FR3079065A1 - DEVICE AND METHOD FOR ASSISTING THE DRIVING OF A VEHICLE BASED ON THE TRAJECTORIES OF THE VEHICLES FOLLOWING IT - Google Patents

Abstract

An assistance device (DA) assists the driving of a first vehicle (V1) with automated driving, circulating on a taxiway (VC1) and comprising analysis means (MAL) analyzing information representative of the environment surrounding a rear portion of the first vehicle (V1) to determine position, speed and direction of movement of at least one second vehicle (V2k) following said first vehicle (V1). This device (DA) comprises control means (MCT) determining first trajectory, speed and acceleration for the first vehicle (V1), and calculation means (MCL) determining a second current trajectory of the second vehicle (V2k) in a function of positions, speeds and directions of displacement successively determined, and, when this second trajectory is abnormal with respect to the first trajectory or a reference trajectory, requesting the control means (TCM) to determine a new first trajectory similar to this second trajectory and new speed and acceleration.

Description

An assistance device (DA) assists in driving a first vehicle (V1) with automated driving, traveling on a traffic lane (VC1) and comprising analysis means (MAL) analyzing information representative of the environment surrounding a rear part of the first vehicle (V1) to determine the position, speed and direction of movement of at least one second vehicle (V2k) following this first vehicle (V1). This device (DA) comprises control means (MCT) determining first trajectory, speed and acceleration for the first vehicle (V1), and calculation means (MCL) determining a second current trajectory of the second vehicle (V2k) in function of successively determined positions, speeds and directions of movement, and, when this second trajectory is abnormal with respect to the first trajectory or a reference trajectory, asking the control means (MCT) to determine a new first trajectory similar to this second trajectory and new speed and acceleration.

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DEVICE AND METHOD FOR ASSISTING DRIVING OF A VEHICLE ACCORDING TO THE TRACKS OF THE VEHICLES THAT FOLLOW IT

The invention relates to vehicles with automated driving, and more specifically assistance devices which are responsible for controlling the driving of such vehicles according to information representative of their environment.

The term “vehicle with automated (or autonomous) driving” is understood here to mean a vehicle which can be driven in an at least partially automated manner (with possibly a partial intervention by its driver) during phases of automated driving, as well as possibly manually. by its driver during manual driving phases.

As a person skilled in the art knows, a vehicle with automated (or autonomous) driving comprises an assistance device, for example of the ADAS (“Advanced Driver Assistance System”) type, comprising control means responsible for determining its trajectory, speed and acceleration and corresponding commands for organs that are involved in its movement. The vehicle's trajectory, speed and acceleration are determined as a function of a more or less significant reconstruction of at least part of its environment and of attributes of objects detected in this environment, and in particular of the positions, speeds and directions of movement of other vehicles. These reconstructions and attributes of associated objects are determined by analysis means on board the vehicle, as a function of information representative of the environment of the vehicle acquired by acquisition means on board the vehicle as well as possibly transmitted by other vehicles and / or through an information station.

For example, these assistance devices can detect crossing by their vehicle of lines delimiting traffic lanes, or ensure the parking of their vehicle, or ensure inter-vehicle distance control, or ensure speed regulation of their vehicle possibly with an adaptation according to local speed limits, or make their vehicle follow a trajectory similar to that of the vehicle located in front of it, or even alert in the event of detection of a following vehicle in the process of overtaking of their vehicle.

Currently, there is no assistance device responsible for adapting the trajectory of his vehicle according to the trajectories of vehicles following it, which can be dangerous when the driver has not noticed the 'arrival from the rear of a priority vehicle or motorcycle.

One of the object of the invention is to improve the situation.

It proposes in particular for this purpose an assistance device, on the one hand, intended to assist the driving of a first vehicle with automated driving, traveling on a traffic lane and comprising analysis means analyzing information representative of an environment surrounding a rear part of this first vehicle to determine the position, speed and direction of movement of at least one second vehicle following this first vehicle, and, on the other hand, comprising control means determining the first trajectory, speed and acceleration for the first vehicle and corresponding commands for members involved in the movement of the latter.

