FR3132896A1 - Method and device for controlling a vehicle driving assistance system in a road environment comprising a merging of lanes - Google Patents

Abstract

The present invention relates to a method and a device for controlling a system for assisting the driving of a vehicle (11) traveling in a road environment (1) comprising a plurality of traffic lanes (1001, 1002, 1003) . To this end, data representative of said road environment are received from at least one on-board device. Depending on the data, information representative of a position of a traffic lane associated with said vehicle (11), called own lane, as well as of a merger of said own lane with an adjacent traffic lane, are determined, and said driving assistance system is controlled according to said fusion. Figure for abstract: Figure 1

Description

Method and device for controlling a vehicle driving assistance system in a road environment comprising a merging of lanes

The present invention relates to methods and devices for assisting the driving of a vehicle, in particular a motor vehicle. The present invention also relates to a method and a device for detecting a merger of traffic lanes in a road environment. The present invention also relates to a method and a device for controlling a vehicle incorporating one or more driving assistance systems, in particular an autonomous vehicle.

Technology background

Road safety is one of the important issues facing our societies. With the increase in the number of vehicles traveling on road networks around the world, regardless of traffic conditions, the risk of accidents and incidents caused by traffic conditions has never been greater.

To improve road safety, certain contemporary vehicles are equipped with driving assistance functions or systems, known as ADAS (from English “Advanced Driver-Assistance System” or in French “Advanced Driving Assistance System”). . ADAS systems, for example, implement processes based on the detection of surrounding obstacles using peripheral sensors on board a vehicle such as cameras, radars, or even lidars (from the English “Light Detection And Ranging”). , or “Detection and estimation of distance by light” in French).

ADAS systems can also take into account navigation data indicating in advance the characteristics of a road, in particular speed limits, hills or even the radius of curvature of turns on the route, so as to optimize the driving of the vehicle in advance. vehicle.

When a merger of two lanes is detected on a road, the ADAS systems are deactivated in advance, so as to allow the driver of the vehicle to regain control during the merger. If this deactivation is justified when the vehicle is traveling on a lane merging with an adjacent lane, it remains superfluous when the vehicle's lane does not undergo any change. The unjustified deactivation of ADAS systems therefore represents a loss of comfort for the driver and an increased risk to road users, due to an unforeseen change in the vehicle's behavior.

Summary of the present invention

An object of the present invention is to resolve at least one of the disadvantages of the technological background.

An object of the present invention is for example to improve the detection of a traffic lane merger in a road environment.

Another object of the present invention is for example to improve the operation of one or more ADAS systems embedded in the vehicle.

According to a first aspect, the present invention relates to a method for controlling a driving assistance system of a vehicle traveling in a road environment comprising a plurality of traffic lanes, the method comprising the following steps:

- reception of data representative of the road environment from at least one device on board the vehicle;

- first determination of information representative of a position, in the road environment, of a traffic lane associated with the vehicle, called its own lane, among the plurality of traffic lanes according to the data;

- second determination of information representative of a merger of the own lane with a traffic lane adjacent to the own lane, based on the data; And

- control of the vehicle driving assistance system according to the determined fusion.

In other words, the position of the vehicle is determined in relation to all the traffic lanes in the road environment, and the merging of traffic lanes is detected when this occurs on the vehicle's own lane.

Thanks to the present invention, the behavior of the vehicle carrying one or more ADAS systems is adapted depending on whether or not it is traveling on a lane merging with an adjacent lane. This design also makes it possible to guarantee that the vehicle is actually traveling on a merging lane when such a merger is detected, and consequently to adapt the behavior of the ADAS systems accordingly, for example so as to initiate merging between the own lane. and the adjacent lane autonomously.

According to a variant, the data representative of the road environment include information representative of road lines, the road lines belonging to a set of lines comprising:

- ground markings associated with the road environment; and or

- a barrier associated with the road environment; and or

- a roadside associated with the road environment,

the first determination and/or the second determination being carried out based on the information representative of road lines.

According to another variant, the first determination comprises the following steps:

- determination of a width value associated with an element of the road environment from the data;

- comparison of the width value with a first threshold value; And

- determination of information representative of a traffic lane associated with the road environment based on a result of the comparison.

