Method and device for controlling a driving assistance system, making it easier for a third-party vehicle to park

Abstract

The present invention relates to a method and device for controlling a movement of a vehicle (10) when it has stopped behind a first vehicle (11). Specifically, the method comprises receiving data representative of the presence of a second vehicle (12) positioned behind the vehicle and determining a parking direction, receiving data representative of a position of a parking space (P) located next to the vehicle in this direction, and determining a first distance (Di) between the vehicle and the parking space. Third data are sent to an autonomous driving system, said third data being representative of a travel distance of the vehicle in the direction of the first vehicle, the third data being sent on the basis of the distance between the vehicle and the first vehicle and the first distance. The vehicle then frees up a space useful for the second vehicle's parking manoeuvre.

Description

DESCRIPTION Title: Method and device for controlling a driver assistance system facilitating the parking of a third-party vehicle technical field

[0001] The present invention claims priority from French application 2501870 filed on February 24, 2025, the content of which (text, drawings and claims) is incorporated herein by reference.

[0002] The invention relates to methods and devices for controlling a driver assistance system embedded in a vehicle, particularly, but not exclusively, in an autonomous vehicle. The invention specifically relates to a method and device for controlling the distance between an autonomous vehicle and a vehicle in front of it, based on the availability of a parking space for a vehicle following the autonomous vehicle. Technological background

[0003] Road safety is one of the important issues facing our societies. With the increasing number of vehicles circulating on road networks worldwide, regardless of traffic conditions, the risks of accidents and incidents caused by traffic conditions have never been greater.

[0004] To improve road safety, some modern vehicles are equipped with driver assistance systems, known as ADAS (Advanced Driver-Assistance Systems). ADAS systems, for example, implement processes based on knowledge of the road environment in which the vehicle is traveling. This knowledge is obtained, for instance, from environmental mapping data received, such as from a remote server-type device via a wireless communication network, as the vehicle moves.

[0005] This mapping data includes, in particular, data on parking areas located around the vehicle, this data being used by one or more ADAS systems, for example to guide a driver of the vehicle through these parking spaces.

[0006] When a vehicle is autonomous or semi-autonomous, a vehicle-to-vehicle distance—that is, the distance between the autonomous vehicle and the vehicle in front of it—is determined to prevent any risk of collision, even when the vehicles are stopped, for example, at an intersection. However, when this distance is significant, the autonomous vehicle may be positioned in front of a parking space, preventing a following vehicle (a third vehicle) from accessing it. In such cases, it is useful to take measures to facilitate parking for this third vehicle and thus improve traffic flow in urban areas, for example, by allowing the third vehicle to maneuver when traffic is stopped around the autonomous vehicle. Summary of the present invention

[0007] One object of the present invention is to solve at least one of the problems of the technological background described above.

[0008] Another object of the present invention is, for example, to improve access to a parking space for a third-party vehicle when a vehicle is stopped and obstructing access to that parking space.

[0009] Another object of the present invention is to improve traffic flow, particularly in urban areas.

[0010] According to a first aspect, the present invention relates to a method for controlling the movement of a vehicle, called an ego vehicle, equipped with an autonomous driving system, the method being implemented when the ego vehicle is stopped behind a first vehicle preceding it at an initial set distance, by at least one processor and comprises the following steps: - receiving initial data indicating the presence of a second vehicle positioned behind the first vehicle and determining a lateral parking direction associated with the second vehicle from the initial data; - receiving second data representing the position of a parking space located next to the vehicle in the lateral direction of parking and determining a first distance separating the vehicle from the parking space from the second data; - determination of a feasibility index for a parking maneuver based on the initial target distance, a derogation target distance and the first distance; - emission of third data to the autonomous driving system and representative of a current target distance for the movement of the ego vehicle towards the first vehicle, the current target distance being determined based on the feasibility index.

[0011] Thanks to this process, the ego vehicle deviates from the distance setting separating it from the first vehicle, moving closer and thus freeing up enough space in front of the second vehicle to allow it to perform a parking maneuver in its desired parking space, for example, to parallel park. In this way, the ego vehicle does not hinder the second vehicle's maneuver, and may even facilitate it, allowing the second vehicle to park quickly and leave the traffic, thereby improving the flow of surrounding traffic.