This assistance device is characterized by the fact that it also comprises calculation means determining a second trajectory in progress of (each) second vehicle as a function of positions, speeds and directions of movement determined successively, and, when at minus this second current trajectory is abnormal with respect to the first trajectory or a reference trajectory, asking the control means to determine a new first trajectory similar to this second trajectory in progress, new speed and acceleration and commands of organs corresponding.

Thus, it is now possible to automatically adapt the first trajectory of a first vehicle as a function of the second trajectory of at least one second vehicle which follows it, in order to let pass, like the latter, a priority vehicle or a motorcycle arriving from behind. without slowing it down and without the intervention of the driver of the first vehicle.

The assistance device according to the invention may include other characteristics which can be taken separately or in combination, and in particular:

- its calculation means can consider that the second current trajectory is abnormal, and therefore that there is an abnormal situation near the second vehicle, when this second current trajectory suddenly differs from the first trajectory or from the reference trajectory whereas it was hitherto similar to the latter;

- in the presence of another taxiway placed next to the taxiway and on which another second vehicle travels behind the first vehicle, its calculation means can determine another second current trajectory of this other second vehicle in function of positions, speeds and directions of movement successively determined by the analysis means, and, when this other second current trajectory is also abnormal with respect to the first trajectory or the reference trajectory, can ask the control means to determine the new first trajectory similar to the second current trajectory, the new speed and acceleration and the corresponding organ commands;

> its calculation means can consider that the other second current trajectory is abnormal, and therefore that there is an abnormal situation near the other second vehicle, when this other second current trajectory suddenly differs from the first trajectory or the reference path when it was previously similar to the latter but offset in the other taxiway;

- in the presence of lines delimiting each traffic lane and determined by the analysis means on the basis of the information analyzed, its calculation means can consider that the second current trajectory is abnormal, and therefore that there is an abnormal situation in proximity to the second vehicle, when this second current trajectory intersects a line delimiting a traffic lane, then becomes substantially parallel to this line while the second vehicle is traveling above this line.

The invention also provides an automated driving vehicle, possibly of the automotive type, capable of traveling on a traffic lane and comprising analysis means analyzing information representative of an environment which surrounds a rear part which it comprises in order to determine position, speed and direction of movement of at least one other vehicle following it. This vehicle is characterized by the fact that it also includes an assistance device of the type presented above.

For example, this vehicle may also include acquisition means acquiring at least some environmental information.

Also for example, this vehicle may also include means of communication receiving environmental information transmitted by waves from other vehicles and / or by an information station located near the traffic lane.

The invention also proposes an assistance method, on the one hand, intended to assist the driving of a first vehicle with automated driving, traveling on a traffic lane and comprising analysis means analyzing information representative of a environment surrounding a rear part of the first vehicle to determine the position, speed and direction of movement of at least a second vehicle following the first vehicle, and, on the other hand, comprising a step in which first trajectory, speed and acceleration for the first vehicle and corresponding commands for organs involved in the movement of the latter.

This assistance process is characterized by the fact that in its step, a second course in progress of the (each) second vehicle is also determined as a function of successively determined positions, speeds and directions of movement, and, when at least this second current trajectory is abnormal with respect to the first trajectory or a reference trajectory, a new first trajectory similar to this second trajectory in progress is determined, new speed and acceleration and corresponding organ commands for the first vehicle.

Other characteristics and advantages of the invention will appear on examining the detailed description below, and the attached drawings, in which:

FIG. 1 schematically and functionally illustrates, at a first instant (t = t1) a road comprising two lanes on which a first vehicle circulates, equipped with acquisition means, analysis means and an example of production of an assistance device according to the invention, and two other vehicles in the process of modifying their respective trajectories, and

- Figure 2 illustrates schematically and functionally, at a second time (t = t2, with t2> t1) the route of Figure 1 with the first vehicle changing its trajectory.

The object of the invention is in particular to propose an assistance device DA, and an associated assistance method, intended to assist the driving of a first vehicle V1 with automated driving according to the second trajectories T2k of second vehicles V2k which follow.

In what follows, it is considered, by way of nonlimiting example, that the first V1 and second V2 vehicles are of the automobile type. These are for example cars. However, the invention is not limited to this type of land vehicle. It relates in fact to any type of land vehicle that can travel on roads comprising at least one traffic lane.

