FR3086075A1 - ELECTRONIC MONITORING SYSTEM FOR A SELF-CONTAINED VEHICLE, METHOD AND COMPUTER PROGRAM THEREOF - Google Patents

Abstract

Electronic supervision system of an autonomous vehicle (A) provided with a vehicle actuation module and an autonomous driving module (2) adapted to determine and transmit commands to the actuation module, for, in a first operating mode, authorize the supply of commands from the autonomous driving module to the actuation module and, in a second operating mode, block the supply of commands from the autonomous driving module to the actuation module, said system electronic supervision being suitable for, upon detection of a failure of the autonomous driving module while the electronic system is in the first mode: - switch to the second mode, and - initiate an emergency stop maneuver of the autonomous vehicle .

Description

Electronic system for supervising an autonomous vehicle, associated method and computer program

The present invention relates to the field of autonomous vehicles provided with an autonomous driving module determining, as a function of information on the environment of the vehicle and, in certain cases, further as a function of a predefined trajectory for the vehicle, controls for the engine, steering and / or braking systems of the vehicle.

Autonomous vehicles must have proven reliability.

In the case of level 2 or 3 autonomous vehicles, in the event of an identified failure in the autonomous driving module, the failure is signaled to the driver, who must be able to resume driving the vehicle.

For level 4 or 5 autonomous vehicles, this resumption of piloting action cannot be carried out by a driver: it is generally provided by artificial intelligence.

A common practice is in particular to redundant the autonomous driving modules, which must then be developed on the basis of different algorithms, to be executed on separate computers, to minimize the risk of common failure. One of the autonomous driving modules effectively drives the autonomous vehicle. The other will not take over for piloting in the event of failure of the first but while one of the autonomous driving modules actually pilots, the other is also functional and in particular determines commands, which are not used to pilot the vehicle as long as the commands of the two modules match. In the event of a conflict, ie when the controls of one of the autonomous driving modules do not match the controls of the other of the autonomous driving modules, the question arises of determining which of the two modules is faulty: generally a third autonomous driving module is then necessary to determine it, by voting mechanism (one against two).

The object of the invention according to one aspect is to provide a solution allowing, without the need to use multiple autonomous driving modules, to supervise the operation of an autonomous driving module and to guarantee the safety of passengers of the autonomous vehicle and the environment.

To this end, according to a first aspect, the invention proposes an electronic system for supervising an autonomous vehicle provided with a vehicle actuation module comprising the engine, the steering and the braking of the vehicle and a module for autonomous driving adapted to determine and transmit commands to the actuation module, said electronic supervision system being characterized in that it is suitable for, in a first operating mode, authorizing the supply of commands from the autonomous driving module to the actuation module and for, in a second operating mode, blocking the supply of commands from the autonomous driving module to the actuation module, said electronic supervision system being adapted to detect a failure of the autonomous driving module and adapted for , upon detection of a fault in the autonomous driving module while the electronic system is in s the first mode:

- switch to the second mode, and

- initiate an emergency stop maneuver for the autonomous vehicle.

The invention thus makes it possible to supervise the operation of the autonomous driving module and to end its piloting if necessary, without the need for another artificial intelligence module, in particular another autonomous driving module. When a fault in the autonomous driving module is detected, an emergency maneuver (in English "Minimal Risk Maneuver" or MRM) is triggered in order to stop the vehicle in an emergency.

The use of the invention in an autonomous vehicle also makes it possible to be able to guarantee the reaction of the vehicle in the event of a problem in a more stable manner than if the reaction were left in the hands of an artificial intelligence which by definition is evolving, and therefore allow the approval of the autonomous vehicle by the approval of its supervision system.

The use of such a supervision system in an autonomous vehicle makes it possible to reduce the development time of developments related to autonomous driving and to test new functionalities, while ensuring the required safety of the passengers and the environment of the vehicle. autonomous.

- In embodiments, the electronic supervision system according to the invention further comprises one or more of the following characteristics: the electronic supervision system of an autonomous vehicle is suitable for carrying out a processing among: a collision risk detection of the autonomous vehicle, a comparison of a position of the autonomous vehicle resulting from a control of the autonomous driving module with respect to an edge of the lane of the autonomous vehicle and / or to a predetermined target position of the autonomous vehicle, a comparison a speed of the autonomous vehicle resulting from a command of the autonomous driving module with respect to a limit speed, said electronic supervision system being adapted to detect a failure of the autonomous driving module as a function of at least one of said treatments;

- the electronic supervision system of an autonomous vehicle is adapted to detect a failure of the autonomous driving module upon receipt of an alert message from the autonomous driving module signaling an anomaly detected by said autonomous driving module;

the autonomous vehicle is capable of previously storing at least one predefined movement trajectory comprising a plurality of successive reference vectors associated respectively with successive distinct sections of movement of the autonomous vehicle, and the electronic supervision system is adapted to detect a failure the autonomous driving module by determining a difference greater than a predetermined threshold between a real displacement vector of the autonomous vehicle and the reference vector associated with the section considered;

the autonomous vehicle is capable of previously storing at least one predefined trajectory of movement comprising a plurality of successive reference vectors associated respectively with successive distinct sections of movement of the autonomous vehicle, comprising an electronic device for determining a trajectory of emergency stop, automatically activated in the presence of an emergency stop instruction, and comprising:

a module for calculating at least one automatic movement instruction for the autonomous vehicle for following an emergency stop trajectory comprising a plurality of successive emergency stop vectors each associated with a section distinct from a part of the sections successive steps of the predefined trajectory, starting at least, for each emergency stop vector:

o of a last actual displacement vector of the memorized autonomous vehicle, o of the predefined trajectory of displacement of the autonomous vehicle, and o of a last memorized location data of the autonomous vehicle, and delivered by at least one sensor of the autonomous vehicle, an emergency pilot module capable of directing the autonomous vehicle according to said at least one instruction. According to a second aspect, the present invention provides a method of supervising an autonomous vehicle provided with an actuation module comprising the engine, the steering and the braking of the vehicle, an autonomous driving module suitable for transmitting commands. the actuation module, and an electronic supervision system, said method comprising the following steps implemented by the electronic supervision system:

in a first operating mode, authorize the supply of commands from the autonomous driving module to the actuation module, in the first mode, detecting a failure of the autonomous driving module and as soon as a failure of the autonomous driving module is detected: o switch to a second operating mode and block the supply of commands from the autonomous driving module to the actuation module, and o trigger an emergency stop maneuver of the autonomous vehicle.