[0012] According to one variant, the feasibility index is determined by the following function: Ind = (Di + Do - Do') / D m With : • Indicates the feasibility index, • Di the first distance, • Determine the initial setpoint distance, • The required distance for exemption, and • D ma predefined distance representing a minimum distance required for maneuvering.

[0013] According to another variant, the current setpoint distance is determined by the following function: • If Ind < 1, then Dec = 0, • If Ind = 1, then Dec = Do - Do', and • If Ind > 1, then D m - Sun < Dec 2 D o - D o ', With : • Indicates the feasibility index, • Dec the current setpoint distance, • Di the first distance, • Determine the initial setpoint distance, • The required distance for exemption, and • Dm the minimum distance required to maneuver.

[0014] According to yet another variant, the first data is received from a rear camera mounted in the vehicle, the lateral parking direction associated with the second vehicle being determined by analyzing images acquired by the rear camera using a turn signal detection model.

[0015] According to a further variant, the second data is received from sensors on board the vehicle, belonging to a sensor set including: • a side camera, • a radar, and • a lidar.

[0016] According to another variant, the process also includes the following steps: - reception of fourth data representing a position of a parking area and a current position of the vehicle from a geolocation system; - determination of a second direction according to which the parking area is positioned relative to the vehicle, based on the fourth set of data, the second data being received when the second direction corresponds to the lateral parking direction.

[0017] According to yet another variant, the process further includes a step of validating a movement of the ego vehicle via a human-machine interface, with the third data being emitted when fifth data representing the validation are received.

[0018] According to an additional variant, the travel validation step includes a display of graphic content on a touchscreen embedded in the vehicle, with the fifth data being emitted by the touchscreen following a touch on a graphic object of the graphic content.

[0019] According to a second aspect, the present invention relates to a device for controlling the movement of a vehicle, the device comprising a memory associated with a processor configured for the implementation of the steps of the process according to the first aspect of the present invention.

[0020] According to a third aspect, the present invention relates to a vehicle, for example a motor vehicle, incorporating an autonomous driving system and comprising the device according to the second aspect of the present invention.

[0021] According to a fourth aspect, the present invention relates to a computer program which includes instructions adapted for carrying out the steps of the process according to the first aspect of the present invention, in particular when the computer program is executed by at least one processor.

[0022] Such a computer program can use any programming language, and be in the form of source code, object code, or an intermediate form between source code and object code, such as in a partially compiled form, or in any other desirable form.

[0023] According to a fifth aspect, the present invention relates to a computer-readable recording medium on which is recorded a computer program comprising instructions for carrying out the steps of the process according to the first aspect of the present invention.

[0024] On the one hand, the recording medium can be any entity or device capable of storing the program. For example, the medium can include a storage means, such as a ROM, a CD-ROM or a microelectronic circuit-type ROM, or a magnetic recording means or a hard drive.

[0025] On the other hand, this recording medium can also be a transmissible medium such as an electrical or optical signal, such a signal being able to be transmitted via an electrical or optical cable, by conventional or radio frequency, by self-directing laser beam, or by other means. The computer program according to the present invention can, in particular, be downloaded from a network such as the Internet.

[0026] Alternatively, the recording medium may be an integrated circuit in which the computer program is incorporated, the integrated circuit being adapted to execute or to be used in the execution of the process in question. Brief description of the figures

[0027] Other features and advantages of the present invention will become apparent from the description of the specific and non-limiting embodiments of the present invention below, with reference to the attached Figures 1 to 4, in which:

[0028] [Fig. 1] schematically illustrates a driving environment in which a vehicle initially evolves, according to a particular and non-limiting embodiment of the present invention;

[0029] [Fig. 2] schematically illustrates a driving environment in which the vehicle of figure 1 evolves after a movement, according to a particular and non-limiting embodiment of the present invention;

[0030] [Fig. 3] illustrates a device configured to control the movement of the vehicle in Figure 1, according to a particular and non-limiting embodiment of the present invention; and

[0031] [Fig. 4] illustrates a flowchart of the different stages of a process for controlling the movement of the vehicle of figure 1, according to a particular and non-limiting example of the present invention. Description of examples of achievements

[0032] A method and device for controlling the movement of a vehicle will now be described in what follows with joint reference to figures 1 to 4. The same elements are identified with the same reference signs throughout the description that follows.