We schematically and functionally represented in FIGS. 1 and 2, at the first t1 and second t2 instants (with t1 <t2), a road comprising first VC1 and second VC2 taxiways having identical traffic directions.

The first taxiway VC1 is here placed to the right of the second taxiway VC2 (used for overtaking) because the road is suitable for vehicles driving on the left. However, the invention also relates to roads suitable for right-hand drive vehicles (and therefore in which the first lane of traffic VC1 is placed to the left of the second lane of traffic VC2). Furthermore, the invention also relates to roads comprising only one lane or two lanes having opposite traffic directions.

A first vehicle V1 and a first second vehicle V21 (k = 1) travel here on the first taxiway VC1, the first second vehicle V21 being placed behind the first vehicle V1. A second second vehicle V22 (k = 2) is traveling here on the second taxiway VC2 (or passing lane), slightly behind the first vehicle V1.

The first vehicle V1 is here equipped with MAQj acquisition means (here j = 1 to 4), MAL analysis means and an exemplary embodiment of a DA assistance device according to the invention. Note that the number of MAQj acquisition means here is four (4), but it can take any value greater than or equal to three (3).

The MAQj acquisition means are fixedly secured to the first vehicle V1 in places making it possible to analyze zones of at least one rear part of the environment which surrounds it. These zones can overlap at least partially and certain MAQj acquisition means can be redundant. In the example illustrated without limitation in FIG. 1, a first means of acquisition MAQ1 (j = 1) analyzes an area located in front of the first vehicle V1 and slightly on its two lateral sides, a second means of acquisition MAQ2 (j = 2) analyzes an area located on the left lateral side of the first vehicle V1 and therefore partially around the front and rear parts of the latter (V1), a third MAQ3 acquisition means (j = 3) analyzes an area located on the side right side of the first vehicle V1 and therefore partially around the front and rear parts of the latter (V1), and a fourth MAQ4 acquisition means (j = 4) analyzes an area behind the first vehicle V1 and slightly on both sides side.

These MAQj acquisition means can, for example, each comprise at least one digital camera, or at least one ultrasonic sensor, or at least one scanning laser, or at least one radar or lidar. Consequently, each of them can provide digital images or maps or even data on the presence and attributes of objects of various natures present in their area of acquisition.

It is important to note that for the invention to be implemented, it is necessary that the means of acquisition MAQj of the first vehicle V1 provide at least information representative of the environment around the rear part of the first vehicle V1. We therefore need at least the fourth MAQ4 acquisition means here.

The MAL analysis means are arranged so as to analyze the environmental information acquired by the MAQj acquisition means. This analysis is intended to determine at least the position, speed and direction of movement of at least one second vehicle V2k which follows the first vehicle V1.

These position, speed and direction of travel (or heading) of a second V2k vehicle are kinematic attributes of the latter (V2k). Each kinematic attribute can, for example, be defined in a frame of reference attached to the first vehicle V1 or to the road. Therefore, these can be relative or absolute values.

It will be noted that at least some of the kinematic attributes may possibly be transmitted by waves to the first vehicle V1 by other vehicles V2k and / or by an information station located near the first taxiway VC1 or possibly by the second taxiway VC2. This requires, as shown without limitation in Figures 1 and 2, that the first vehicle V1 comprises means of communication by means of MCN waves. For example, these communications by waves can be done at short range, using a wireless communication standard such as Car2X or G5 or 5G or WiFi.

As illustrated without limitation in FIGS. 1 and 2, the analysis means MAL can be installed in a computer CA of the first vehicle V1, which possibly performs at least one other function, such as for example a function for assisting in driving the first vehicle V1. Alternatively, however, they may include their own dedicated computer. Consequently, the MAL analysis means can be produced in the form of software modules (or computer modules or “software”), or else of a combination of electronic circuits (or “hardware”) and software modules.

As illustrated in FIGS. 1 and 2, a DA assistance device according to the invention comprises at least MCT control means and MCL calculation means.

The control means MCT are arranged so as to determine the first trajectory T1, speed and acceleration for the first vehicle V1 and corresponding commands for organs which are involved in the movement of the latter (V1), in order to control its driving automated way. These organs are for example the powertrain (or GMP), the braking system, the electric power steering, and the speed change means (for example an automatic gearbox).