In embodiments of the method according to the invention, it also comprises one or more of the following characteristics:

- It includes a processing step among: a detection of risk of collision of the autonomous vehicle, a comparison of a position of the autonomous vehicle resulting from a command from the autonomous driving module with respect to an edge of the lane of the vehicle autonomous and / or at a predetermined target position of the autonomous vehicle, a comparison of a speed of the autonomous vehicle resulting from a command of the autonomous driving module with respect to a speed limit, the detection of a failure of the autonomous driving module being carried out according to at least one of said treatments;

the autonomous vehicle being able to store at least at least one predefined trajectory of displacement comprising beforehand a plurality of successive reference vectors associated respectively with successive distinct sections of displacement of the autonomous vehicle, a failure of the autonomous driving module is detected by determination of 'A deviation greater than a predetermined threshold between a real displacement vector of the autonomous vehicle and the reference vector associated with the section considered;

the autonomous vehicle being suitable for previously storing at least one predefined displacement trajectory comprising a plurality of successive reference vectors associated respectively with successive distinct sections of displacement of the autonomous vehicle, the method comprises a step of determining a trajectory d '' emergency stop automatically activated in the presence of an emergency stop instruction, and comprising:

the calculation of at least one automatic movement instruction for the autonomous vehicle to follow an emergency stop trajectory comprising a plurality of successive emergency stop vectors each associated with a section distinct from a part of the successive sections of the predefined trajectory, starting at least, for each emergency stop vector:

of a last vector of actual movement of the stored autonomous vehicle, of the predefined trajectory of movement of the autonomous vehicle, and of a last datum of location of the stored autonomous vehicle, and delivered by at least one sensor of the autonomous vehicle, the control of 'emergency of the autonomous vehicle by directing the autonomous vehicle (A) according to said at least one instruction.

According to a third aspect, the present invention provides a computer program comprising software instructions which, when executed by a computer, implement a method as defined above.

These characteristics and advantages of the invention will appear on reading the description which follows, given solely by way of example, and made with reference to the accompanying drawings, in which:

- Figure 1 is a schematic representation of the determination of an emergency stop trajectory conventionally implemented;

- Figure 2 is a schematic representation of an autonomous vehicle A, of an autonomous driving platform of the vehicle A comprising a supervision system in one embodiment of the invention and further illustrating the determination of a emergency stop trajectory according to an embodiment of the present invention;

- Figure 3 is a schematic representation of the offset of an autonomous vehicle relative to the predefined path to follow;

- Figure 4 is a flowchart of a method, according to an embodiment of the invention, of determining an emergency stop trajectory according to the emergency stop trajectory of Figure 2;

- Figure 5 illustrates the lateral offset of the autonomous vehicle as a function of the speed of the initial autonomous vehicle preceding the implementation of the method according to an embodiment of the invention and as a function of the heading error specific to each autonomous vehicle ;

- Figure 6 is a flowchart of a method of supervising an autonomous vehicle, according to an embodiment of the invention.

In FIG. 2, an autonomous vehicle A is considered, here an automobile for example.

Motor vehicle A comprises, in known manner, rear wheels, front wheels, a motor (not shown) mechanically connected via a transmission chain (not shown) to the rear and / or front wheels for driving said wheels in rotation around their axis, a steering system (not shown), adapted to act on the wheels of vehicle A so as to modify the orientation of its trajectory, and a braking system (not shown), adapted to exert a force of braking on the wheels of vehicle A.

The motor vehicle is typically constituted by a vehicle with electric traction and / or propulsion. For this purpose, the motor is constituted by an electric motor, and the vehicle A comprises an electric battery (not shown) electrically connected to the motor for supplying the motor with electricity.

Conventionally, the autonomous vehicle A travels on a road whose route constitutes a predefined trajectory suitable for being stored within the autonomous vehicle A. Such a predefined displacement trajectory comprises a plurality of reference vectors V ₁₅ V ₂ , V ₃ , V ₄ , V ₅ associated respectively with sections P _1; P ₂ , P ₃ , P ₄ , P ₅ successive distinct. In other words, on the section P _1s in nominal situation, the autonomous vehicle A is capable of substantially following the vector while on the turning portion P ₄ the autonomous vehicle A is capable of substantially following the vector V ₄ etc.

The motor vehicle A being an autonomous vehicle for this purpose comprises, in the embodiment considered, a platform 1 for autonomous driving of the vehicle A.

The autonomous driving platform 1 comprises an electronic autonomous driving device 2 adapted to control the vehicle autonomously by receiving information on the environment of the vehicle via sensors (not shown) and by acting on the engine. , the steering system and the braking system, so as to modify the speed, acceleration and trajectory of the vehicle in response to the information received.

To this end, the electronic autonomous driving device 2 is adapted to determine and supply commands intended for the engine, the steering system and the braking system.

The autonomous driving platform 1 also comprises an electronic supervision system 3 according to the invention.

The electronic supervision system 3 comprises, in the embodiment considered, an electronic supervisor device 4 and an electronic device for determining an emergency stop trajectory 10.

The supervisor electronic device 4 comprises a command processing module 41 and a fault detection module 42.

The order processing module 41 is adapted to operate according to at least two operational modes.

In a first mode, the command processing module 41 is adapted to authorize the delivery to the engine, to the steering system and to the braking system, of the commands determined by the electronic autonomous driving device 2: the commands, intended for the engine, to the steering system and to the braking system and supplied by the electronic autonomous driving device 2, actually arrive at the input of the engine, of the steering system and of the braking system and are processed there, thus modifying as a function of these commands the speed , and / or the acceleration and / or the trajectory of the vehicle.

In a second mode, the command processing module 41 is adapted to block the delivery to the engine, to the steering system and to the braking system, of the commands determined by the electronic autonomous driving device 2: the commands, intended for the engine, to the steering system and the braking system and supplied by the electronic autonomous driving device 2, are not delivered to them.

These commands are replaced by other commands, delivered to the engine, the steering system and the braking system by the electronic device for determining an emergency stop path 10, to effect an emergency stop of the vehicle. standalone A, as described below.

In one embodiment, the commands supplied by the electronic autonomous driving device 2 systematically pass through the supervising electronic device 4, which, depending on whether the command processing module 41 is in the first or second operational mode, tracks or no these commands to the engine, the steering system and the braking system.

In another embodiment, the supervisor electronic device 4 is adapted to control, according to the operational mode of the order processing module 41, a module for receiving orders from the autonomous driving electronic device 2 (not shown), the reception module being interposed between the electronic autonomous driving device 2 and the assembly comprising the engine, the steering system and the braking system and acting as a switch: in the first operational mode, the command reception module lets through orders to the assembly, in the second mode, the order reception module blocks them and does not allow their delivery.

The failure detection module 42 is adapted to verify that there is no failure of the electronic autonomous driving device 2, to detect a failure of the electronic autonomous driving device 2 and for, upon detection of such a failure , and if the command processing module 41 is in the first mode:

- trigger the switching of the command processing module 41 in the second mode, and

- initiate an emergency stop maneuver of the autonomous vehicle by sending an emergency stop instruction to the electronic device for determining an emergency stop trajectory 10.

The command processing module 41 remains in the second mode until the autonomous driving electronic device 2 has been considered as reliable again by the operator of the autonomous vehicle, for example following the implementation of reliability and safety verifying its ability to drive the autonomous vehicle.

The detection of faults in the electronic autonomous driving device 2 comprises, for example, one or more of the following treatments carried out by the fault detection module 42.