According to an additional variant, the second determination comprises the following steps:

- determination of a width parameter associated with the clean track, the width parameter varying along the clean track; And

- comparison of the width parameter with a second threshold value, the merger being detected when the width parameter is less than the second threshold value.

According to yet another variant, the control comprises the following steps:

- rendering a lane change request to a driver of the vehicle;

- reception of a response to the request from a man-machine interface on board the vehicle;

- control of a vehicle trajectory towards the adjacent traffic lane when the response is positive; And

-stopping the driving assistance system when the response is negative.

According to another variant, the driving assistance system includes a semi-automatic lane change system.

According to a second aspect, the present invention relates to a device for controlling a vehicle driving assistance system, the device comprising a memory associated with a processor configured for implementing the steps of the method according to the first aspect of the present invention.

According to a third aspect, the present invention relates to a vehicle, for example of the automobile type, comprising a device as described above according to the second aspect of the present invention.

According to a fourth aspect, the present invention relates to a computer program which comprises instructions adapted for the execution of the steps of the method according to the first aspect of the present invention, in particular when the computer program is executed by at least one processor.

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

According to a fifth aspect, the present invention relates to a computer-readable recording medium on which is recorded a computer program comprising instructions for executing the steps of the method according to the first aspect of the present invention.

On the one hand, the recording medium can be any entity or device capable of storing the program. For example, the medium may comprise a storage means, such as a ROM memory, a CD-ROM or a ROM memory of the microelectronic circuit type, or even a magnetic recording means or a hard disk.

On the other hand, this recording medium can also be a transmissible medium such as an electrical or optical signal, such a signal being able to be conveyed via an electrical or optical cable, by conventional or terrestrial radio or by self-directed laser beam or by other ways. The computer program according to the present invention can in particular be downloaded onto an Internet type network.

Alternatively, the recording medium may be an integrated circuit in which the computer program is incorporated, the integrated circuit being adapted to execute or to be used in executing the method in question.

Brief description of the figures

Other characteristics and advantages of the present invention will emerge from the description of the particular and non-limiting examples of embodiment of the present invention below, with reference to the attached Figures 1 to 3, in which:

schematically illustrates a vehicle traveling in a road environment presenting a merger between two traffic lanes, according to a particular and non-limiting embodiment of the present invention;

schematically illustrates a device configured for controlling a driving assistance system of the vehicle of the , according to a particular and non-limiting embodiment of the present invention;

illustrates a flowchart of the different stages of a method of controlling a driving assistance system of the vehicle of the , according to a particular and non-limiting embodiment of the present invention.

Description of the implementation examples

A method and a device for controlling a vehicle driving assistance system will now be described in what follows with reference jointly to Figures 1 to 3. The same elements are identified with the same reference signs throughout the description which follows.

According to a particular and non-limiting example of embodiment of the present invention, the control of a driving assistance system, called the ADAS system, of a vehicle circulating in a road environment comprising a plurality of traffic lanes comprises the reception , by the vehicle, data representative of the road environment from at least one on-board device. The data correspond for example to mapping data of the road environment associated for example with a position of the vehicle in the road environment and/or to data representative of a neighborhood of the vehicle. The data includes for example information representative of a merger of two lanes of the plurality of traffic lanes, in front of the vehicle according to its direction of travel. The data is for example received via a wireless connection or by wired connection with sensors embedded in the vehicle and/or a geolocation system integrated into the vehicle and/or a connected device such as a smartphone (from the English "smartphone"). ") associated with an occupant of the vehicle.

The data makes it possible to determine information representative of a position, in the road environment, of a traffic lane associated with the vehicle, called its own lane, among the plurality of traffic lanes. In other words, the vehicle characterizes the specific lane on which it is traveling and locates it within the road environment, particularly in relation to the plurality of traffic lanes. The vehicle determines for example that the own lane is located on a left or right end of the plurality of traffic lanes, that is to say that the own lane is likely to merge with an adjacent lane of the plurality of traffic lanes. traffic.