The calculation means MCL are arranged so as to determine a second current trajectory T2k of at least one second vehicle V2k (according to the first vehicle V1), as a function of positions, speeds and directions of movement determined successively by the means of MAL analysis. In addition, these MCL calculation means are arranged, when at least this second current trajectory T2k is abnormal with respect to the first trajectory T1 or a reference trajectory, so as to ask the control means MCT to determine a new first TT trajectory similar to this second current trajectory T2k, new speed and acceleration and corresponding organ commands to control the driving of the first vehicle V1.

The term “abnormal trajectory” is understood here to mean a trajectory which is suddenly modified in order to temporarily shift the second vehicle V2k considered relative to the center of its lane VC1 or VC2, for example to let a priority vehicle or a motorcycle pass. arriving from the rear.

The reference path may, for example, be a line L1 or L2 delimiting one side of the first taxiway VC1. For example, this line (of reference) can be that (L2) which is at the interface between the first VC1 and second VC2 traffic lanes.

It will be understood that a priority vehicle or a motorcycle arriving from the rear of a second V2k vehicle only becomes visible very late in an exterior mirror for the driver of a first V1 vehicle, and again provided that he looks at this instant in this outside mirror. However, thanks to the invention, it is now possible to automatically adapt the first trajectory T1 of the first vehicle V1 as a function of the second trajectory T2k of at least this second vehicle V2k which follows it, in order to allow passage, like this last vehicle (V2k), the priority vehicle or motorcycle without slowing it down and without the intervention of the driver of the first vehicle V1 (whether or not he detected it in an exterior mirror). This improves passenger safety in first V1 and second V2k vehicles, priority vehicles and motorcycles, and automatically facilitates the movement of these.

Note that the abnormal second trajectory T21 can be determined by a DA assistance device of the first second vehicle V21 or imposed by the driver of the latter (V21).

It will also be noted that the new speed and / or the new acceleration of the first vehicle V1 can be reduced, for example due to legislation which requires it and / or the increased risk of Collision with a safety railing RS, the first vehicle V1 of which has significantly approached due to its new trajectory T1 '.

For example, the calculation means MCL can consider that the second current trajectory T2k is abnormal, and therefore that there is an abnormal situation near the second vehicle V2k, when this second current trajectory T2k suddenly differs from the first trajectory T1 or the reference trajectory whereas it was previously similar to the latter (T1).

This is what is observed in FIG. 1. In fact, at the first instant t1 the first second vehicle V21 has a second current trajectory T21 which is abnormal with respect to the first trajectory T1 of the first vehicle V1 which follows substantially the middle of the first taxiway VC1. Indeed, it (T21) suddenly has a first curvature to the right so that the first second vehicle V21 joins the emergency stop band BAU then a second curvature to the left (less marked than the first) so that the first second vehicle V21 temporarily travels on the first lane of traffic VC1 and the emergency stop band BAU, thereby freeing a left part of the first lane of traffic VC1 (see Figure 2), for example to let a vehicle pass priority arriving from the rear. In FIG. 2, it can be observed that at the second instant t2 the first second vehicle V21 has a second current trajectory T21 'substantially parallel to the lines L1 and L2 which delimit the first traffic lane VC1 in order to temporarily travel astride the first taxiway VC1 and the emergency stop band BAU, and it is now the first vehicle V1 which has a new first trajectory TT which is similar to the old and abnormal second current trajectory T21 of the first second vehicle V21. Thus, the first vehicle V1 will join the emergency stop band BAU and then temporarily travel astride the first lane of traffic VC1 and the emergency stop band BAU, thereby freeing a left part of the first lane of circulation VC1. As soon as the priority vehicle has passed the first vehicle V1, the MCT control means will determine a new first trajectory so that it reaches the center of the first taxiway VC1.

When another taxiway VC2 is placed next to the first taxiway VC1 and a second second vehicle V22 is traveling on this other (second) taxiway VC2 behind the first vehicle V1, as illustrated in Figures 1 and 2, the calculation means MCL can determine another second current trajectory T22 of this second second vehicle V22 as a function of its positions, speeds and directions of movement determined successively by the analysis means MAL. In this case, when this other second current trajectory T22 is also abnormal with respect to the first trajectory T1 or the reference trajectory, like the second current trajectory T22 of the first second vehicle V21, the calculation means MCL ask the means to MCT control to determine the new first trajectory TT (similar to the second current trajectory T22), the new speed and acceleration and the corresponding organ commands for the first vehicle V1.