A processing includes the detection of risk of collision of the autonomous vehicle A: in such a case, the failure detection module 42 is adapted for, as a function of current data coming from sensors (image sensors, or ultrasonic sensors etc.). ) with which the autonomous vehicle is equipped, determine the proximity of obstacles around vehicle A and for when the proximity is great, detect that there is a risk of collision, and therefore detect the presence of a failure of the electronic autonomous driving 2 (for example a risk of collision is detected when the collision is predicted in a time below a time threshold of for example between 400 milliseconds (ms) and 1 second (s), for example 700 ms, for example for a vehicle speed A between 15 and 70 km / hour).

A processing operation includes a comparison of a position of the autonomous vehicle with respect to an edge of the taxiway of the autonomous vehicle, and the failure detection module 42 is adapted to detect the presence of a failure of the electronic autonomous driving device. 2 by comparison between the position of the autonomous vehicle and the edge of the lane: in one embodiment, when the position of the autonomous vehicle and the edge of the lane are such that the crossing of the edge of the lane by the vehicle is estimated at a time below a given threshold, for example between 20 ms and 300 ms.

A processing includes a comparison of a position of the autonomous vehicle with respect to the predefined trajectory, ie to a predetermined target position of the autonomous vehicle that the vehicle should have in place of said position: for example, the fault detection module 42 detects that the vehicle should have turned while continuing to go straight. And the failure detection module 42 is adapted to detect the presence of a failure of the electronic autonomous driving device 2 when the difference between the position of the vehicle and the theoretical path exceeds a predetermined limit (for example a difference between the medium of the lane followed by the vehicle and the middle of the lane corresponding to the theoretical trajectory above a limit in the range [10 cm, 60 cm]).

Or again, for example, a failure of the autonomous driving device is detected, for a section P ₂ of displacement considered, by determining a difference greater than a predetermined threshold between the actual displacement vector of the autonomous vehicle A and the vector of reference associated with the section considered (for example a threshold included in the range of angles [5 °, 20 °]).

The predetermined threshold corresponds, for example, to a maximum lateral offset value 24 of the vehicle with respect to the predefined path as illustrated in FIG. 3.

Figure 3 is a schematic representation of the offset of an autonomous vehicle A with respect to the predefined path to follow. More specifically, we consider an autonomous vehicle A moving in a direction of movement 22 with a speed V i. Each autonomous vehicle is characterized by another intrinsic heading error parameter 24 generally expressed in degrees which represents the angle between the predefined trajectory and the maximum authorized lateral offset 26 of the vehicle with respect to the predefined trajectory.

For example, if we consider a lane whose road width is 3 meters and a vehicle 2 meters wide, the maximum lateral offset 26 is 50 centimeters.

The position of the autonomous vehicle considered for the comparisons mentioned above is the current position, or even the position that would result from the last command of the electronic autonomous driving device 2 provided by the latter and not yet transmitted at the input of the assembly comprising engine, braking system and steering system.

A processing includes a comparison of a speed of the autonomous vehicle (delivered by a speed sensor on board the autonomous vehicle or evaluated as a function of other information, for example successive images of an image sensor, on board the vehicle or not according to the embodiments) with respect to a speed limit. The speed limit is a speed stored in a memory of the supervisor electronic device 4 by the operator of the autonomous vehicle as a speed never to be exceeded, or is a maximum speed value respectively associated with the considered section of predefined trajectory, or is a speed value appearing on a panel on the track and which has been detected by the sensors and processing modules of the autonomous vehicle and delivered to the supervising electronic device 4. And the fault detection module 42 is adapted to detect the presence of a failure of the autonomous driving electronic device 2 when the speed of the autonomous vehicle exceeds the speed limit.

The speed of the autonomous vehicle considered for the comparisons is the actual current speed, or else the speed which would result from the last command of the electronic autonomous driving device 2 supplied by the latter and not yet transmitted at the input of the assembly comprising the engine, the braking system and the steering system.

Processing includes reception by the supervisor electronic device 4 of an alert message from the autonomous driving module 2 signaling a self-detected fault by said autonomous driving module itself. And the fault detection module 42 is adapted to deduce therefrom the failure of the electronic autonomous driving device 2.

The electronic device for determining an emergency stop trajectory 10 is adapted to receive an emergency stop instruction issued by the supervisor electronic device 4 and to control, in immediate response to this instruction, braking, then a stop of the autonomous vehicle A, under defined conditions, for example as a function of the last real displacement vector of the vehicle, as known from the prior art or as described below in a particular embodiment of the invention.

The commands determined by the electronic device for determining an emergency stop trajectory 10 are sent by the latter to the assembly comprising the engine, the steering system and the braking system where they are processed.

In the embodiment considered, one and / or the other of the command processing module 41 and of the failure detection module 42 is produced in the form of a software module, comprising software instructions. In such a case, the supervisor electronic device 4 comprises a memory and a microprocessor (not shown). The software instructions of the software modules 41, 42 are then stored in this memory and they are executed on the processor, giving rise to the implementation of the operation of the command processing module 41 and of the fault detection module 42 as described above and in particular to the implementation of the steps described with reference to FIG. 6.

FIG. 6 illustrates the steps of a method for supervising an autonomous vehicle A in an embodiment of the invention, making a journey along a track.

In a step 101, the electronic autonomous driving device 2 controls the vehicle autonomously: it determines commands as a function of the information on the environment of the vehicle obtained in particular by means of sensors (not shown); it issues these commands which are intended for the engine, the steering system and / or the braking system, aiming to modify the speed, acceleration and / or trajectory of the vehicle in reaction to the information received.

In a step 102, which takes place in parallel with the step 101, the command processing module 41, as long as it operates according to its first operational mode, authorizes delivery to the engine, to the steering system and to the braking system, commands determined by the electronic autonomous driving device 2 which are intended for them: the commands, intended for the engine, the steering system and the braking system and supplied by the electronic autonomous driving device 2, then effectively reach the motor input , of the steering system and of the braking system and are processed therein, thus modifying as a function of these commands the speed, and / or the acceleration and / or the trajectory of the vehicle.

In addition, in parallel, and for example substantially continuously (for example at a frequency equal to a value for example between once every 200 ms and once every 5 ms, the failure detection module 42 monitors the proper functioning of the electronic autonomous driving device 2. As long as no failure of the electronic autonomous driving device 2 is detected, the command processing module 41 remains in its first operational mode.

Upon detection, by the failure detection module 42, of a failure of the electronic autonomous driving device 2, and if the command processing module 41 is in the first mode, in a step 103, the failure detection module 42 triggers the switching of the command processing module 41 to its second operational mode, and triggers an emergency stop maneuver of the autonomous vehicle by sending an emergency stop instruction to the electronic device for determining a trajectory d emergency stop 10.

As soon as it operates in its second operational mode, the command processing module 41 blocks the delivery to the engine, to the steering system and to the braking system, of any command determined by the electronic autonomous driving device 2: the commands, intended for the engine, the steering system and the braking system and supplied by the electronic autonomous driving device 2, are therefore no longer delivered to them.

The electronic device for determining an emergency stop trajectory 10, upon receipt of the emergency stop instruction, controls, in immediate response to this instruction, braking and then stopping of the autonomous vehicle A, under defined conditions, for example as a function of the last real displacement vector of the vehicle, as known from the prior art or as described below in a particular embodiment of the invention: the commands determined by the electronic determination device of an emergency stop trajectory 10 are sent by the latter to the assembly comprising the engine, the steering system and the braking system where they are processed.

