Method for selecting a preferred traffic lane for a vehicle passing through a toll area - Patents.com

Abstract

The present invention includes the steps of: a) detecting traffic lanes in a toll area; and b) for at least some of said traffic lanes, obtaining a first item of data (d) relating to the distance between a vehicle and the corresponding traffic lane. ij ), and a second item of data relating to the number of other vehicles located in the corresponding traffic lane; c) minimizing a cost function dependent on each first item of data and each second item of data to identify a preferred traffic lane; and d) determining the likelihood or risk of the vehicle changing traffic lanes to move toward the preferred traffic lane. [Selection diagram] Figure 4

Description

[Technical field]

[0001] The present invention relates generally to the field of driver assistance and autonomous vehicles.

[0002] More particularly, the present invention relates to a method for selecting a preferred lane for approaching a toll area comprising multiple lanes in a motor vehicle.

[0003] The present invention also relates to a method for controlling an autonomous vehicle so that the autonomous vehicle drives towards the preferred lane. [Background technology]

[0004] A decision support method is known from document DE102012022629, which makes it possible to determine which lane a vehicle should use when reaching a toll area.

[0005] In this document, the vehicle is equipped with suitable wireless communication means for receiving data sent by the toll collection area, these data relating to open and closed lanes, the payment means accepted in each lane, and the number of third party vehicles waiting in each lane (the latter information being available if the third party vehicles themselves are equipped with communication means).

[0006] The main drawback of this method is that it requires that wireless communication be set up between the vehicle and the toll collection area, which is never guaranteed in practice, and it also requires that the vehicle and the toll collection area be equipped with expensive communication means. Summary of the Invention

[0007] To remedy the above-mentioned shortcomings of the prior art, the present invention provides a method for a vehicle to determine in a highly reliable and safe manner which lane it should preferably use to pass through a toll area, without the need to communicate with the toll area.

[0008] More particularly, the present invention provides a method for selecting a preferred lane for accessing a toll area in a motor vehicle, the method comprising the steps of: a) detecting lanes in a toll area; b) determining, for at least one portion of said lane, first data on a distance separating the motor vehicle from the corresponding lane and second data on a number of third party vehicles located in the corresponding lane; c) calculating a value of a cost function for each of the lanes of the portion in response to the corresponding first data and the corresponding second data, and identifying a preferred lane as the lane for which the value of the cost function is the smallest of the calculated values; d) determining whether it is possible for the vehicle to change lanes to move into a preferred lane or the risk the vehicle would take in doing so; A method for selecting is provided, comprising:

[0009] Thus, according to the present invention, the selection of the lane to be used to approach the toll area depends not only on the number of vehicles in each lane, but also on the distance separating the vehicles from each lane and the potential dangers encountered in reaching the preferred lane. The present invention thus enables the vehicle to be driven safely.

[0010] Preferably, the method is reliable whether or not the toll area is equipped with communications means, since it solely uses vehicle equipment.

[0011] The following are other non-limiting advantageous features of the method according to the invention: the motor vehicle is equipped with at least one telemetry sensor, and in step b) the second data is an estimate of the number of third-party vehicles located in each of the lanes, determined as a function of measurements performed by the telemetry sensor, In step c), a value of the cost function is calculated for each lane of the portion as a function of a sum of corresponding first data weighted by a first coefficient and corresponding second data weighted by a second coefficient, Given a lane adjacent to the lane used by the vehicle and located on the preferred side of the lane used by the vehicle, in step d) it is checked whether the maneuver time required for the vehicle to change lanes in order to reach the desired location in said adjacent lane is strictly shorter than the arrival time required by a third party vehicle operating in said adjacent lane to reach the desired location, In step d), a double criterion is checked for the relative speed of the vehicle with respect to two third party vehicles operating in front and behind the vehicle in adjacent lanes; As a variant or in addition, in step d), a criterion for the maneuver time required for the vehicle to change lanes is checked; The vehicle is equipped with an image capturing means and a calculation unit, in step a), the image capturing means captures an image of a toll collection area, and the calculation unit processes the image to detect vacant lanes in the toll collection area, and in step b), the calculation unit determines first data and second data for each vacant lane; The vehicle is equipped with an image capture means and a calculation unit, in step a) the image capture means captures an image of the toll collection area, and in step b) the calculation unit processes the image to evaluate the first data; The vehicle is equipped with a geo-locating means, a memory for storing a road map, and a calculation unit, and in step b) the calculation unit calculates first data depending on the geo-located position of the vehicle, the position of which is obtained by the geo-locating means, and the shape of the toll collection area, stored in the memory.