[0033] The terms "first," "second" (or "firsts," "seconds"), etc., are used in this document by arbitrary convention to identify and distinguish different elements (such as operations, means, etc.) implemented in the embodiments described below. Such elements may be distinct or correspond to a single element, depending on the embodiment.

[0034] Figure 1 schematically illustrates a vehicle 10, also called an ego vehicle, operating in a road environment 1, according to a particular and non-limiting embodiment of the present invention. Such a road environment 1 is, for example, in an urban or suburban setting, in which other vehicles are present and which is equipped with parking areas including parking spaces for these vehicles.

[0035] Vehicle 10, for example, corresponds to a vehicle with an internal combustion engine, an electric motor(s), or a hybrid vehicle with an internal combustion engine and one or more electric motors. Vehicle 10 thus corresponds, for example, to a land vehicle, such as a car, a commercial vehicle, a truck, a bus, or a motorcycle—that is, a motorized land vehicle.

[0036] Vehicle 10, for example, corresponds to a vehicle operating in autonomous or semi-autonomous mode, meaning it is equipped with an autonomous or semi-autonomous driving system. The vehicle operates, for instance, at an autonomy level of 2 or higher, according to the scale defined by the US federal agency, which has established 5 levels of autonomy ranging from 1 to 5. Level 0 corresponds to a vehicle with no autonomy, where driving is under the total supervision of the driver; level 1 corresponds to a vehicle with a minimal level of autonomy, where driving is under the supervision of the driver with minimal assistance from an ADAS system; and level 5 corresponds to a fully autonomous vehicle.

[0037] Vehicle 10 is equipped with one or more Advanced Driver-Assistance Systems (ADAS). These ADAS systems are configured to assist, or even replace, the driver of vehicle 10 in controlling the vehicle during its journey. The autonomous or semi-autonomous driving system interacts with, or includes, all or some of the ADAS systems installed in vehicle 10.

[0038] Vehicle 10, for example, carries one or more of the following ADAS systems for this purpose: - adaptive cruise control system, known as ACC (from the English "Adaptive Cruise Control"), - predictive cruise control, also known as P-ACC (Predictive-Adaptive Cruise Control), - Intelligent Speed ​​Adaptation system, also known as ISA (from the English "Intelligent Speed ​​Adaptation"), - Curve Speed ​​Assist system, also known as CSA (from the English "Curve Speed ​​Assist"), - electronic stability control system, also known as ESC (Electronic Stability Control), DSC (Dynamic Stability Control), or ESP (Electronic Stability Program), - vehicle lane keeping assist system, known as LKA (from the English "Lane-Keeping Assist" or in French "Assistant de maintien dans la queue") or LPA (from the English "Lane Positioning Assist" or in French "Assistant de hauteur dans la queue"), - semi-automatic lane change system, known as SALC (from the English "Semi Automatic Lane Change"), and / or - object detection system, also known as ODS (Object Detection System).

[0039] Vehicle 10 includes, in particular, a movement control device capable of generating a signal or instruction to the autonomous or semi-autonomous driving system managing the ADAS listed above in order, for example, to deviate from certain driving rules in order to perform a specific maneuver, for example.

[0040] The ADAS system examples in the list above are provided for illustrative purposes only and are not exhaustive.

[0041] Vehicle-mounted ADAS systems 10 are, for example, powered by data obtained from one or more on-board sensors, such as radars, LIDARs and / or cameras such as a front camera, a rear camera and side cameras, and / or data received from a communication infrastructure.

[0042] In one particular embodiment, the vehicle 10 carries a communication system configured to communicate with one or more remote devices 111 via a wireless communication network infrastructure. The remote device 111 corresponds, for example, to a server in the "cloud" 100. The wireless communication infrastructure includes, for example, a set of communication devices 110 such as LTE 4G or 5G cellular network antennas or U BR (Roadside Unit) type devices.