Thus, upon detection of a failure of the electronic autonomous driving device 2, the commands issued by the latter are replaced by other commands, issued to the engine, to the steering system and to the braking system to effect an emergency stop of the autonomous vehicle A.

The present invention thus allows the supervisor electronic device 4 to take over the control of the autonomous vehicle on a real-time and secure emergency stop trajectory, as soon as a failure of the autonomous driving device 2 is detected.

In another embodiment, a command processing module 41 or a failure detection module 42 are each produced in the form of a programmable logic component, such as an FPGA (from the Field Programmable Gate Array), or in the form of a dedicated integrated circuit, such as an ASIC (from the English Applications Specific Integrated Circuit).

In the embodiment described above, a supervision system 3 on board the autonomous vehicle 2 has been considered. In other embodiments, all or part of the supervision system 3, for example the device 10 determination of emergency stop trajectory, is deported to a processing platform external to the autonomous vehicle 2.

According to another aspect, the invention relates to a device for determining an emergency stop trajectory of an autonomous vehicle provided with an autonomous driving module, the autonomous vehicle being able to store at least one trajectory beforehand. predefined displacement comprising a plurality of successive reference vectors associated respectively with successive distinct sections of displacement of the autonomous vehicle.

The invention also relates to an autonomous vehicle provided with an autonomous driving module provided with an autonomous driving module, the autonomous vehicle being able to store beforehand at least one predefined movement trajectory comprising a plurality of associated successive reference vectors. respectively to successive separate sections of movement of the autonomous vehicle, the autonomous vehicle comprising at least one location data sensor of the autonomous vehicle.

The invention also relates to a method for determining an emergency stop trajectory of an autonomous vehicle fitted with an autonomous driving module, the autonomous vehicle being suitable for storing at least one predefined displacement trajectory comprising a plurality of successive reference vectors associated respectively with successive distinct sections of movement of the autonomous vehicle.

The invention also relates to an associated computer program product.

Currently, the devices for determining an emergency stop trajectory of an autonomous vehicle, activated, for example, in the event of failure of the autonomous driving module, are based solely on the use of the last vehicle movement vector. autonomous (ie before failure of the autonomous driving module) to determine the emergency stop trajectory and the automatic movement instruction of the associated autonomous vehicle.

Such a setpoint determined by known devices for determining an emergency stop trajectory of an autonomous vehicle most often corresponds to the combination of a direction of movement instruction tangent to the displacement trajectory of the autonomous autonomous vehicle. on failure, and a sudden deceleration instruction causing a reduction in the instantaneous speed of the autonomous vehicle to a value less than or equal to 20 km / h.

The automatic emergency braking obtained is then violent, uncomfortable and not very secure for passengers of the autonomous vehicle, especially if the passengers are, for example, passengers in an upright position in an autonomous public transport vehicle.

Furthermore, considering the distance necessary to stop the autonomous vehicle, even if abrupt automatic braking was applied, it is likely that the curvature of the track on which the autonomous vehicle moves changes during this stop and that consequently the autonomous vehicle coming out of the road, risky situation, which in the classic case of an autonomous vehicle steered manually has for solution a recovery in hand devolved to the driver.

Another objective of the invention is therefore to optimize the emergency stop trajectory and the associated braking of an autonomous vehicle so as to improve the associated road safety.

Another objective of the invention is, as far as possible, to maintain a non-zero speed of movement of the autonomous vehicle, in particular when the failure of the autonomous driving module or any other situation requiring an emergency stop manifests itself in a autonomous vehicle presence zone corresponding to a risky driving zone characterized by the presence of intersection (s), pedestrian (s) or other (s) vehicle (s) autonomous or not.

To this end, the subject of the invention is a device for determining an emergency stop trajectory of an autonomous vehicle provided with an autonomous driving module of the aforementioned type, in which the device for determining an emergency stop trajectory, is automatically activated in the presence of an emergency stop instruction, and includes:

a module for calculating at least an automatic movement instruction for the autonomous vehicle for following an emergency stop trajectory comprising a plurality of successive emergency stop vectors each associated with a section distinct from part of the successive sections of the predefined trajectory, starting at least for each emergency stop vector:

o of a last actual displacement vector of the memorized autonomous vehicle, o of the predefined trajectory of displacement of the autonomous vehicle, and o of a last datum of location of the memorized autonomous vehicle, and delivered by at least one sensor of the autonomous vehicle,

- an emergency steering module capable of directing the autonomous vehicle according to said at least one instruction.

Thus, thanks to the invention, the emergency stop trajectory and the associated autonomous vehicle movement instruction are optimized, since they are determined not only from the last vector of displacement of the autonomous vehicle but also from the predefined trajectory. as well as, for each section of this predefined trajectory, from a datum for locating the autonomous vehicle allowing correction and re-optimization in real time of the emergency stop at each section of advancement of the autonomous vehicle.

Such an optimization implemented by the automatic emergency braking control device according to the invention allows a "gentle" deceleration of the autonomous vehicle since the trajectory is controlled / corrected section by section to avoid deviation (ie a deviation from the autonomous vehicle) of the emergency stop trajectory greater than a predetermined threshold with respect to the predefined trajectory followed prior to the emergency situation requiring an emergency stop, such as a failure of the autonomous driving module.

For example, according to the invention a deceleration lowering the value of the speed of the autonomous vehicle before failure of the autonomous driving module by around 70 km / h to a value of around 40 to 50 km / h is obtained while continuing the turn started before failure, against, for the devices for determining an existing emergency stop trajectory, a deceleration, in a direction tangent to the turn, and abrupt reducing the speed to a value of 20km / h maximum.

According to particular embodiments of the invention, the device for determining an emergency stop trajectory also has one or more of the following characteristics, taken in isolation or according to any combination (s) ) technically possible:

for each considered section of the emergency stop trajectory to which an emergency stop vector is respectively associated, the calculation module is configured to determine the movement instruction of the autonomous vehicle suitable for rendering the stop vector d emergency associated with said section considered to be substantially collinear with the reference vector associated with the same section considered in the predefined trajectory, from the last real displacement vector of the autonomous vehicle and from said at least one location datum associated with the section preceding the section considered;

for the first section of the emergency stop trajectory, the calculation module is configured to determine the movement instruction of the autonomous vehicle suitable for rendering the first emergency stop vector associated with said first section considered collinear with the vector of reference associated with this same first section, at least on the basis of the last real displacement vector V _D of the autonomous vehicle A and of the last datum of location of the autonomous vehicle A stored at an instant preceding the reception, or the generation, of the emergency stop instruction;

the calculation module is capable of taking into account a predefined trajectory where the sections overlap;

the movement instruction includes at least:

an instruction representative of a direction to follow, and / or an instruction representative of an instantaneous speed of movement.

the device for determining an emergency stop trajectory further comprises a failure detection block of the autonomous driving module, for a section of movement considered, by determining a deviation greater than a predetermined threshold between the vector real displacement of the autonomous vehicle and the reference vector associated with the section in question, and / or by determining the position of the vehicle outside its own authorized circulation area, the failure detection block being able to activate the calculation module in the event of a fault in the autonomous driving module detected;

the device for determining an emergency stop trajectory further comprises an obstacle avoidance module on the emergency stop trajectory suitable for communicating with the module for calculating at least one movement instruction automatic autonomous vehicle, the calculation module being adapted to adapt the setpoint according to obstacle detection;

the obstacle avoidance module is capable of implementing a processing of data (s) delivered by at least one sensor on board the autonomous vehicle belonging to the group comprising:

- geolocation equipment,

- a lidar,

- a camera,

- an odometer,

- device for determining a current heading of the autonomous vehicle, an inertial unit.

