Method for verifying the presence of an intersection on a road scene located in front of a motor vehicle

Abstract

The invention relates to a method for verifying (3) the presence of an intersection located in front of a motor vehicle, the verification method (3) comprising the following steps: - a step of extracting navigation data relating to information on the nature of the road located in front of the motor vehicle, the navigation data comprising a distance to a first next turn, a curvature of said first next turn, a distance to a second next turn, a curvature of said second next turn, a distance from a supposed intersection located between the first next turn and the second next turn and a curvature of the supposed intersection; - a step of comparing (32) the navigation data relating to the supposed intersection with those relating to the first next turn and the second next turn in order to determine whether the supposed intersection is of the type of a qualified intersection.Figure to be published with the abbreviation: Fig. 2.

Description

Title of the invention: Method for verifying the presence of an intersection on a road scene located in front of a motor vehicle

[0001] The technical context of the present invention is that of the processing of mapping data by a motor vehicle navigation system. More particularly, the invention relates to a method for verifying the presence of an intersection on a road scene located in front of a motor vehicle.

[0002] In the prior art, navigation systems are known that allow for the display of a complete map and the precise location of a motor vehicle on this digital map. Furthermore, such digital environments are also used to control—partially or fully—connected motor vehicles. In this context, a thorough understanding of the road scene in front of the motor vehicle is essential. More specifically, an accurate interpretation of the geometry and configuration of the road scene in front of the motor vehicle is essential for the correct control of the motor vehicle by onboard automation systems.

[0003] Thus, the context of the present invention is that of processing navigation data to validate information relating to the road scene ahead. More specifically, the invention addresses a particular problem not dealt with by known navigation systems: that of determining the presence of an intersection supposedly located between two successive turns by the navigation system. Indeed, in such a configuration, it is necessary to verify whether the intersection supposedly perceived by the navigation system is a digital artifact, that is, whether it is merely a turn, or whether it is actually an intersection.

[0004] The objective here is of course to enhance driving safety, qualifying the typology of the road scene located in front of the motor vehicle in order to be able to adapt the speed of the motor vehicle in the case of autonomous or semi-autonomous driving, or to adjust the driving recommendations in the case of supervised driving.

[0005] EP3287940 is known, describing a controller for detecting road intersections or curves based on the angle of curvature of each of its edges using a camera. However, EP3287940 does not allow for discernment using only digital data from the system of navigation, a false intersection that would have been placed incorrectly between two turns.

[0006] The present invention aims to propose a new method for verifying the presence of an intersection on a road scene located in front of a motor vehicle in order to address at least largely the previous problems and to lead to other advantages.

[0007] Another object of the invention is to be able to detect more precisely the presence of an intersection between two successive turns close to each other.

[0008] Another object of the invention is to improve the reliability of digital data obtained by a navigation system and used to control the motor vehicle and / or to display information relating to the road scene.

[0009] According to a first aspect of the invention, at least one of the aforementioned objectives is achieved with a method for verifying the presence of an intersection on a road scene located in front of a motor vehicle by a navigation system of said motor vehicle, the verification method comprising the following steps implemented by a computer of the navigation system:

[0010] - a step of extracting navigation data relating to information on the nature of the road in front of the motor vehicle, navigation data including a distance to the first next turn, a curvature of said first next turn, a distance to the second next turn, a curvature of said second next turn, a distance from an assumed intersection located between the first next turn and the second next turn and a curvature of the assumed intersection;

[0011] - a step of comparing navigation data relating to the intersection assumed with those relating to the first next turn and second next turn in order to determine whether the assumed intersection is of the type of a qualified intersection or a qualified turn.

[0012] In the context of the present invention, navigation data refers to digital data that provides information about the state of the road scene in front of the motor vehicle. In other words, navigation data here refers to mapping data, as distinct from data obtained by sensors onboard the motor vehicle that detect the road scene itself. Navigation data thus provides, for each characteristic element of the road scene, various pieces of information about its type, shape, and the relative positioning of the motor vehicle with respect to each of these elements. Thus, by way of non-limiting examples, navigation data includes, in particular:

[0013] - a type of road characteristic of the road scene, providing information for example its regulatory classification, the number of rolling lanes and the direction of traffic;

[0014] - a curvature of an identified bend, expressed in inverse meters, and / or its radius of curvature expressed in meters;

[0015] - regulatory speed limits applicable to the section of road located in front of the motor vehicle.

[0016] In the context of the present invention, the verification method is carried out by the computer of the vehicle's navigation system. The computer includes, in particular, a processing unit, such as, for example, a microprocessor and / or a microcontroller, and a memory unit, such as internal RAM or ROM.