Note that the abnormal second trajectory T22 can be determined by a DA assistance device of the second second vehicle V22 or imposed by the driver of the latter (V22).

For example, the calculation means MCL can consider that the other second current trajectory T22 is abnormal, and therefore that there is an abnormal situation near the second second vehicle V22, when this other second current trajectory T22 suddenly differs of the first trajectory T1 (or of the reference trajectory) whereas it was previously similar to the latter (T1 or the reference trajectory) but offset in the second taxiway VC2.

This is also observed in FIG. 1. In fact, at the first instant t1 the second second vehicle V21 has a second current trajectory T22 which is abnormal with respect to the first trajectory T1 of the first vehicle V1 which follows substantially the middle of the first taxiway VC1. Indeed, it (T22) suddenly presents a first curvature to the left so that the second second vehicle V22 shifts towards the guardrail RS then a second curvature to the right (less marked than the first) so that the second second vehicle V22 temporarily circulates on the second lane of traffic VC2 and the zone between this latter (VC2) and the guardrail RS separating thus a right part of the second lane of traffic VC2 (see figure 2), here to leave pass the priority vehicle arriving from the rear. In FIG. 2, it can be observed that at the second instant t2 the second second vehicle V22 has a second current trajectory T22 'substantially parallel to the lines L2 and L3 which delimit the second traffic lane VC2 in order to temporarily travel astride the second traffic lane VC2 and the area between the latter (VC2) and the separation railing RS, and at the same time the first vehicle V1 has its new first trajectory TT similar to the old and abnormal second trajectory in progress T21 of first second vehicle V21.

It will be noted that when each traffic lane VC1, VC2 is delimited by lines (L1 and L2), (L2 and L3) which have been determined by the analysis means MAL from the environmental information analyzed (possibly deduced from cartographic data), the calculation means MCL can consider that a second current trajectory T2k is abnormal, and therefore that there is an abnormal situation near the second vehicle V2k, when this second current trajectory T2k intersects a line delimiting a traffic lane VC1 or VC2, then becomes substantially parallel to this line while the second vehicle V2k is traveling above this line.

It will also be noted, as illustrated without limitation in FIG. 1, that the assistance device DA can, for example, be installed, at least partially, in the computer CA of the first vehicle V1. However, as a variant, it can include its own dedicated computer. Consequently, the assistance device DA (and in particular its control means MCT and calculation means MCL) can (can) be produced in the form of software modules or else of a combination of electronic circuits and software modules.

It will also be noted that the acquisition means MAQj may possibly be part of the assistance device DA. But it is not compulsory. Furthermore, the information acquired by the MAQj acquisition means can, for example, be accessible to the assistance device DA via a communication network of the first vehicle V1, possibly multiplexed.

It will also be noted that the MAL analysis means may possibly be part of the DA assistance device. But it is not compulsory.

It is important to note that the invention can also be considered from the angle of an assistance method, which can in particular be implemented in the first vehicle V1 by means of an assistance device DA of the type of that presented above. The functionalities offered by the implementation of the method according to the invention being identical to those offered by the DA assistance device presented above, only the combination of main functionalities offered by the method is presented below.

This assistance method comprises a step in which (the MCT control means) determine (s) the first trajectory T1, speed and acceleration for the first vehicle V1 and corresponding commands for organs involved in the movement of the latter ( V1), and a second trajectory T2k in progress of at least one second vehicle V2k following the first vehicle V1, as a function of the positions, speeds and directions of movement of this second vehicle V2k determined successively. In addition, in this step, when at least this second current trajectory T2k is abnormal with respect to the first trajectory T1 of the first vehicle V1 or a reference trajectory, we (the calculation means MCL) determine (s) a new first TT trajectory similar to the second current trajectory T2k, new speed and acceleration and corresponding organ commands for the first vehicle V1.

The invention offers several advantages, including:

- it makes it possible to comply with the laws which require each vehicle to clear its lane as much as possible, as well as possibly reduce its speed, when approaching a priority vehicle or a motorcycle in traffic jam conditions ,

- it avoids asking the driver to manage the approach to a priority vehicle or a motorcycle.