[0012] The present invention also relates to a method for controlling an autonomous vehicle, comprising: Steps a) to d) of the selection method defined above, and then controlling said vehicle toward a desired lane; Includes.

[0013] Preferably, if the desired lane is not adjacent to the lane used by the motor vehicle, provision is made to repeat steps a) to d) after the vehicle changes lanes for the first time.

[0014] The following description, given with reference to the attached drawings, given as non-limiting examples, will enable a clear understanding of what the invention consists of and how it can be implemented. [Brief description of the drawings]

[0015] [Figure 1] 1 is a schematic diagram of a vehicle suitable for implementing the selection method according to the invention; [Diagram 2] FIG. 2 illustrates, in flow chart form, an example of a selection method according to the present invention. [Diagram 3] FIG. 2 is a schematic diagram of a toll collection area from above, showing various vehicles, including the car of FIG. 1; [Figure 4] FIG. 2 is a schematic diagram of a toll collection area from above, showing various vehicles, including the car of FIG. 1; [Diagram 5] FIG. 2 is a schematic diagram of a toll collection area from above, showing various vehicles, including the car of FIG. 1; [Figure 6] FIG. 2 is a schematic diagram of a toll collection area from above, showing various vehicles, including the car of FIG. 1; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] First, it should be noted that equivalent or similar elements appearing in various figures are referred to by the same reference numerals whenever possible and will not be described each time.

[0017] FIG. 1 shows a vehicle 100 from a top view.

[0018] As can be seen in this figure, the automobile 100 is here a conventional automobile comprising a chassis supported by wheels, which itself supports a number of different components including a drivetrain, braking means and a steering unit.

[0019] It may possibly be a question of manually controlled vehicles, in which case the latter are equipped with means for displaying destination information to the driver, or preferably of autonomous vehicles, which is the case of autonomous vehicles considered here as well in the remainder of this description.

[0020] The automobile 100 is equipped with sensors that enable it to determine its location in its environment so that the automobile 100 is capable of driving itself autonomously, i.e. without human intervention.

[0021] Any type of sensor may be employed.

[0022] In the example shown in FIG. 1, an automobile 100 is equipped with a camera 130 oriented toward the front of the vehicle to capture images of the environment located in front of the vehicle.

[0023] The automobile 100 is further equipped with at least one (radar, lidar or sonar) telemetry sensor. The automobile 100 is more precisely equipped here with five radar sensors 121, 122, 123, 124, 125 at the four corners of the vehicle and at a central position in front of the vehicle.

[0024] The vehicle 100 is also equipped with a geolocation system 141, for example comprising a GNSS receiver (typically a GPS sensor).

[0025] To process the information provided by these various components and to be able to generate control settings for the drive train, the braking means and the steering unit, the vehicle 100 is equipped with a computer 140.

[0026] The computer 140 includes a processor (CPU), a random access memory (RAM), a read-only memory (ROM), an analog-to-digital converter, and various input and / or output interfaces.

[0027] Its input interface enables the computer 140 to receive input signals from various sensors.

[0028] The computer 140 is further connected to a memory 142 which stores a road map, where it is considered to be a detailed map problem given the shape of the toll areas.

[0029] The read-only memory of computer 140, for its part, stores application software consisting of a computer program containing instructions which, when executed by the processor, cause the computer to implement the methods described below.

[0030] Finally, its output interface enables the controller to transmit settings to various units of the vehicle.

[0031] In figures 3 and 4 on the one hand and 5 and 6 on the other hand, two toll collection areas 200 are shown seen from above.

[0032] Each of these toll collection areas 200 comprises a toll booth 201 where each vehicle user must pay a toll. Each toll collection area 200 also comprises N lanes 210, 220, 230, 240 (in figures 3 and 4 N is equal to 4, in figures 5 and 6 N is equal to 8) for accessing this toll booth 201.