[0017] In the context of the present invention, the extraction step is performed by reading navigation data from an on-board network of the motor vehicle, or by reading this navigation data via remote communication to a unit containing all or part of this navigation data. For example, the navigation data extraction step may include a step of receiving a geolocation data signal and / or a step of downloading it from a remote server or an application transmitting this navigation data in real time. Naturally, this data relates to the current position of the motor vehicle on the road in question.

[0018] In the context of the present invention, the comparison step deals with the specific case of a hypothetical intersection located between two curves. A hypothetical intersection is a parameter of the road scene that is qualified, in the set of navigation data used by the computer for implementing the verification method, as being of the type of an intersection. Thus, the verification method according to the invention aims to verify—with a certain degree of redundancy—the nature of the navigation data transmitted in very specific road configurations, in order to prevent the navigation system from misinterpreting said road scene.

[0019] Thus, the verification process in accordance with the first aspect of the invention solves the technical problem in that it performs an additional verification before the integration of these qualified data by a guidance system or by an autonomous or semi-autonomous driving system of the motor vehicle.

[0020] The verification method according to the first aspect of the invention advantageously comprises at least one of the improvements below, the technical characteristics forming these improvements being able to be taken alone or in combination:

[0021] - a distance separating the first next turn and the second next turn is less than or equal to a threshold value. This advantageous configuration allows for a precise framework to be defined for distinguishing the cases to be studied in the context of the present invention. In the context of the present invention, the threshold value is the minimum distance between the next turn and the second turn, and within which distance the navigation system has detected the presence of a possible intersection—the assumed intersection. By way of non-limiting example, the threshold value is greater than or equal to 50 m, for example, 200 m. This advantageous configuration thus makes it possible to discern an intersection that would be present in a turn, based on an assumed intersection previously perceived by the navigation system, the accuracy of which we seek to verify here;

[0022] - the comparison step includes a comparison of navigation data related to the assumed intersection with reference values, during which the assumed intersection is classified as a qualified turn if the curvature of the road at at least one subsequent assumed intersection is less than or equal to a threshold value, for example, 0.00125 m⁻¹. In other words, if the radius of curvature of the road at the assumed intersection is greater than 800 m, then the assumed intersection is considered a qualified turn, and the assumed intersection is in fact simply the continuation of the turn in which the navigation system thought it saw an intersection. Conversely, during the comparison step, the assumed intersection is classified as a qualified intersection if the curvature of the road at at least one subsequent assumed intersection is greater than or equal to 0.00125 m⁻¹.In other words, if the radius of curvature of the road at the assumed intersection is less than 800 m, then the assumed intersection is considered a true intersection—a qualified intersection—and the navigation system was correct. The verification process first checks for a break in the curvature of the curve ahead of the vehicle at the assumed intersection. If no break is detected—that is, if the curvature at the assumed intersection is less than a threshold value (here, 0.00125 m)—then the assumed intersection was not a true intersection—a false positive, meaning it was not a qualified curve—and the result is simply a continuation of the curve.On the other hand, if the curvature taken at the supposed intersection is greater than the threshold value, then the detection system has correctly identified a break in the curve and the supposed intersection is of the type of a true intersection, qualified as a qualified intersection by the navigation system; .

[0023] - the comparison step includes a step of comparing a sign of the curvature of the assumed intersection with a sign of the curvature of each first The next two turns are considered valid intersections. The intersection is considered a qualified intersection if the sign of the curvature of the intersection is different from that of the first and second turns. The sign of the curvature determines its orientation. For example, if the sign is negative, the curvature is oriented to the left relative to the direction of travel of the vehicle; and if the sign is positive, the curvature is oriented to the right relative to the direction of travel of the vehicle. Thus, if the sign of the curvature of the intersection is different from that of the two turns flanking it, then the intersection is considered valid and is therefore called a qualified intersection.Conversely, if the sign of the curvature of the supposed intersection is identical to that of the two curves framing said supposed intersection, then the supposed intersection is not of the type of a qualified intersection but, conversely, represents the continuity of the curve; .