[0043] The vehicle communication system 10 includes, for example, one or more communication antennas connected to a telematic control unit, called a TCU (Telematic Control Unit), which is itself connected to one or more computers of the vehicle's on-board system 10, including one or more computers in charge of controlling the vehicle's ADAS systems 10. The antenna(s), the TCU and the computer(s) form, for example, a multiplexed architecture for the implementation of various services useful for the proper functioning of the vehicle and for assisting the driver and / or passengers of the vehicle in controlling the vehicle 10.The computer(s) and the TCU communicate and exchange data with each other via one or more computer buses, for example a CAN (Controller Area Network) data bus, CAN FD (Controller Area Network Flexible Data-Rate), FlexRay (according to ISO 17458) or Ethernet (according to ISO / IEC 802-3).

[0044] The wireless communication system enabling data exchange between vehicle 10 and remote device(s) 111 corresponds, for example, to: - a vehicle-to-infrastructure (V2I) communication system, for example based on the 3GPP LTE-V or IEEE 802.11p standards of ITS G5; or - a cellular network communication system, for example an LTE (Long-Term Evolution), LTE-Advanced, LTE 4G or 5G network; or - a Wifi type communication system according to IEEE 802.11, for example according to IEEE 802.11n or IEEE 802.11ac.

[0045] According to another particular embodiment, vehicle 10 carries a receiver of a GPS (Global Positioning System) satellite geolocation system or the Galileo system for example in communication with a computer of the vehicle 10's on-board system. The satellite geolocation system is, for example, associated with a map.

[0046] The mapping includes, for example, a road map in which are located and referenced the roads constituting the road network on which the vehicle 10 travels, as well as the parking areas accessible from these roads.

[0047] The road environment 1 includes, for example, a first section of road 101 on which vehicle 10 travels, the first section of road 101 being bordered by parking spaces constituting a parking area A s , some of these parking spaces being occupied and others free. According to the example illustrated in figure 1, parked vehicles 13, 14 occupy parking spaces arranged on either side of an available parking space P.

[0048] Mapping data (or map data) is advantageously received by vehicle 10, for example as vehicle 10 moves.

[0049] The mapping data of environment 1 is received, for example via a wireless link from the server 111 via the wireless communication infrastructure and the wireless communication system of the vehicle 10.

[0050] This data is received, for example, as the vehicle 10 moves, according to a V2X communication mode (from the English "Vehicle-to-Everything" or in French "Véhicule vers tout"), for example according to an I2V mode (from the English "Infrastructure-to-Vehicle" or in French "Infrastructure vers véhicule").

[0051] On this section of Route 101, for example, there is an intersection, Figure 1 representing a 'STOP' or mandatory stop. However, the invention is not limited to this situation but extends to other situations where vehicles are stopped, for example, at a traffic light located at an intersection, at a level crossing on this section of Route 101, or in a traffic jam or congestion; this list of situations is not exhaustive.

[0052] Vehicle 10 is therefore stopped behind a first vehicle 11, which is also stopped. It should be noted that vehicle 10 can, according to other specific embodiments not shown, be located behind a line of several vehicles, the vehicle immediately in front of it being the first vehicle 11. Vehicle 10 is located at a distance from the first vehicle 11, this distance corresponding to an initial setpoint distance D oapplied by the autonomous driving system embedded in vehicle 10. This initial setpoint distance D o For example, this distance is predefined to ensure the safety of road users and prevent any collision with the first vehicle 11. Thus, even if the first vehicle 11 rolls backward when starting, particularly if it is on an incline, it will not collide with vehicle 10. This distance also allows a pedestrian or other road user to pass. For example, it is between three and four meters (3 to 4m). However, the present invention is not limited to these values, which are used by way of example.

[0053] This distance separating vehicle 10 from the first vehicle 11 is for example measured by radar, LiDAR®, camera or any device configured to measure an inter-vehicle distance known to a person skilled in the art and carried in vehicle 10.

[0054] Vehicle 10 is followed by a second vehicle 12, which wishes to park in the available parking space P, located to its right in Figure 1. Note that the side on which the available parking space P is located is important, but the invention is not limited to a right side, the parking space being able to be located on the left side of vehicle 10 according to other particular embodiments.

[0055] The second vehicle 12 notably activated its indicator in the direction of the place it desires, i.e. to the right according to the example illustrated in figure 1, in order to warn other road users that it will soon carry out a parking maneuver in the direction of parking space P.