[0033] The toll booth 201 includes an LED panel above each lane with a logo on it. The logo may represent, for example, a red cross if the lane is closed or a green arrow if the lane is open. The logo may also represent other things (such as a blue card if credit card payment is accepted, an orange "t" if remote payment is accepted, etc.).

[0034] In the remainder of this description, the lanes are the current lane 210, which is the lane used by the vehicle 100 in question; adjacent lanes 220, which are two lanes located on either side of the current lane 210; As will become more apparent in the remainder of this description, a preferred lane 230 is determined to be the lane that is most suitable for enabling a complete and safe and rapid passage through the toll booth 201; are distinguished.

[0035] Lanes designated by the reference number "240" are lanes that do not meet any of the three above mentioned criteria.

[0036] As Figures 3-6 show, vehicles other than the vehicle 100 described above, hereinafter referred to as third party vehicles 300, 310, 320, are also considered to be operating in the lanes of the toll area.

[0037] Of these third-party vehicles, a leading vehicle 310, which is a third party vehicle located in front of the motor vehicle 100 and which is driven in one of the two adjacent lanes 220, i.e. the lane into which the motor vehicle 100 wishes to exit; a following vehicle 320, which is a third party vehicle operating in the same adjacent lane 220 and located behind the automobile 100; are distinguished.

[0038] When the vehicle 100, considered here to be autonomous, approaches the toll area 200, the vehicle 100 must choose one of the lanes 210, 220, 230, 240. In other words, the computer 140 must determine an opportunity for the vehicle to change lanes when it arrives at the toll area in order to pass through the toll booth 201 as quickly and completely as possible in safety.

[0039] To do this, the vehicle computer 140 implements a method that includes several major steps.

[0040] A first preliminary step consists in verifying in the computer 140 that the data measured by several different pieces of equipment (radar sensors and cameras) of the motor vehicle 100 are available.

[0041] Specifically, this may not be the case, especially depending on the weather.

[0042] To do this, computer 140 receives from each of its several devices a confidence index (here expressed in the form of a percentage of confidence in the reliability of its measurement) which it compares to a preset threshold.

[0043] If the confidence index is not high enough, the process is interrupted. In the opposite case, the method shown in FIG.

[0044] The first step a) of the method consists of determining the topography of the site.

[0045] To do this, the computer 140 uses either the camera 130 alone, or a geolocation means 141 coupled with a memory 142, or a combination of all of these elements.

[0046] More precisely, the computer 140 obtains the images captured by the camera 130 and the geolocated position of the motor vehicle 100 .

[0047] Taking into account this geolocated position, the vehicle 100 is able to find in the memory 142 the schedule of the toll area 200 .

[0048] The automobile 100 is therefore able to determine the number N of lanes in the highway area 200 .

[0049] Computer 140 then assigns each lane an identifier, hereinafter denoted "j", where this identifier is a natural integer comprised between 1 and N, with the lane identified by the integer j=1 being the leftmost lane.

[0050] Next, through a process for processing the captured images, computer 140 identifies the logos located on each of the lanes. Computer 140 then identifies the shape and color of each logo, thereby determining which lanes are open.

[0051] In the configuration shown in FIG. 3, the lane identified by the integer j=4 is closed, while the other lanes are open.

[0052] In the configuration shown in Figure 4, all lanes are clear.

[0053] In the configuration shown in Figures 5 and 6, the lanes identified by integers j=4, j=6 and j=8 are closed, while the other lanes are open.

[0054] In a second step b1), the computer determines how far the vehicle 100 is from each open lane.

[0055] For this purpose, the computer calculates, for each free lane, first data concerning the distance separating the vehicle 100 from this lane.

[0056] This first data is now the Euclidean distance d that separates the car 100 from a point at the same height as the toll booth 201 and located in the center of the lane in question. ij is an estimate.

[0057] The index "i" here corresponds to a natural integer that identifies the current lane 210, and the index "j" corresponds to a natural integer that identifies the lane 210, 220, 230, 240 in question.

[0058] This Euclidean distance d ij is obtained taking into account the geolocated position of the vehicle 100 and the schedule of the toll area 200 read from the memory 142.

[0059] In a third step b2), the computer 140 evaluates the congestion of each open lane of the toll area 200 .