The vehicle then determines, based on the data, information representative of a merger of the own lane with a traffic lane adjacent to the own lane, that is to say that the own lane and the adjacent traffic lane meet. join to form a single path. In other words, the vehicle determines that the road environment presents a merger of two traffic lanes, which directly concerns the movement of the vehicle and requires an adaptation of its behavior. The ADAS system is then controlled according to the determined fusion. The vehicle determines for example a merger in which the own lane joins the adjacent traffic lane, the behavior of the vehicle then being adapted to allow its insertion into the adjacent traffic lane. Control of the ADAS system corresponds, for example, to a change of lanes from the own lane to the adjacent traffic lane, or even to an adaptation of its operation to allow the driver to take control of the vehicle to carry out the lane change.

Such a method thus makes it possible to optimize the operation of ADAS systems on a road presenting a merger between several traffic lanes, by making it possible to clearly identify whether or not the vehicle is affected by such a merger and consequently to differentiate its behavior at the approach to this merger. Determining whether the vehicle is affected by the merging of traffic lanes thus makes it possible to avoid the unjustified deactivation of ADAS functions and to carry out a specific check when the vehicle is located on a separate lane merging with an adjacent traffic lane. The comfort and safety of the driver of the vehicle equipped with ADAS systems as well as other road users is thus increased, as well as the functionalities permitted by these ADAS systems and their availability.

schematically illustrates a vehicle 11 circulating in a road environment 1, according to a particular embodiment of the present invention.

There illustrates a road environment 1 comprising a plurality of traffic lanes 1001, 1002, 1003, for example three distinct traffic lanes having the same direction of traffic. Road environment 1 corresponds for example to a section of highway. A vehicle 11 circulates in the road environment on one of the traffic lanes 1001, 1002, 1003, for example on a first traffic lane 1001. The vehicle 11 corresponds for example to a vehicle with a thermal engine, with an electric motor(s). (s) or a hybrid vehicle with a thermal engine and one or more electric motors. The vehicle 11 thus corresponds for example to a land vehicle, for example an automobile, a truck, a coach, a motorcycle. Finally, the vehicle 11 corresponds for example to a vehicle circulating in an autonomous or semi-autonomous mode, for example at a level greater than or equal to 2 according to the scale defined by the American federal agency which has established 5 levels of autonomy ranging from 1 to 5, level 0 corresponding to a vehicle having no autonomy, whose driving is under the total supervision of the driver, and level 5 corresponding to a completely autonomous vehicle. The vehicle 10 thus corresponds for example to a vehicle adapted to circulate in an autonomous or semi-autonomous driving mode, that is to say under the partial or total supervision of one or more ADAS systems on board the vehicle 10.

The vehicle 10 thus advantageously carries one or more first driving assistance systems, called ADAS (from English “Advanced Driver-Assistance System” or in French “Advanced Driving Assistance System”), assisting the driver in driving the vehicle 10 and/or ensuring control of the vehicle 10 which is able to drive in its environment 1 with limited intervention from the driver, or even without intervention from the driver.

The first ADAS system(s) embedded in the vehicle 10 implement one or more assistance functions for the driver. For example, the vehicle 10 has one or more of the following systems, in any possible combination:

- semi-automatic lane change system, known as SALC system (from English “Semi-Automatic Lane Change”); and or

- intelligent speed adaptation system, known as the ISA system (from English “Intelligent Speed Adaptation”); and or

- curve speed adaptation system, called CSA system (from English “Curve Speed Assist”); and or

- adaptive cruise control system, known as ACC (from the English “Adaptive Cruise Control”); and or

- predictive cruise control, known as PCC system (from English “Predictive Cruise Control”); and or

- electronic stability control system, known as the ESC system (from the English “Electronic Stability Control” or in French “Electronic Stability Control”), DSC (from the English “Dynamic Stability Control” or in French “Dynamic Control”) of stability") or even ESP (from the English "Electronic Stability Program" or in French "Program electronique de lastability"); and or

- system for maintaining the vehicle in the lane, known as the LKA system (from the English “Lane-Keeping Assist” or in French “Lane Keeping Assistant”) or LPA (from the English “Lane Positioning Assist” or in French “Assistant de positioning dans la queue”).

The examples of ADAS systems in the list above are provided for illustrative purposes and are not exhaustive, this list is not exhaustive.

A process for controlling an ADAS system of the vehicle 11 is advantageously implemented by one or more processors, for example by a central computer, a set of computers, or even a peripheral computer associated with the ADAS system of the vehicle 11.