[0056] However, vehicle 10 is located too close to parking space P for the second vehicle 12 to be able to carry out its parking maneuver, so vehicle 10 being stopped is hindering the second vehicle 12 wishing to park.

[0057] The process of controlling the movement of vehicle 10 described below thus proposes a solution to this problem.

[0058] A process for controlling the movement of vehicle 10, also called ego vehicle, which includes an autonomous driving system, is advantageously implemented by vehicle 10, for example by one or more processors of one or more computers embedded in vehicle 10.

[0059] In a first operation, initial data representing the presence of a second vehicle 12 positioned behind the first vehicle 10 are received by vehicle 10. This initial data is received, for example, from a rear camera mounted in vehicle 10, which is associated with a vehicle detection model configured to detect the presence of a vehicle located behind vehicle 10. This rear camera then acquires images of the second vehicle, and in particular of its turn signals located at the front of the second vehicle 12.

[0060] From these images, a turn signal detection model determines in a second operation whether a turn signal on the second vehicle is illuminated, i.e., whether it is actually flashing. This analysis of images acquired by the rear-facing camera in vehicle 10 then makes it possible to determine the lateral parking direction associated with the second vehicle 12, that is, the lateral direction in which a parking space is located where the second vehicle 12 wishes to park.

[0061] In the example illustrated in Figure 1, the front right indicator of the second vehicle 12 flashes to warn other road users that vehicle 12 is going to perform a parking maneuver towards its right side, the lateral direction of parking here being the right.

[0062] Thus, at the end of this second operation, the computer of vehicle 10 in charge of the process knows the lateral parking direction associated with the second vehicle 12.

[0063] According to a particular embodiment example, in a third operation, fourth data representing a position of a parking area As and a current position of the ego vehicle 10 are received from a geolocation system.

[0064] According to this same example of a particular implementation, in a fourth operation, a second direction in which parking area A is positioned s The location of the vehicle in relation to the ego 10 is determined from the fourth data point. In other words, the computer in charge of the process verifies that a parking area is indeed present on this side of the section of road 101 in accordance with the previously determined lateral parking direction.

[0065] In the event that the third and fourth operations are carried out, the following operations are carried out if the second direction corresponds to the lateral parking direction.

[0066] In a fifth operation, a second set of data is received. This second set of data represents the position of a parking space P located next to the vehicle in the lateral parking direction. This parking space P is detected and identified from the second set of data, which is received, for example, from sensors belonging to a sensor set including: • a side camera, • a radar, and • a lidar.

[0067] These second data are then used in a sixth operation to determine a first distance Di separating the vehicle 10 from the parking space P. This first distance is determined for example according to the longitudinal direction of the vehicle 10, that is to say according to the direction of movement of the vehicle 10.

[0068] In Figure 1, vehicle 10 is, for example, located two meters (2m) in front of parking space P.

[0069] This distance is therefore insufficient for the second vehicle 12 to parallel park, so vehicle 12 must wait for vehicle 10 to move forward before starting its parking maneuver.

[0070] However, vehicle 10 has a free space in front of it, that is, between vehicle 10 and the first vehicle 11. This distance corresponds to the initial set distance Do, which includes a margin to avoid any danger or inconvenience and to compensate, in particular, for positioning errors of vehicle 10 and / or uncertainties in distance measurements. This margin can, however, be reduced, especially when vehicle 10 and the first vehicle 11 are stopped. Thus, another inter-vehicle distance is predefined and corresponds to a set distance for deviation D. o ' defined as the minimum distance that must separate vehicle 10 from a vehicle in front of it and being conditioned for example for exceptional maneuvers depending on conditions on the environment of vehicle 10 and its speed of movement, the latter being for example limited in a delicate maneuver.

[0071] In a seventh operation, a feasibility index for a parking maneuver is determined based on the initial target distance D o , of a specified distance of deviation D o ' and the first distance Di. This feasibility index then reflects the technical feasibility and / or the ease that the driver of the second vehicle 12 will have to carry out his parking maneuver if the vehicle 10 moves towards the first vehicle 11 to leave sufficient space available for the second vehicle 12 to carry out his parking maneuver.

