a person skilled in the art is able to carry out different embodiments of the invention not described above without departing from the scope of the invention.

Claims

Demands

1. An amber light warning and early braking device comprising: at least one front detection means (3) capable of detecting the change of state of a traffic light (2) and of measuring the distance to said traffic light (2), and a control unit capable of analyzing the data from said front detection means (3) in order to decide: to actuate braking means, and / or to activate driver warning means; characterized in that said system further comprises: - at least one rear detection means (4) capable of detecting the rear environment; and - in which said control unit is capable of analyzing, in addition to the data from said front detection means (3), data from said rear detection means (4) in order to decide, according to predetermined conditions, to actuate said braking means and / or to activate said driver warning means.

2. An amber light warning and early braking device according to claim 1, characterized in that said at least one rear detection means (4) is capable of detecting the presence of a rear vehicle (5) and / or the distance of said rear vehicle (5).

3. An amber light warning and early braking device according to claim 1 or 2, characterized in that said predetermined conditions comprise at least the following laws: • if no rear vehicle (5) is detected by said rear detection means (4) and a distance from said traffic light (2) greater than or equal to a first threshold value is detected by said front detection means (3), then said braking means are activated; and • if a rear vehicle (5) is detected by said rear detection means, and optionally the distance from said rear vehicle (5) detected by said rear detection means is less than a second threshold value, or that said distance from said traffic light (2) detected by said front detection means (3) is less than said first threshold value, then it is decided to switch to the orange light and activate the said driver alert system.

4. An amber light warning and early braking device according to any one of the preceding claims, characterized in that: - said front (3) and / or rear (4) detection means comprise at least one camera and / or distance measurement means, and / or - said warning means is capable of informing the driver in the event of passing through an amber light, optionally said warning means is integrated into a user interface capable of generating a visual and / or audible alert.

5. A method for warning and anticipating braking at an amber light, comprising the following steps: • activation of a warning and anticipating braking device at an amber light when approaching a traffic light (2), • detection of the state of the traffic light (2) and analysis of data from at least one forward detection means (3) if said traffic light (2) is amber, • detection of the rear environment by at least one rear detection means (4) and analysis of data from said at least one rear detection means (4), • evaluation of the rear environment and the distance to the traffic light (2) with respect to predetermined conditions, and • decision to actuate braking means and / or activate driver warning means according to the results of the evaluation with respect to the predetermined conditions.

6. A method for early warning and braking at the amber light according to claim 5, wherein the data from at least one forward detection means (3) includes: • the detection of said traffic light (2), • the recognition of color changes of said traffic light (2), such as the transition to amber, and / or • the distance of said traffic light (2).

7. A method for warning and anticipating braking at an amber light according to any one of claims 5 or 6, wherein the data from said at least one rear detection means (4) include: • the presence of a rear vehicle (5), and optionally • the distance of said rear vehicle (5).

8. A method for warning and anticipating braking at an amber light according to claims 6 and 7, wherein said predetermined conditions include: • if no rear vehicle (5) is detected by said rear detection means (4) and a distance from said traffic light (2) detected by said front detection means (2) is greater than or equal to a first threshold value, then the braking means are activated; and • if a rear vehicle (5) is detected by said rear detection means, and optionally the distance from said rear vehicle (5) detected by said rear detection means (4) is less than a second threshold value, or said distance from said traffic light (2) detected by said front detection means (3) is less than said first threshold value, then it is decided to proceed to the amber light and to activate said driver warning means.

9. A method for warning and anticipatory braking at the amber light according to any one of the preceding claims, wherein the evaluation of the data transmitted by said at least one front (3) and rear (4) detection means is carried out by a central control unit.

10. Vehicle comprising at least one active driver assistance system characterized in that said at least one active driver assistance system comprises a warning and early braking device at amber lights according to any one of claims 1 to 4.

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