The at least one processor comprises for example an intelligent utility box or BSI (in English “Built-In Systems Interface”) or even VSM (from the English “Vehicle Supervisor Module” or in French “Module de Supervision de Véhicule” ) capable of forming a communications network, for example a multiplexed communications network, in which data is transmitted via a wireless or wired link. The at least one processor or BSI (hereinafter referred to as “BSI”) is thus connected to a plurality of peripheral computers, for example to peripheral computers associated with the on-board ADAS systems of the vehicle 11 and/or to other system computers. and/or on-board devices of the vehicle 11.

In a first operation, data representative of the road environment 1 are received by the BSI, for example by communication in the multiplexed communication network. The data received by the BSI are for example generated from data representative of the road environment 1, for example data obtained by one or more sensors of object detection system(s) on board the vehicle 11, this or these systems forming for example part of an ADAS system of the vehicle 11.

For example, the sensor(s) associated with these object detection systems correspond to one or more of the following sensors:

- one or more millimeter wave radars arranged on the vehicle 11, for example at the front, at the rear, on each front/rear corner of the vehicle 11; each radar being adapted to emit electromagnetic waves and to receive the echoes of these waves returned by one or more objects, with the aim of detecting obstacles and their distances with respect to the vehicle 11; and or

- one or more LIDAR(s), a LIDAR sensor corresponding to an optoelectronic system composed of a laser transmitter device, a receiver device comprising a light collector (to collect the part of the light radiation emitted by the transmitter and reflected by any object located in the path of the light rays emitted by the transmitter) and a photodetector which transforms the collected light into an electrical signal; a LIDAR sensor thus makes it possible to detect the presence of objects located in the emitted light beam and to measure the distance between the sensor and each detected object; and or

- one or more cameras (associated or not with a depth sensor) for acquiring one or more images of the environment around the vehicle 11 located in the field of vision of the camera(s).

The data obtained from this sensor(s) varies depending on the type of sensor. When it is a radar or a LIDAR, the road environment data 1 corresponds for example to distance data between points of the detected object and the sensor. Each detected object is thus represented by a cloud of points (each point corresponding to a point of the object receiving the radiation emitted by the sensor and reflecting at least in part this radiation), the cloud of points representing the envelope (or a part of the envelope) of the detected object as seen by the sensor and ultimately by the first vehicle 10 carrying the sensor. When it is a video camera, the road environment data 1 corresponds to data associated with each pixel of the acquired image(s), for example gray level values coded on for example 8, 10, 12 or more bits for each color channel, for example RGB (from English “Red, Green, Blue” or in French “Rouge, vert, bleu”). These data make it possible, for example, to determine the successive positions taken by an object moving in environment 1 and to deduce one or more dynamic parameters of the moving object such as the speed and/or the acceleration and/or the presence and state of traffic lights.

According to another example, the vehicle 11 also carries a navigation system, for example coupled to a satellite geolocation system configured to determine the current position of the vehicle 11, the vehicle 11 carrying for this purpose a receiver of a system of the type GPS (from the English “Global Positioning System” or in French “World Positioning System”) or the Galileo system for example in communication with a computer of the on-board system of the vehicle 11. The data representative of the road environment 1 are then received by communication between the BSI and a navigation system computer.

The navigation system and the geolocation system are for example integrated into the vehicle 11 and implemented by one or more computers of the on-board system of the vehicle 11.

According to another example, the navigation system and the geolocation system are implemented by a mobile communication device (for example a smartphone or a tablet), for example in the form of a mobile application, such a communication device mobile communication being embedded in the vehicle 11. According to a particular example, the mobile communication device is connected in communication, for example wirelessly (for example according to a Bluetooth® or Wifi® type connection), with the vehicle 11 by the intermediary of a vehicle communication system 11.

According to a particular embodiment, the vehicle 11 also carries a communication system configured to communicate with one or more remote devices 101 via an infrastructure of a wireless communication network. The remote device 101 advantageously corresponds to a device configured to process data, for example data stored in the memory of the remote device 101 and/or data received from the vehicle 11. The remote device 101 corresponds for example to a “cloud” server 100 (or “cloud” in French), the remote device 101 hosting for example in memory a database comprising a set of data 1010 representative of the road mapping of the environment 1. The wireless communication infrastructure comprises for example a set of communication devices 110 of the relay antenna or UBR (Roadside Unit) type.