[0072] According to a specific implementation example, the feasibility index is determined by the following function: Ind = (Di + Do - Do') / D m With : • Indicates the feasibility index, • Di the first distance, • Determine the initial setpoint distance, • The required distance for exemption, and • D m a predefined distance representing a minimum distance required for maneuvering.

[0073] The minimum distance D m necessary for maneuvering is, for example, predefined for any parking space, regardless of its length and width, and / or for any size of vehicle, regardless of the dimensions of the second vehicle 12.

[0074] According to other specific implementation examples, the minimum distance D m The distance required for maneuvering is determined based on the length of the parking space P and / or the length of the second vehicle 12. Other criteria, such as the number of steering wheels or the turning radius of the second vehicle 12, may also be taken into account to determine this minimum distance D. m .

[0075] According to the function described above, an index Ind equal to 1 is obtained when the sum of the first distance Di, the initial setpoint distance D o , and the required distance for deviation D o ' is equal to the minimum distance D m necessary for maneuvering, that is to say, the first distance Di separating vehicle 10 from the second vehicle 12 is equal to the minimum distance D m when vehicle 10 is positioned at a distance from the first vehicle 11 equal to the specified deviation distance Do'.

[0076] If the feasibility index Ind is less than 1, this means that the first distance Di separating vehicle 10 from the second vehicle 12 is equal to the minimum distance D m when vehicle 10 is positioned at a distance from the first vehicle 11 less than the specified deviation distance D o ', which is therefore unacceptable.

[0077] Conversely, if the feasibility index Ind is greater than 1, this means that the first distance Di separating vehicle 10 from the second vehicle 12 is equal to the minimum distance D m when vehicle 10 is positioned at a distance from the first vehicle 11 greater than the specified deviation distance Do', which is acceptable.

[0078] In an eighth operation, third data points are sent to the autonomous driving system. These third data points represent a current setpoint distance Dec for the movement of vehicle 10 towards the first vehicle 11, the current setpoint distance Dec being determined according to the feasibility index.

[0079] According to a specific implementation example, the current setpoint distance Dec is determined by the following function: • If Ind < 1, then Dec = 0, vehicle 10 does not move, • If Ind = 1, then Dec = Do - D o ', vehicle 10 approaches the first vehicle 11 as illustrated in Figure 2, and • If Ind > 1, then D m - Di < Dec s D o - D o ', vehicle 10 is approaching vehicle 11, With: • Indicates the feasibility index, • Dec the current setpoint distance, • Di is the first distance, • Do is the initial setpoint distance. • The required distance for exemption, and • D m the minimum distance required to maneuver.

[0080] Thus, vehicle 10 moves closer to the first vehicle 11 when this movement is useful to the second vehicle 12 and ensures that the second vehicle 10 can perform its parking maneuver once vehicle 10 has moved forward.

[0081] According to a particular embodiment example, the process includes an additional operation implemented before the third data is issued in order to warn the driver or an occupant of vehicle 10 of the maneuver or even to have the latter validate this maneuver.

[0082] Thus, the process optionally includes an additional step of validating the movement of vehicle 10 via a human-machine interface (HMI). For example, this additional step includes an initial operation consisting of displaying graphic content on a touchscreen integrated into vehicle 10. This graphic content informs the driver or occupant of vehicle 10 of the type of maneuver to be performed and prompts them to confirm the maneuver by tapping a first graphic object or to cancel it by tapping a second graphic object. When the first graphic object is tapped, fifth data points representing the confirmation are sent from the touchscreen to the computer, which receives them, and the maneuver is initiated according to the eighth operation.

[0083] This process allows the vehicle implementing it—the ego vehicle—to move forward, approaching a vehicle in front of it when both vehicles are stationary. This allows a third vehicle, the one positioned behind the ego vehicle, to perform a parking maneuver. The ego vehicle moves if this movement allows the third vehicle to park, and does not move if it does not.

[0084] Road traffic is then facilitated, as the third vehicle wishing to park is not hindered by the vehicle implementing the process and can carry out its parking maneuver when the vehicles present on its lane of traffic are stopped.

[0085] Figure 4 schematically illustrates a device 3 configured to control the movement of a vehicle, for example vehicle 10, according to a particular and non-limiting embodiment of the present invention. Device 3 corresponds, for example, to a device embedded in vehicle 10, such as a computer, which is connected to an autonomous or semi-autonomous driving assistance system.