[0060] To do this, the computer 140 calculates, for each open lane, second data regarding the number of third party vehicles 300, 310, 320 located in this lane.

[0061] This second data is now the number n of third party vehicles 300, 310, 320 located in this lane j This is the evaluation.

[0062] This assessment is obtained here by measurements carried out by radar sensor 122 located in the center at the front of vehicle 100, radar sensor 121 located on the left side at the front of vehicle 100 and radar sensor 123 located on the right side at the front of vehicle 100. This assessment is improved via processing of images acquired by camera 130 of vehicle 100.

[0063] A fourth step c) consists of selecting, among all the lanes to which the vehicle 100 has easy access, the lane which offers the shortest waiting time to pass through the toll booth 201.

[0064] The criterion used to do this is to ensure that the Euclidean distance d separating the car 100 from each lane is at least equal to ij and the number of vehicles in each lane, n j The cost function J depends on the evaluation of ij It is.

[0065] This cost function J ij can be expressed in various ways. The cost function J ij Here, it is expressed in the following form: J ij =d ij ζ ij +n j ·γ j Here, ζ ij and γ j are the two weighting coefficients.

[0066] The values ​​of these weighting coefficients are chosen to favor either the speed of passing through the toll booth (at the risk of the motor vehicle 100 having to change lanes multiple times) or the comfort of the passengers, preferably by choosing a lane close to the current lane 210. The values ​​of these weighting coefficients can either be preset (stored in a read-only memory of the computer) or be parameterizable according to the preferences of the passengers of the vehicle or the category of the vehicle (ambulance, vehicle for transporting goods, etc.). These weighting coefficients can also be in the form of functions, e.g. depending on the data d to which they relate. ij , n j It can be expressed in the form of a function (affine function, inverse function, square function, etc.).

[0067] Regardless, the computer calculates a cost function J for each of the lanes in the toll area 200. ij Use the same formula to calculate the value of

[0068] The preferred lane 230 is then determined by the cost function J ij Examples clearly showing which lanes are preferred in various configurations are detailed later in this description.

[0069] A fifth step d) consists of determining whether the vehicle 100 is able to change lanes 210 , 220 , 230 , 240 without danger in order to move towards the preferred lane 230 .

[0070] This step can be performed in a variety of ways.

[0071] Here, the computer 140 calculates the maneuver time t that the vehicle 100 needs to reach the adjacent lane 220 (in which the vehicle 100 wishes to exit). EGO and the location 221 where this vehicle will end up after this lane change.

[0072] Next, if there is a leading vehicle 310 and / or a trailing vehicle 320, the computer 140 calculates the arrival time t that these vehicles 310, 320 require to reach the location 221. OBJ Calculate.

[0073] The criterion for determining whether the vehicle 100 is allowed to change lanes is therefore simply the following inequality: t EGO <min(t OBJ ) + δt where δt is a preset safety margin stored in the read-only memory of the computer 140.

[0074] If this inequality is not verified (which means that changing lanes would be risky), the vehicle 100 remains in its lane 210 and the method is resumed with step a).

[0075] In the opposite case, the computer 140 implements step e) consisting of controlling the steering unit of the vehicle 100 so that the vehicle 100 crosses from the current lane 210 to the adjacent lane 220 (the lane located on the side of the desired lane 230).

[0076] At this stage, it is possible to first consider the case where adjacent lane 220 and desired lane 230 are identical (case in FIG. 3), in which case the method ends here.

[0077] In the opposite case (the case of FIG. 4), no provision is made for the vehicle 100 to move directly into the desired lane 230 without prior inspection by again changing lanes.

[0078] Instead, provision is made to restart the entire method before vehicle 100 changes lanes again. Thus, if the configuration changes, vehicle 100 can quickly adapt to this change.

[0079] The three examples shown in Figures 3 to 6 can now be explained in more detail.

[0080] In the first example shown in FIG. 3, the automobile 100 is being driven in a current lane 210 identified by the integer i=j=2.

[0081] Lane 240, identified by the integer j=4, is closed.

[0082] The computer 140 then calculates the three cost functions J 21 , J 22 and J. 23 Calculate.

[0083] The desired lane 230 is then the lane for which the cost function is smallest. It will be appreciated that the results will depend greatly on the weighting factors used.