The invention also relates to an autonomous vehicle comprising at least one device for determining an emergency stop trajectory as defined above.

The invention also relates to a method for determining an emergency stop trajectory as defined above, the method being automatically activatable in the presence of an emergency stop instruction, and comprising the following steps :

the calculation of at least one automatic movement instruction for the autonomous vehicle to follow an emergency stop trajectory comprising a plurality of successive emergency stop vectors each associated with a section distinct from a part of the successive sections of the predefined trajectory, starting at least for each emergency stop vector:

o of a last actual displacement vector of the memorized autonomous vehicle, o of the predefined trajectory of displacement of the autonomous vehicle, and o of a last memorized location data of the autonomous vehicle, and delivered by at least one sensor of the autonomous vehicle, driving the autonomous vehicle by directing the autonomous vehicle according to said at least one instruction.

In the remainder of the description, the expression “substantially equal to” designates an equal relationship at plus or minus 10%, preferably at plus or minus 5%.

In addition, in the following, “last actual displacement vector of the stored autonomous vehicle” and “last memorized location data of the autonomous vehicle” means the actual displacement vector and the location data of the autonomous vehicle which are the more recently memorized in relation to a current instant of calculation of an automatic movement setpoint of the vehicle to follow an emergency stop trajectory.

In relation to FIG. 1, the emergency stop trajectory conventionally followed by an autonomous vehicle A, to brake automatically in the presence of an emergency stop instruction, is established from the last displacement vector V _D real of the autonomous vehicle A. Such a last vector V _D of real movement of the autonomous vehicle A is determined prior to the generation of the emergency stop instruction to obtain a movement consistent with the last vector V _D of real movement of the vehicle prior to the generation of the emergency stop instruction, corresponding in FIG. 1 to a movement tangent to the predefined trajectory. In FIG. 1, the generation of the emergency stop instruction takes place during the course of the section P ₂ and corresponds for example to the presence of a failure of the autonomous driving module.

The emergency stop trajectory, conventionally obtained from the last vector V _D of real displacement of the autonomous vehicle A, is composed for the section P ₂ by the vector V _PA2 , for the section P ₃ by the vector V _PA3 , for the section P ₄ by the vector V _PA4 , so that the resulting automatic displacement is tangent to the turn and causes an exit from the road.

Furthermore, such an emergency stop trajectory capable of generating a departure from the road in the event of a turn is accompanied by a sudden deceleration causing a reduction in the instantaneous speed of the autonomous vehicle to a value less than or equal to 20 km / h .

In FIG. 2, the electronic device 10 for determining an emergency stop trajectory according to the present invention is represented as well as the emergency stop trajectory obtained by this device in a situation identical to that of the figure 1.

In the example of FIG. 2, the electronic device 10 for determining an emergency stop trajectory comprises an information processing unit (not shown) formed for example of a memory 12 and a processor (not shown) associated with the memory 12. The memory 12 is suitable for storing the predefined trajectory of movement of the autonomous vehicle A comprising a plurality of reference vectors Vi, V ₂ , V ₃ , V ₄ , V ₅ respectively associated with sections Pi, P ₂ , P ₃ , P ₄ , P ₅ .

The electronic device 10 for determining an emergency stop trajectory further comprises a module 14 for calculating at least one automatic movement instruction for the autonomous vehicle A to follow an emergency stop trajectory comprising a plurality successive emergency stop vectors V _E1 , V _E2 , V _E3 each associated with a section P ₂ , P ₃ , P ₄ distinct from part of the successive sections of the predefined trajectory, starting at least for each emergency stop vector V _E i, V _E2 , V _E3 :

o of a last actual displacement vector of the autonomous vehicle A memorized, o of the predefined trajectory of displacement of the autonomous vehicle, and o of a last location datum POS_A of the autonomous vehicle A memorized and delivered by at least one vehicle sensor autonomous.

Furthermore, the device 10 comprises an emergency piloting module 16 capable of directing the autonomous vehicle according to said at least one instruction determined by the calculation module 14.

In particular, the movement instruction comprises at least one instruction representative of a direction to be followed (ie the successive emergency stop vectors V _E i, V _E2 , V _E3 ), and / or an instruction representative of a instantaneous speed of movement corresponding for example to a deceleration force (ie a braking force) to be applied, or directly to the speed of movement that the autonomous vehicle A must implement as described later in relation to FIG. 5.

According to a particular aspect, the location datum POS_A is a curvilinear coordinate datum comprising an abscissa and a curvilinear ordinate of the autonomous vehicle A defined in a predefined reference frame such as a terrestrial reference frame. Such data is delivered by at least one sensor of the autonomous vehicle A belonging to the group comprising:

- an odometer capable of calculating the displacement of the autonomous vehicle A from one section to the other according to the number of rotation of the wheels,

- geolocation equipment configured to determine the position of autonomous vehicle A,

a device for determining the current heading of the autonomous vehicle A configured for example to estimate the heading of the vehicle as a function of the angle of the steering system with respect to a predetermined reference position (eg the steering system comprises a steering wheel whose the angle of rotation relative to the predetermined reference position is representative of the heading of the autonomous vehicle A),

- an inertial measurement unit (from the English Inertial Measurement Unit), combining a plurality of accelerometers and gyroscopes, capable of delivering precisely (ie with an accuracy greater than a predetermined threshold) the estimates of course and instantaneous speed of the autonomous vehicle A by using in particular the acceleration data, the rotation speeds, or even the variations of the magnetic field surrounding the autonomous vehicle A.

According to a first aspect, for each section considered of the emergency stop trajectory to which an emergency stop vector V _E1 , V _E2 , V _E3 is respectively associated, the calculation module 14 is configured to determine the setpoint. of movement of the autonomous vehicle A suitable for rendering the emergency stop vectors V _E i, V _E2 , V _E3 associated respectively with the sections P ₂ P ₃ , P ₄ considered to be substantially collinear with the reference vectors V ₂ , V ₃ , V ₄ associated respectively with the same sections P ₂ , P ₃ , P ₄ considered from the predefined trajectory, from the last real displacement vector of the autonomous vehicle A and from said at least one location datum POS_A associated with the section preceding the section considered .