[0086] Device 3 is, for example, configured to carry out the operations described opposite Figure 1 and / or the steps of the process described opposite Figure 3. Examples of such a device 3 include, but are not limited to, embedded electronic equipment such as a vehicle's on-board computer, an electronic control unit such as an ECU (Electronic Control Unit), a smartphone, a tablet, or a laptop computer. The elements of device 3, individually or in combination, can be integrated into a single integrated circuit, into several integrated circuits, and / or into discrete components. Device 3 can be implemented as electronic circuits or software (or computer) modules, or a combination of electronic circuits and software modules.

[0087] Device 3 includes one or more processors 30 configured to execute instructions for carrying out the steps of the process and / or for executing instructions from the software embedded in Device 3. The processor 30 may include integrated memory, an input / output interface, and various circuits known to those skilled in the art. Device 3 further includes at least one memory 31, for example, volatile and / or non-volatile memory, and / or includes a memory storage device that may include volatile and / or non-volatile memory, such as EEPROM, ROM, PROM, RAM, DRAM, SRAM, flash, magnetic disk, or optical disk.

[0088] The computer code of the embedded software(s) including the instructions to be loaded and executed by the processor is, for example, stored on memory 31.

[0089] According to various specific and non-limiting embodiment examples, device 3 is coupled in communication with other similar devices or systems and / or with communication devices, for example a TCU (Telematic Control Unit), for example via a communication bus or through dedicated input / output ports.

[0090] According to a particular and non-limiting embodiment, device 3 includes a block 32 of interface elements for communicating with external devices, for example, a remote server or the cloud, other nodes of the ad hoc network. The interface elements of block 32 include one or more of the following interfaces: - radio frequency RF interface, for example of the Wi-Fi® type (according to IEEE 802.11), for example in the 2.4 or 5 GHz frequency bands, or of the Bluetooth® type (according to IEEE 802.15.1), in the 2.4 GHz frequency band, or of the Sigfox type using UBN (Ultra Narrow Band) radio technology, or LoRa in the 868 MHz frequency band, LTE (Long-Term Evolution), LTE-Advanced; - USB interface (from the English "Universal Serial Bus" or "Bus Universel en Série" in French) - HDMI interface (from the English "High Definition Multimedia Interface", or "High Definition Multimedia Interface" in French); - LIN interface (from the English "Local Interconnect Network", or in French "Réseau interconnecté local").

[0091] Data is for example loaded to device 3 via the interface of block 32 using a Wi-Fi® network such as according to IEEE 802.11, an ITS G5 network based on IEEE 802.11 p or a mobile network such as a 4G (or 5G) network based on the LTE (Long Term Evolution) standard defined by the 3GPP consortium, in particular an LTE-V2X network.

[0092] According to another particular and non-limiting embodiment, the device 3 includes a communication interface 33 which enables communication with other devices (such as other computers in the embedded system) via a communication channel 330. The communication interface 33 corresponds, for example, to a transmitter configured to transmit and receive information and / or data via the communication channel 330. The communication interface 33 corresponds, for example, to a wired network of the type CAN (Controller Area Network), CAN FD (Controller Area Network Flexible Data-Rate), FlexRay (standardized by ISO 17458) or Ethernet (standardized by ISO / IEC 802-3).

[0093] In one particular, non-limiting embodiment, device 3 can provide output signals to one or more external devices, such as a display screen (touchscreen or not), one or more speakers, and / or other peripherals, via respective output interfaces. In one variant, one or more of the external devices is integrated into device 3.

[0094] Figure 3 illustrates a flowchart of the different steps in a method for controlling the movement of a vehicle equipped with an autonomous or semi-autonomous driving system, for example, vehicle 10, according to a particular and non-limiting embodiment of the present invention. The method is implemented, for example, by a device embedded in vehicle 10, also called an ego vehicle, or by device 3 in Figure 4.

[0095] In a first step 21, initial data indicating the presence of a second vehicle 12 positioned behind vehicle 10 are received and a direction Y1 The lateral parking associated with the second vehicle 12 is determined from the first data.

[0096] In a second step 22, second data representing a position of a parking space P located next to the vehicle 10 in the lateral direction of parking are received and a first distance Di separating the vehicle 10 from the parking space P is determined from the second data.