[0084] Thus, if conservative behavior is preferred, the automobile 100 will choose not to change lanes if the number of vehicles in its lane 210 is low.

[0085] Conversely, if a more reactive behavior is preferred, the vehicle 100 may choose to change lanes if the number of vehicles in the adjacent lane 220 to the left is significantly lower.

[0086] In this case, the automobile 100 verifies in advance whether it is possible to change lanes without danger: Here, the leading vehicle 310 and the following vehicle (not shown) are far away from the location 221 to which the automobile wants to move, so that the automobile 100 can exit into the desired lane 230 without danger.

[0087] In the second example shown in FIG. 4, the automobile 100 is being driven in a current lane 210 identified by the integer i=j=2.

[0088] All lanes of the toll area 200 are now clear. There are now three third party vehicles 300, 310, 320 located in each lane, except for the right-most lane, which has only one third party vehicle 300.

[0089] The computer 140 then calculates the four cost functions J 21 , J 22 , J 23 and J. 24 Calculate.

[0090] The lane chosen is the one with the smallest cost function. The outcome therefore depends heavily on the weighting coefficients used here. Thus, the vehicle 100 will choose to move into the right lane 220 only if a highly reactive behavior is preferred.

[0091] In this case, automobile 100 now verifies again whether it is possible to change lanes without danger. In this case, the leading vehicle 310 and the following vehicle 320 are far away from the location 221 in the adjacent lane 220 into which the automobile wants to move, so automobile 100 can exit into this adjacent lane 220 without danger. Automobile 100 therefore again calculates the cost functions for the four lanes, as the case may be, before choosing whether to stay in its lane or to actually move into the originally desired lane.

[0092] In a third example (two successive times) illustrated in Figures 5 and 6, the automobile 100 is initially driven in a current lane 210 identified by the integer i=j=4.

[0093] This lane, and the lanes identified by the integers j=6 and j=8, are closed. The vehicle must therefore change lanes.

[0094] The computer 140 then calculates the five cost function values ​​J 41 , J 42 , J 43 , J 45 and J. 47 Calculate.

[0095] The lane selected is here again the lane with the smallest value of the cost function, the outcome of this selection again depends highly on the weighting factors used, but in any case the vehicle 100 chooses to change lanes.

[0096] As shown in FIG. 5, the vehicle 100 may elect to move toward the leftmost desired lane 230 .

[0097] 6, after the first lane change, the automobile 100 may find that it is still not possible to change lanes, given that the location 221 where the automobile 100 wants to exit is already occupied by a leading third party vehicle 310. In this case, the computer decides not to change lanes any more to go through the toll booth 210.

[0098] Various variations on the embodiments described here are possible.

[0099] In particular, step d) can be performed in different ways.

[0100] As a first example, it may be possible to verify the safety of exiting into a lane in order to consider more vehicles. Thus, the time t OBJ as well as the time t for any third party vehicle 300 that can reach the location 221 to which the automobile 100 wishes to travel. OBJ (In particular, the time t OBJ ) may also be calculated.

[0101] As a second example, alternatively, time t EGO , t OBJ Rather than comparing velocities, it would be possible to verify the safety of entering a lane to check a criterion relating to the relative speeds of the vehicles with respect to one another.

[0102] This check may therefore be based on comparing the relative speed of the automobile 100 with respect to the leading vehicle 310 and the relative speed of the automobile 100 with respect to the following vehicle 320 to a first threshold value and a second threshold value to verify that the relative speed of the automobile 100 with respect to the leading vehicle 310 and the relative speed of the automobile 100 with respect to the following vehicle 320 are compatible with a completely safe lane change.

[0103] In the embodiment described with respect to the figures, the vehicle was autonomous. As a variant, provisions can be made for the vehicle to not be autonomous. In this case, the fifth step e) no longer consists in automatically steering the motor vehicle 100 towards the desired lane 230, but rather in displaying information on the vehicle's screen that enables the driver to know into which lane he must move in order to get through the toll booth as quickly as possible in complete safety.