[0024] - the comparison step includes a step for verifying a type of channel The assumed intersection, the road type being part of the navigation data, if the road type associated with the assumed intersection is a roundabout, then the assumed intersection is classified as a qualified intersection. The road type is an indicator associated with each road segment by the navigation system. For example, the road type can be "road", "roundabout", "intersection", etc. In this case, when the navigation system detects that the assumed intersection is a roundabout, then it is a particular road configuration and the verification process classifies the assumed intersection detected by the navigation system as an intersection, because it is then the entrance or exit of the roundabout;

[0025] - the comparison step compares a value of the curvature of the intersection Assuming a curve value for each first and second next turn, the assumed intersection is considered a qualified intersection if its curve value is greater than at least one of the curve values ​​for the first and second next turns. In other words, the assumed intersection is a qualified intersection if its curve value is greater than the curve value of the first and / or the curve value of the second next turn. Optionally, if its curve value is greater than the sum of a constant value and the curve value of the first and / or the sum of a constant value and the curve value of the second next turn, then the assumed intersection is a qualified intersection.

[0026] According to a second aspect of the invention, a navigation system is proposed comprising a computer configured to receive navigation data and to implement the verification method according to the first aspect of the invention or according to any of its improvements in order to determine whether the supposed intersection described in the horizon data is a qualified intersection or a qualified turn.

[0027] Advantageously, the computer receives navigation data from an on-board network of the motor vehicle, or from a remote server to which the navigation system is connected, or from a GPS signal.

[0028] According to a third aspect of the invention, a motor vehicle is proposed comprising a navigation system conforming to the second aspect of the invention.

[0029] Various embodiments of the invention are provided, incorporating, according to all their possible combinations, the different optional features set out here.

[0030] Other features and advantages of the invention will become apparent from the following description on the one hand, and from several illustrative and non-limiting examples of embodiments given with reference to the accompanying schematic drawings on the other hand, in which:

[0031] [Fig.1] illustrates a schematic view of the context of the invention;

[0032] [Fig.2] illustrates a synoptic diagram of the verification process in accordance with first aspect of the invention.

[0033] Of course, 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 or to differentiate the invention from the prior art.

[0034] In particular, all the variants and all the embodiments described are combinable with each other if nothing prevents this combination from a technical point of view.

[0035] In the figures, the elements common to several figures retain the same reference.

[0036] With reference to FIGURES 1 and 2, the invention aims to determine whether a hypothetical intersection 13, perceived and reported as such by a navigation system of a motor vehicle 2, is indeed a real intersection—in which case it is referred to as a qualified intersection—or whether it is an artifact that is not real, the hypothetical intersection 13 then being of the type of a qualified turn, for example, this This issue is particularly important for being able to adjust the navigation parameters of motor vehicle 2, especially in autonomous driving or assisted driving where speed information must correspond with the road scene 1 located in front of motor vehicle 2.

[0037] In particular, the invention addresses more specifically the situation illustrated in [Fig. 1] in which a hypothetical intersection 13 is perceived by the navigation system between a first next turn 11 and a second next turn 12 located ahead of the motor vehicle 2. In particular, the verification method 3 defines a threshold value for the distance separating the first next turn 11 and the second next turn 12. Below this threshold value, the verification method 3 is executed. Thus, the verification method 3 focuses on a particular situation in the road scene 1 for which the hypothetical intersection 13 is located exclusively between the first next turn 11 and the second next turn 12. By way of non-limiting example, the limiting distance separating the first next turn 11 from the second next turn 12 is greater than or equal to 50 m, for example, equal to 200 m.

[0038] According to its first aspect, the invention relates to a method for verifying 3 the presence of a supposed intersection 13 on a road scene 1 located in front of a motor vehicle 2, the road scene 1 and the supposed intersection 13 being indicated as such by a navigation system of said motor vehicle 2, the verification method 3 comprising the following steps implemented by a computer of the navigation system:

[0039] - a step 31 of extracting navigation data relating to information on the nature of the road 1 located in front of the motor vehicle 2, the navigation data including a distance to a first next turn 11, a curvature of said first next turn 11, a distance to a second next turn 12, a curvature of said second next turn 12, a distance from an assumed intersection 13 located between the first next turn 11 and the second next turn 12 and a curvature of the assumed intersection 13;

[0040] - a comparison step 32 of navigation data relating to the intersection assumed 13 with those relating to the first next turn 11 and second next turn 12 in order to determine whether the assumed intersection 13 is of the type of a qualified intersection or a qualified turn.

[0041] The comparison step 32 involves comparing the navigation data relating to the assumed intersection 13 with reference values. The navigation data includes, in particular, a road type 1, a distance, a curvature, etc. During the comparison step 32, the verification process 3 first considers the curvature of the assumed intersection 13: if the curvature of the road 1 taken at the level of the supposed intersection 13 is less than or equal to a threshold value, for example equal to 0.00125 m-1, that is to say if the radius of curvature - equal to the inverse of the curvature - is greater than 800m, then the supposed intersection 13 is qualified as being of the type of a qualified turn.