More precisely, for the first section P ₂ of the emergency stop trajectory, the calculation module 14 is configured to determine the movement instruction of the autonomous vehicle A suitable for rendering the first emergency stop vector V _E i associated with said first section P ₂ considered collinear with the reference vector V ₂ associated with this same first section P ₂ , at least from the last real displacement vector V _D of the autonomous vehicle A and from the last datum of location of the autonomous vehicle Has memorized at an instant before reception, or as an alternative, at an instant the generation of the emergency stop instruction.

In other words, the movement instruction comprises at least the movement instruction which allows the vehicle to pass from the direction of movement V _D to the direction of movement ν _ΕΊ collinear to the vector of the predefined trajectory, and so on. section by section so that the emergency stop trajectory, according to the invention as shown in FIG. 2, and composed at least of the emergency stop vectors V _E i, V _E2 , V _E3 "follows >> the turn of the road taken by the autonomous vehicle A instead of leaving the road as previously obtained conventionally as illustrated in FIG. 1.

The electronic device 10 for determining an emergency stop trajectory thus allows the engagement of a minimal risk maneuver (MRM from English, Minimal Risk Maneuver).

Such an instruction is for example determined by means of a reference table stored in the memory 12 of the electronic device for determining an emergency stop trajectory, as well as the predefined displacement trajectory.

Such a reference table is suitable for associating with each location of the autonomous vehicle A on the predefined trajectory the direction to be followed by the autonomous vehicle and the speed of movement and / or the deceleration to be applied to the autonomous vehicle taking into account the last vector of movement. stored for this autonomous vehicle A.

In optional addition, such a reference table also associates with each location an indicator representative of a level of danger of the location, for example to signal the presence of an intersection, a dead end, an area to high pedestrian density etc.

According to another variant, such a reference table is capable of taking into account an intrinsic parameter representative of the latency time of the braking system specific to the autonomous vehicle A, this latency time corresponding to the interval between the transmission of instructions to the braking system and the corresponding effective braking.

Such an ability to remain on the predefined trajectory also allows optimization of the emergency stop speed which makes it possible to avoid sudden deceleration since the conventionally used stop trajectory represented in FIG. 1 and leading to an exit from road is avoided.

According to a particular aspect, the calculation module 14 is capable of taking into account a predefined trajectory where the sections P ₁₅ P ₂ , P ₃ , P ₄ , P ₅ overlap. This aspect makes it possible in particular to increase the precision of the emergency stop trajectory so that the successive location data of the autonomous vehicle, for example the curvilinear coordinates of the autonomous vehicle A associated with each section form a substantially continuous curve (taking takes into account a discretization of the order of ten milliseconds depending on the shape of the trajectory).

As an optional supplement, the device 10 comprises a module 18 for receiving an emergency stop instruction causing the activation of the other calculation modules 14 and emergency piloting 16 which it includes.

According to a first example, the emergency stop instruction is, for example, issued by an external supervision platform (not shown) of a set of autonomous vehicles to which the autonomous vehicle A belongs, in the event of detection of a predetermined event, the type of which belongs to the group comprising: a type of meteorological event, such as fog, ice, snow, rain, wind; an abnormal density of traffic elements; and a type of attack, such as a cyber attack, a terrorist attack.

According to a second example, the emergency stop instruction is for example issued by the autonomous driving module of the autonomous vehicle A in the event of auto-detection (ie by the autonomous driving module itself) of a failure of it.

As an alternative to the reception module 18 (not shown), the device 10 further comprises a failure detection block of the autonomous driving module, for a section P ₂ of displacement considered, by determining a difference greater than a predetermined threshold between the actual displacement vector of the autonomous vehicle A and the reference vector associated with the section considered, the failure detection block being capable of activating, by generation and transmission of the emergency stop instruction, the calculation module 14 in the event of a failure of the autonomous driving module detected.

The predetermined threshold corresponds, for example, to a maximum value of lateral offset of the vehicle with respect to the predefined trajectory as illustrated in FIG. 3 described below.

In other words, according to this alternative, the electronic device 10 for determining an emergency stop trajectory is also suitable for monitoring and detecting an operating anomaly of the autonomous driving module of the autonomous vehicle, and thus assumes a double function. .

In the example of FIG. 2, the calculation module 14, the emergency control module 16 and, optionally, the reception module 18 are each produced in the form of executable software, or a software brick. by the processor.

The memory 12 of the electronic device 10 for determining an emergency stop trajectory is then able to store reception software configured to receive the emergency stop instruction, for example, issued by an external platform. supervision, a calculation software configured to calculate the automatic movement setpoint of the autonomous vehicle A to follow the emergency stop trajectory from at least, for each emergency stop vector V _E1 , V _E2 , V _E3 forming the emergency stop trajectory:

o of a last real displacement vector of the autonomous vehicle A memorized, o of the predefined trajectory of movement of the autonomous vehicle, and o of a last datum of location of the autonomous vehicle A memorized, and delivered by at least one vehicle sensor autonomous A.

and emergency piloting software capable of steering the autonomous vehicle A according to the automatic displacement instruction by transmitting corresponding instructions to the engine, the steering system and the braking system of the autonomous vehicle A so as to modify the speed, l acceleration and the trajectory of autonomous vehicle A in response to the information received. The processor (not shown) of the device 10 is then able to execute each of the software from the reception software, the calculation software and the emergency control software.

In a variant not shown, the calculation module 14, the emergency control module 16 and, optionally, the reception module 18 are each produced in the form of a programmable logic component, such as an FPGA Field Programmable Gate Array), or in the form of a dedicated integrated circuit, such as an ASIC (from the Application Specific Integrated Circuit).

When the electronic device for determining an emergency stop trajectory is produced in the form of one or more software, that is to say in the form of a computer program, it is also able to be recorded on a medium, not shown, readable by computer. The computer-readable medium is, for example, a medium capable of storing electronic instructions and of being coupled to a bus of a computer system. By way of example, the readable medium is an optical disk, a magneto-optical disk, a ROM memory, a RAM memory, any type of nonvolatile memory (for example EPROM, EEPROM, FLASH, NVRAM), a magnetic card or a optical card. A computer program comprising software instructions is then stored on the readable medium.

According to a complementary aspect, the electronic device for determining an emergency stop trajectory 10 is enriched with an obstacle avoidance module 20 on the emergency stop trajectory suitable for communicating with the calculation 14 of at least one setpoint for automatic movement of the autonomous vehicle A, the calculation module 14 being able to adapt the setpoint as a function of obstacle detection.

More specifically, the obstacle avoidance module 20 is capable of implementing a processing of data (s) delivered by at least one sensor on board the autonomous vehicle A belonging to the group comprising:

- geolocation equipment,

- a lidar,

- a camera,

- an odometer,

- device for determining a current heading of the autonomous vehicle (A),

- an inertial unit.

In particular, in the presence of an obstacle detected, the obstacle avoidance module 20 is capable of modifying one or more element (s) of the movement instruction, namely modifying the instruction representative of the direction to be followed and / or modify the instruction representative of the instantaneous speed of movement.