Claims (10)

1. Assistance device (DA) to assist the driving of a first vehicle (V1) with automated driving, traveling on a traffic lane (VC1) and comprising analysis means (MAL) analyzing information representative of an environment surrounding a rear part of said first vehicle (V1) for determining the position, speed and direction of movement of at least one second vehicle (V2k) following said first vehicle (V1), said device (DA) comprising control means (MCT) determining the first trajectory, speed and acceleration for said first vehicle (V1) and corresponding commands for members involved in the movement of the latter (V1), characterized in that it also comprises calculation means ( MCL) determining a second current trajectory of said second vehicle (V2k) as a function of positions, speeds and directions of travel determined successively, and, when at me ns this second current trajectory is abnormal with respect to said first trajectory or a reference trajectory, asking said control means (MCT) to determine a new first trajectory similar to said second trajectory in progress, new speed and acceleration and commands of corresponding organs. 2. Device according to claim 1, characterized in that said calculation means (MCL) consider that said second current trajectory is abnormal, and therefore that there is an abnormal situation near said second vehicle (V2k), when this second current trajectory suddenly differs from said first trajectory or from said reference trajectory whereas it was previously similar to the latter. 3. Device according to claim 1 or 2, characterized in that in the presence of another traffic lane (VC2) placed next to said traffic lane (VC1) and on which another second vehicle is traveling (V2k ') behind said first vehicle (V1), said calculation means (MCL) determine another second current trajectory of said other second vehicle (V2k ') as a function of positions, speeds and directions of movement successively determined by said analysis means (MAL ), and when this other second current trajectory is also abnormal with respect to said first trajectory or said reference trajectory, ask said control means (MCT) to determine said new first trajectory similar to said second current trajectory, said new speeds and acceleration and said corresponding organ commands. 4. Device according to claim 3, characterized in that said calculation means (MCL) consider that said other second current trajectory is abnormal, and therefore that there is an abnormal situation near this other second vehicle (V2k ' ), when this other second current trajectory suddenly differs from said first trajectory or from said reference trajectory whereas it was previously similar to the latter but offset in said other taxiway (VC2). 5. Device according to one of claims 1 to 4, characterized in that in the presence of lines delimiting each traffic lane (VC1, VC2) and determined by said analysis means (MAL) from said analyzed information, said calculation means (MCL) consider that said second current trajectory is abnormal, and therefore that there is an abnormal situation near said second vehicle (V2k), when this second current trajectory intersects a line delimiting a traffic lane ( VC1, VC2), then becomes substantially parallel to this line while said second vehicle (V2k) is traveling above this line. 6. Vehicle (V1) with automated driving, suitable for running on a traffic lane (VC1) and comprising analysis means (MAL) analyzing information representative of an environment which surrounds a rear part which it (V1) comprises for determining the position, speed and direction of movement of at least one other vehicle (V2k) which follows it, characterized in that it further comprises an assistance device (DA) according to one of the preceding claims. 7. Vehicle according to claim 6, characterized in that it comprises acquisition means (MAQj) acquiring at least some of said environmental information. 8. Vehicle according to claim 6 or 7, characterized in that it comprises communication means (MCN) receiving by means of waves environmental information transmitted by other vehicles (V2k) and / or by a station information located near said traffic lane (VC1). 9. Vehicle according to one of claims 6 to 8, characterized in that it is of the automobile type. 10. Method for assisting in driving a first vehicle (V1) with automated driving, traveling on a traffic lane (VC1) and comprising analysis means (MAL) analyzing information representative of an environment surrounding a rear part of said first vehicle (V1) for determining the position, speed and direction of movement of at least one second vehicle (V2k) following said first vehicle (V1), said method comprising a step in which first trajectory, speed are determined and acceleration for said first vehicle (V1) and corresponding commands for members involved in the movement of the latter (V1), characterized in that in said step a second course in progress of said second vehicle (V2k) is further determined. function of successively determined positions, speeds and directions of movement, and, when at least this second current trajectory is abnormal ale with respect to said first trajectory or a reference trajectory, a new first trajectory similar to said second trajectory in progress is determined, new speed and acceleration and corresponding organ commands for said first vehicle (V1).