[0042] Complementarily or alternatively, the comparison step 32 includes a comparison of a sign of the curvature of the supposed intersection 13 with a sign of the curvature of each first next turn 11 and second next turn 12: if the sign of the curvature of the supposed intersection 13 is different from that of the first next turn 11 and the second next turn 12, then the supposed intersection 13 is qualified as a qualified intersection.

[0043] Complementarily or alternatively, the comparison step 32 includes a verification step 33 of a type of lane of the supposed intersection 13, if the type of lane associated with the supposed intersection 13 is of the roundabout type, then the supposed intersection 13 is qualified as a qualified intersection.

[0044] Complementarily or alternatively, the comparison step 32 compares a value of the curvature of the assumed intersection 13 with a value of the curvature of each first next turn 11 and second next turn 12, the assumed intersection 13 being qualified as a qualified intersection if the value of the curvature of the assumed intersection is greater than at least one of the curvature values ​​of the first next turn 11 and the second next turn 12. Optionally, during the comparison step 32, if the value of the curvature of the assumed intersection 13 is greater than the sum of a constant value and the value of the curvature of the first next turn 11 and / or the sum of a constant value and the value of the curvature of the second next turn 12, then the assumed intersection 13 is of the type of a qualified intersection.

[0045] Of course, the invention is not limited to the examples just described, and many modifications can be made to these examples without departing from the scope of the invention. In particular, the various features, forms, variants, and embodiments of the invention can be combined with one another in various ways, provided they are not incompatible or mutually exclusive. Specifically, all the variants and embodiments described above are combinable.

Claims

Demands

1. Method of verifying (3) the presence of an intersection on a road scene (1) located in front of a motor vehicle (2) by a navigation system of said motor vehicle (2), the verification method (3) comprising the following steps implemented by a computer of the navigation system: - a step of extracting navigation data relating to information on the nature of the road (1) located in front of the motor vehicle (2), the navigation data comprising a distance to a first next turn (11), a curvature of said first next turn (11), a distance to a second next turn (12), a curvature of said second next turn (12), a distance from an assumed intersection (13) located between the first next turn (11) and the second next turn (12) and a curvature of the assumed intersection (13);- a comparison step (32) of the navigation data relating to the assumed intersection (13) with those relating to the first next turn (11) and the second next turn (12) in order to determine whether the assumed intersection (13) is of the type of a qualified intersection or a qualified turn.;

2. A verification method (3) according to the preceding claim, wherein a distance separating the first next turn (11) and the second next turn (12) is less than or equal to a threshold value.

3. Verification method (3) according to the preceding claim, wherein the threshold value is greater than or equal to 50 m, for example equal to 200 m.

4. A verification method (3) according to any one of the preceding claims, wherein the comparison step (32) comprises a comparison of navigation data relating to the assumed intersection (13) with reference values, during which the assumed intersection (13) is qualified as being of the type of a qualified turn if the curvature of the road (1) taken at the level of at least one next assumed intersection (13) is less than or equal to a threshold value, for example equal to 0.00125 m-1.

5. A verification method (3) according to any one of the preceding claims, wherein the comparison step (32) comprises a comparison step (32) of a sign of the curvature of the supposed intersection (13) with a sign of the curvature of each first next turn (11) and second next turn (12), the supposed intersection (13) being qualified as a qualified intersection if the sign of the curvature of the supposed intersection (13) is different from that of the first next turn (11) and the second next turn (12).

6. A verification method (3) according to any one of the preceding claims, wherein the comparison step (32) includes a verification step (33) of a lane type of the assumed intersection (13), the lane type being part of the navigation data, if the lane type associated with the assumed intersection (13) is of the roundabout type, then the assumed intersection (13) is qualified as a qualified intersection.

7. Verification method (3) according to any one of the preceding claims, wherein the comparison step (32) compares a value of the curvature of the assumed intersection (13) with a value of the curvature of each first next turn (11) and second next turn (12), the assumed intersection (13) being qualified as a qualified intersection if the value of the curvature of the assumed intersection (13) is greater than at least one of the curvature values ​​of the first next turn (11) and the second next turn (12).

8. Navigation system comprising a computer configured to receive navigation data and to implement the verification method (3) according to any one of the preceding claims in order to determine whether the assumed intersection (13) described in the horizon data is a qualified intersection or a qualified turn.

9. Navigation system according to the preceding claim, wherein the computer receives navigation data from an on-board network of the motor vehicle (2), or from a remote server to which the navigation system is connected, or from a GPS signal.

10. Motor vehicle (2) comprising a navigation system according to any one of claims 8 or 9.

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