[0097] In a third step 23, a feasibility index for a parking maneuver is determined as a function of the initial target distance D o , of a specified distance of deviation D o ' and the first distance Di.

[0098] In a fourth step 24, third data are sent to the autonomous driving system, the third data being representative of a current setpoint distance Dec of movement of vehicle 10 towards the first vehicle 11, the current setpoint distance Dec being determined according to the feasibility index.

[0099] According to one variant, the variants and examples of the operations described in relation to Figures 1 and 2 apply to the steps of the process in Figure 3.

[0100] Of course, the present invention is not limited to the embodiments described above but extends to a method for controlling the movement of a vehicle stopped behind a vehicle in front of it, which would include secondary steps without falling outside the scope of the present invention. The same would apply to a device configured for implementing such a method.

[0101] The present invention also relates to a vehicle, for example an automobile or more generally an autonomous land-powered vehicle, comprising the device 3 of figure 4.

Claims

DEMANDS 1. A method for controlling the movement of a vehicle, referred to as an ego vehicle (10), equipped with an autonomous driving system, said method being implemented when the ego vehicle (10) is stopped behind a first vehicle (11) preceding it at an initial setpoint distance (D o ), by at least one processor and being characterized in that it comprises the following steps: - reception (21) of first data representative of the presence of a second vehicle (12) positioned behind the first vehicle (10) and determination of a lateral parking direction associated with the second vehicle (12) from the first data; - reception (22) of second data representing a position of a parking space (P) located next to the vehicle in the lateral direction of parking and determination of a first distance (Di) separating the vehicle (10) from said parking space (P) from the second data; - determination (23) of a feasibility index for a parking maneuver as a function of the initial target distance (D o ), of a specified deviation distance (D o ') and the first distance (Di); - emission (24) of third data intended for the autonomous driving system, the third data being representative of a current setpoint distance (Dec) of movement of the ego vehicle (10) towards the first vehicle (11), said current setpoint distance (Dec) being determined according to the feasibility index.

2. A method according to claim 1, for which the feasibility index is determined by the following function: Ind = (Di + Do — Do') / Dm With : • Indicates the feasibility index, • Di the first distance, • Determine the initial setpoint distance, • The required distance for exemption, and • D m a predefined distance representing a minimum distance required for maneuvering.

3. A method according to claim 2, wherein the current setpoint distance (Dec) is determined by the following function: • If Ind < 1, then Dec = 0, • If Ind = 1, then Dec = D o - D o ', and• If Ind > 1, then D m - Sun < Dec 2 D o - D o ', With : • Indicates the feasibility index, • Dec the current setpoint distance, • Di the first distance, • Determine the initial setpoint distance, • The required distance for exemption, and • D m the minimum distance required to maneuver.

4. A method according to any one of claims 1 to 3, wherein the first data are received from a rear camera mounted in the first vehicle (10), the lateral parking direction associated with the second vehicle (12) being determined by analysis of images acquired by the rear camera by a turn signal detection model.

5. A method according to any one of claims 1 to 4, wherein the second data are received from sensors on board the vehicle (10) belonging to a sensor set comprising: • a side camera, • a radar, and • a lidar.

6. A method according to any one of claims 1 to 5, further comprising the following steps: - Receiving fourth data points representing the position of a parking area (As) and the current position of the ego vehicle (10) from a geolocation system; - Determining a second direction in which the parking area (As) is positioned relative to the ego vehicle (10) from the fourth data points, the second data being received when the second direction corresponds to the lateral parking direction.

7. A method according to any one of claims 1 to 6, further comprising a step of validating a movement of the ego vehicle (10) via a human-machine interface, said third data being emitted when fifth data representative of said validation are received.

8. A method according to claim 7, wherein the movement validation step comprises displaying graphic content on a touchscreen embedded in the vehicle (10), the fifth data point being emitted by said touchscreen following a touch on a graphic object of the graphic content.

9. A device (3) for controlling the movement of a vehicle, said device (3) comprising a memory (31) associated with at least one processor (30) configured for implementing the steps of the method according to any one of claims 1 to 8.

10. Vehicle (10) incorporating an autonomous driving system and comprising the device according to claim 9.

Images