For example, prior to the obstacle detection, the autonomous vehicle A moves according to the invention on the section P ₂ in the direction of the emergency stop vector V _E1 with a speed of 40km / h. The lidar (not shown) of the autonomous vehicle A detects a pedestrian on the section P ₃ and the precise position (ie its curvilinear coordinates) POS_P of this pedestrian on this section P ₃ . In the absence of an obstacle, and using the reference table, the autonomous vehicle A would have moved with the same speed of 40km / h and according to the emergency stop vector V _E3 directing the autonomous vehicle A towards the pedestrian P.

In the presence of the detected pedestrian, the obstacle avoidance module 20 uses the position POS_P to determine the distance separating the autonomous vehicle A from the pedestrian P and the deceleration to be applied to stop before the obstacle and / or, if the predefined trajectory allows, the emergency stop vector V _E3m . _eo to apply to avoid an impact between pedestrian and autonomous vehicle while having a non-zero speed.

According to FIG. 2, the electronic device for determining an abovementioned emergency stop trajectory 10 is on board the autonomous vehicle A.

According to an alternative (not shown), the electronic device for determining an abovementioned emergency stop trajectory 10 is housed within an external platform for remote supervision of the autonomous vehicle and suitable for communicating the piloting instructions established by the emergency steering module to a receiver of the autonomous vehicle A capable of retransmitting these instructions to the engine, the steering system and the braking system of the autonomous vehicle so as to modify the speed, acceleration and trajectory of the autonomous vehicle A in response to the information received.

Figure 3 is a schematic representation of the offset of an autonomous vehicle A with respect to the predefined path to follow. More specifically, we consider an autonomous vehicle A moving in a direction of movement 22 with a speed V i. Each autonomous vehicle is characterized by another intrinsic heading error parameter 24 generally expressed in degrees which represents the angle between the predefined trajectory and the maximum authorized lateral offset 26 of the vehicle with respect to the predefined trajectory.

For example, if we consider a lane whose road width is 3 meters and a vehicle 2 meters wide, the maximum lateral offset 26 is 50 centimeters.

By taking into account the speed V ,, the position POS_A of vehicle A, the heading error 24 and the maximum authorized offset, the stopping distance 28 is obtained. Increasing the speed V of the autonomous vehicle A decreases the stopping distance 28 and vice versa.

The operation of the electronic device for determining an emergency stop trajectory 10 according to the invention will now be explained with the aid of FIG. 4 representing a flow diagram of the method 30, according to the invention, of determining an emergency stop trajectory, the method 30 being implemented by the electronic monitoring device 10.

During an initial step 32, the electronic device for determining an emergency stop trajectory 10 calculates, via the calculation module 14, at least one instruction for automatic movement of the autonomous vehicle A to follow a trajectory of emergency stop comprising a plurality of successive emergency stop vectors V _E1 , V _E2 , V _E3 each associated with a section P ₂ , P ₃ , P ₄ distinct from part of the successive sections of the predefined trajectory, starting at least, for each emergency stop vector V _E i, V _E2 , V _E3 :

o of a last real displacement vector of the autonomous vehicle A memorized, o of the predefined trajectory of movement of the autonomous vehicle, and o of a last location data POS_A of the autonomous vehicle A memorized, and delivered by at least one sensor of the autonomous vehicle A,

The electronic device for determining an emergency stop trajectory 10 then pilots, during step 34, via its emergency piloting module 16 the autonomous vehicle A by directing it according to said at least one instruction.

Then, during step 36, the electronic device for determining an emergency stop trajectory 10 determines the position POS_A resulting from the application of the instruction.

According to a complementary and optional aspect, during the calculation step 32, the electronic device for determining an emergency stop trajectory 10 determines during sub-step 38 the above-mentioned setpoint, then during a sub-step 40 determines the presence (O) / absence (N) of obstacle on the emergency stop trajectory resulting from the application of the instruction.

In the presence O of an obstacle, the electronic device for determining an emergency stop trajectory 10 determines during sub-step 42 a modified instruction so as to stop the vehicle before the obstacle and / or to modify its trajectory to bypass the obstacle.

In the absence N of obstacle, the electronic device for determining an emergency stop trajectory 10 passes from the sub-step of determining the presence (O) / absence (N) of obstacle to the step of control 34 above without modification of the setpoint.

The method 30 according to the invention is an iterative method, the aforementioned steps being repeated for each section P ₂ , P ₃ , P ₄ of the emergency stop trajectory, as long as during a step 44, the device 10 has not determined that the state S of the autonomous vehicle was stationary (zero value), the determination sub-step 38 using at each iteration the last displacement vector and the last position (ie location) of the vehicle autonomous stored in the previous iteration associated with the section preceding the current calculation time.

In the presence of this stopped state (= 0) determined during step 44, the device 10 restores, during a step 46, information representative of the stopping of the vehicle.

The lateral offset of the autonomous vehicle A as a function of the speed of the autonomous vehicle V, preceding the failure of the autonomous driving module and as a function of the heading error specific to each autonomous vehicle is represented in FIG. 5.

The data set indicated by way of example in FIG. 5 is for example incorporated into the aforementioned reference table to determine the automatic movement instruction to be applied in particular the instruction representative of an instantaneous movement speed corresponding for example to a deceleration force (ie a braking force) to be applied, or directly to the speed of movement that the autonomous vehicle A must apply.

Such a data set illustrated in FIG. 5 is for example distributed in three zones associated with the lateral offset values 26, namely an area 48 where the lateral offset obtained is acceptable, an area 50 where the lateral offset is no longer acceptable but presents a minor risk, and an area 52 where the lateral offset is no longer acceptable and presents a major risk.

Thus, an autonomous vehicle A having an intrinsic characteristic of heading error of 20 °, an initial speed of 12 km / h and using a deceleration of 0.5 g has a stopping distance of 1.13 meters to stay in below the maximum authorized lateral offset equal to 50 centimeters if we consider a lane whose road width is 3 meters and a vehicle 2 meters wide.

Likewise, an autonomous vehicle A with an intrinsic heading error characteristic of 1 °, an unequal speed of 50 km / h and using a deceleration of 0.5 g has a stopping distance of 19.68 meters to stay below the maximum authorized lateral offset equal to 50 centimeters.

The electronic device for determining an emergency stop trajectory 10 according to the invention then makes it possible to optimize the emergency stop from a performance point of view, in particular by avoiding a departure from the road, and also when this is possible from a passenger comfort point of view by adapting the deceleration level as a function of the predefined trajectory and of its position on this predefined trajectory, of the initial speed of the autonomous vehicle A and of its vector V _D of displacement memorized beforehand to the emergency stop instruction, and optionally in the presence of an obstacle.

A person skilled in the art will observe in particular that the electronic device for determining an emergency stop trajectory 10 according to the invention makes it possible to continue to advance the vehicle at very low speed (eg at 5 km / h) in the case where the area where the autonomous vehicle A is located is deemed dangerous (in order to avoid for example a stop in the middle of an intersection for example) as indicated, for example, by means of a predetermined indicator in the table reference for the position of autonomous vehicle A.

Those skilled in the art will also note that the electronic device for determining an emergency stop trajectory 10 according to the invention is, according to an improved version, suitable for being enriched with an obstacle avoidance module 20 suitable for bypassing an obstacle during braking, while ensuring that the autonomous vehicle A remains on the predefined trajectory.