Claims

1. 1. A method for selecting a preferred lane (230) for accessing a toll area (200) comprising a plurality of lanes (210, 220, 230, 240) with a motor vehicle (100), comprising: a) detecting lanes (210, 220, 230, 240) of said toll area (200); b) for at least one portion of said lanes (210, 220, 230, 240), first data (d) relating to a distance separating said vehicle (100) from a corresponding lane (210, 220, 230, 240); ｉｊ ) and second data (n) on the number of third party vehicles (300, 310, 320) located in the corresponding lane (210, 220, 230, 240). ｊ ) c) corresponding first data (d ｉｊ ) and the corresponding second data (n ｊ ) for each of the lanes (210, 220, 230, 240) of the portion, ｉｊ ) and calculate the value of the cost function (J ｉｊ identifying the preferred lane (230) as the lane where the value of d) determining the feasibility and risk of said vehicle (100) changing lanes (210, 220, 230, 240) in order to move into said preferred lane (230); a method for selecting comprising: The toll booths in the toll collection areas (200) display a logo above each lane indicating whether the lane is open or not; The vehicle (100) is equipped with an image capturing means (130) and a calculation unit (140), and in step a), the image capturing means (130) captures an image of the logo, and the calculation unit processes the image to detect vacant lanes in the toll collection area, and in step b), the calculation unit (140) calculates the first data (d) for each vacant lane. ｉｊ ) and the second data (n ｊ ) and In step c), the value of the cost function (J ij ) is calculated for each of the lanes (210, 220, 230, 240) of the portion as a function of the sum of the corresponding first data (d ij ) weighted by a first coefficient (ζ ij ) and the corresponding second data (n j ) weighted by a second coefficient (γ j ), A method for selecting, wherein said first coefficients (ζ ij ) and said second coefficients (γ j ) are variable depending on the preferences of a passenger of said vehicle (100) or on the category of said vehicle (100).

2. The vehicle (100) is equipped with at least one telemetry sensor (121, 122, 123, 124, 125), and in step b) the second data (n ｊ 2. The method for selecting according to claim 1, wherein the estimated number of third party vehicles (300) located in each of the lanes (210, 220, 230, 240) is determined in response to measurements performed by the telemetry sensors (121, 122, 123, 124, 125).

3. Given a lane (220) adjacent to the lane (210) used by the vehicle (100) and located on the side of the preferred lane (230) with respect to the lane (210) used by the vehicle (100), in step d) a maneuver time (t) required for the vehicle (100) to change lanes in order to reach a desired location (221) in the adjacent lane (220) is calculated. ＥＧＯ ) is the arrival time (t ) required by the third party vehicles (310, 320) operating in the adjacent lanes (220) to arrive at the desired location. ＯＢＪ 3. The method for selecting according to claim 1, wherein the first and second digits are checked to see whether they are strictly shorter than the first digit.

4. 4. The method for selection according to claim 1, wherein, given a lane (220) adjacent to the lane (210) used by the motor vehicle (100) and located on the side of the preferred lane (230) with respect to the lane (210) used by the motor vehicle (100), in step d) a double criterion is checked for the relative speed of the motor vehicle (100) with respect to two third party vehicles (310, 320) driving in front and behind the motor vehicle (100) in the adjacent lane (220).

5. In step a), the image acquisition means (130) acquires an image of the toll collection area (200), and in step b), the calculation unit (140) calculates the first data (d ｉｊ 5. The method for selecting according to claim 1 , further comprising processing the images to assess the degree of localization of the image.

6. The vehicle (100) is equipped with geolocation means (141), a memory (142) for storing a road map, and a calculation unit (140), and in step b) the calculation unit calculates the first data (d) according to the geolocated position of the vehicle (100) obtained by the geolocation means (141) and the shape of the toll collection area (200) stored in the memory (142). ｉｊ 6. The method for selecting according to claim 1 , further comprising the step of calculating a sigma-separation coefficient (Ss) of the first parameter.

7. 1. A method for controlling an autonomous vehicle, comprising: Steps a) to d) of the method for selecting as defined in any one of claims 1 to 6, then controlling said vehicle toward a desired lane (230); A method for controlling, comprising:

8. 8. The method for controlling of claim 7, wherein if the desired lane (230) is not adjacent to the lane (210) used by the vehicle (100), steps a) to d) and the controlling step are repeated after the vehicle changes lanes for the first time to approach the desired lane (230).

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