According to another improved version, the electronic device for determining an emergency stop trajectory 10 according to the invention is capable of being enriched with a detection module of the autonomous driving module which it comprises in order to alleviate this failure immediately by taking over the control of the autonomous vehicle on an emergency stop path optimized in real time and secure.

It is thus conceivable that the electronic device for determining an emergency stop trajectory 10 of an autonomous vehicle 10 according to the invention, and the associated method, make it possible to further improve the safety of passengers on board such vehicles. autonomous automobiles A.

It will be noted that each aspect of the invention, in particular on the one hand that relating to an electronic device for determining an emergency stop trajectory 10 and on the other hand that relating to an electronic supervisor device 4 can be each implemented independently of one another (and in particular one without the other) in embodiments, or even in combination.

Claims (10)

1. Electronic supervision system (3) of an autonomous vehicle (A) provided with a vehicle actuation module comprising the engine, the steering and the braking of the vehicle and with a suitable autonomous driving module (2) to determine and transmit commands to the actuation module, said electronic supervision system being characterized in that it is suitable for, in a first operating mode, authorizing the supply of commands from the autonomous driving module to the actuation and for, in a second operating mode, blocking the supply of commands from the autonomous driving module to the actuation module, said electronic supervision system being adapted to detect a failure of the autonomous driving module and adapted for, upon detection a fault in the autonomous driving module while the electronic system is in the first mode: - switch to the second mode, and - initiate an emergency stop maneuver for the autonomous vehicle. 2. Electronic supervision system (3) of an autonomous vehicle (A) according to claim 1, adapted to carry out a processing among: a detection of risk of collision of the autonomous vehicle, a comparison of a position of the autonomous vehicle resulting from '' a command from the autonomous driving module with respect to an edge of the taxiway of the autonomous vehicle and / or to a predetermined target position of the autonomous vehicle, a comparison of a speed of the autonomous vehicle resulting from a command from the autonomous driving with respect to a speed limit, said electronic supervision system being adapted to detect a failure of the autonomous driving module as a function of at least one of said treatments. 3. Electronic supervision system (3) of an autonomous vehicle (A) according to claim 1 or 2, adapted to detect a failure of the autonomous driving module upon receipt of an alert message from the autonomous driving module (2 ) signaling an anomaly detected by said autonomous driving module. 4. Electronic supervision system (3) of an autonomous vehicle (A) according to one of the preceding claims, the autonomous vehicle (A) being capable of previously storing at least one predefined movement trajectory comprising a plurality of vectors. reference (V ₁₅ V ₂ , V ₃ , V ₄ , V ₅ ) successive associated respectively with sections (P _1; P ₂ , P ₃ , P ₄ , P ₅ ) successive distinct displacements of the autonomous vehicle (A), and the electronic supervision system being adapted to detect a failure of the autonomous driving module by determining a difference greater than a predetermined threshold between a real displacement vector of the autonomous vehicle (A) and the reference vector associated with the section considered. 5. Electronic supervision system (3) of an autonomous vehicle (A) according to one of the preceding claims, the autonomous vehicle (A) being capable of previously storing at least one predefined movement trajectory comprising a plurality of vectors. reference (V1, V2, V3, V4, V5) successive associated respectively with sections (P1, P2, P3, P4, P5) successive distinct displacement of the autonomous vehicle (A), comprising an electronic device (10) for determining the '' an emergency stop trajectory, automatically activated in the presence of an emergency stop instruction, and comprising: - a calculation module (14) of at least one setpoint for automatic movement of the autonomous vehicle (A) for following an emergency stop trajectory comprising a plurality of successive emergency stop vectors (V _E1 , V _E2 , V _E3 ) each associated with a section (P ₂ , P ₃ , P ₄ ) distinct from part of the successive sections of the predefined trajectory, starting at least, for each emergency stop vector (V _E1 , V _E2 , V _E3 ): o of a last real displacement vector of the autonomous vehicle (A) memorized, o of the predefined trajectory of displacement of the autonomous vehicle, and o of a last datum of location of the autonomous vehicle (A) memorized, and delivered by at least an autonomous vehicle sensor (A), - an emergency steering module (16) capable of directing the autonomous vehicle (A) according to said at least one instruction. 6. Method for supervising an autonomous vehicle (A) provided with an actuation module comprising the engine, the steering and the braking of the vehicle, an autonomous driving module (2) adapted to transmit commands to the module actuation, and an electronic supervision system (3), said method comprising the following steps implemented by the electronic supervision system: in a first operating mode, authorize the supply of commands from the autonomous driving module to the actuation module, in the first mode, detecting a failure of the autonomous driving module and as soon as a failure of the autonomous driving module is detected: o switch to a second operating mode and block the supply of commands from the autonomous driving module to the actuation module, and o trigger an emergency stop maneuver of the autonomous vehicle. 7. Method for supervising an autonomous vehicle (A) according to claim 6, comprising a processing step among: a detection of risk of collision of the autonomous vehicle, a comparison of a position of the autonomous vehicle resulting from a command from the autonomous driving module relative to an edge of the driving lane of the autonomous vehicle and / or to a predetermined target position of the autonomous vehicle, a comparison of a speed of the autonomous vehicle resulting from a command of the autonomous driving module with respect to at a speed limit, the detection of a failure of the autonomous driving module being carried out as a function of at least one of said treatments. 8. Method for supervising an autonomous vehicle (A) according to one of claims 6 or 7, the autonomous vehicle (A) being capable of previously storing at least one predefined displacement trajectory comprising a plurality of reference vectors ( V _b V ₂ , V ₃ , V ₄ , V ₅ ) successive associated respectively with sections (P _b P ₂ , P ₃ , P ₄ , P ₅ ) successive distinct displacements of the autonomous vehicle (A), according to which a failure of the autonomous driving module is detected by determining a difference greater than a predetermined threshold between a real displacement vector of the autonomous vehicle (A) and the reference vector associated with the section considered. 9. Method for supervising an autonomous vehicle (A) according to one of claims 6 to 8, the autonomous vehicle (A) being able to store beforehand at least one predefined displacement trajectory comprising a plurality of successive reference vectors respectively associated with successive separate sections of movement of the autonomous vehicle, comprising a step of determining an emergency stop trajectory (30) automatically activatable in the presence of an emergency stop instruction, and comprising: - the calculation (32) of at least one automatic movement instruction for the autonomous vehicle (A) to follow an emergency stop trajectory comprising a plurality of successive emergency stop vectors each associated with a separate section d '' a part of the successive sections of the predefined trajectory, starting at least, for each emergency stop vector: o of a last real displacement vector of the autonomous vehicle (A) memorized, o of the predefined trajectory of displacement of the autonomous vehicle, and o of a last datum of location of the autonomous vehicle (A) memorized, and delivered by at least an autonomous vehicle sensor (A), - emergency piloting (34) of the autonomous vehicle (A) by directing the autonomous vehicle (A) according to said at least one instruction. 10. Computer program comprising software instructions which, when executed by a computer, implement a method according to any one of claims 6 to 9.