The communication system of the vehicle 11 comprises for example one or more communication antennas connected to a telematics control unit, called TCU (from the English “Telematic Control Unit”), itself connected to one or more computers of the on-board system of the vehicle 11. The antenna(s), the TCU unit and the computer(s) form for example a multiplexed architecture for the production of different services useful for the proper functioning of the vehicle and to assist the driver and/or passengers of the vehicle in vehicle control 11. The computer(s) and the TCU unit communicate and exchange data with each other via one or more computer buses, for example a CAN data bus type communication bus (from the English “Controller Area Network” or in French “Réseau de controlleres”), CAN FD (from the English “Controller Area Network Flexible Data-Rate” or in French “Réseau de controllers à flow flexible data”), FlexRay (according to ISO 17458) or Ethernet (according to ISO/IEC 802-3).

The wireless communication system allowing the exchange of data between the vehicle 11 and the remote device(s) 101 corresponds for example to:

- a vehicle-to-infrastructure V2I communication system, for example based on the 3GPP LTE-V or IEEE 802.11p standards of ITS G5; Or

- a cellular network type communication system, for example an LTE type network (from the English “Long-Term Evolution” or in French “Evolution à long term”), LTE-Advanced (or in French LTE-advanced) LTE 4G or 5G; Or

- a WiFi type communication system according to IEEE 802.11, for example according to IEEE 802.11n or IEEE 802.11ac.

According to yet another embodiment, the BSI receives data representative of the road environment jointly by communication with on-board sensors and with a computer of a navigation system on-board in the vehicle 11. The BSI receives, for example, first representative data the presence of a lane merger and other characteristics of the road environment 1 from the on-board navigation system, and second data representative of the immediate environment of the vehicle 11 from on-board sensors.

According to a variant, the data representative of the road environment 1 comprise information representative of road lines 1010, 1011, 1012, 1013 belonging to a set of lines comprising:

- ground markings associated with the road environment 1, for example lateral boundaries of traffic lanes 1001, 1002, 1003; and or

- a barrier associated with the road environment 1, for example a safety barrier or safety barrier delimiting the traffic lanes 1001, 1002, 1003 from other lanes in an opposite direction of traffic or from the lateral end of the road environment 1;

- a road edge associated with the road environment 1, that is to say a border between the road environment 1 intended for the circulation of vehicles and other portions of the road environment 1, for example a sidewalk or the side end of road environment 1.

Ground marking is also called horizontal marking and corresponds to a set of lines drawn on the ground. Ground marking lines can be of several types, for example edge lines or center lines, with different characteristics. The ground marking lines can thus be of the continuous line, discontinuous line or mixed line type (comprising a continuous line and a discontinuous line parallel to the continuous line). A dashed line may also have different characteristics, with line spacing lengths varying from one dashed line type to another and/or line length varying from one dashed line type to another.

Thus, according to the example of the , the first traffic lane 1001 is delimited on the right (according to the direction of movement of the vehicle 11) by a first continuous line 1010 and on the left by a second discontinuous line 1011. The second traffic lane 1002 is delimited on the right by the second discontinuous line 1011 and on the left by a third discontinuous line 1012, and the third traffic lane 1003 is delimited on the right by the second discontinuous line 1012 and on the left by a fourth line continue 1013.

The vehicle 11 carries for example a ground marking detection system, for example coupled to a SALC system on board the vehicle 11. Such a ground marking detection system receives data from one or more cameras on board the vehicle 11 and configured for the acquisition of images of the traffic lane taken by the vehicle 11, for example the portion of road located in front and/or on the sides of the vehicle 11. The ground marking detection system is thus configured to detect ground markings in the environment of the vehicle 11. Image processing is applied to the images obtained from the camera(s) of the ground marking detection system to determine the presence of lines on the ground and of classify these lines into different categories, for example to determine whether the lines on the ground correspond to shore lines or center lines for example. An example of image processing to detect lines on the ground is for example described in document WO2017194890A1. The floor marking detection system identifies, for example, solid line or dotted line lines. In this example, the BSI then receives the data representative of the road environment 1 at least partially by communication with the road marking detection system.

The BSI also optionally receives information relating to the type of road line associated with each road line 1010, 1011, 1012, 1013, allowing for example to differentiate a barrier from a ground marking or even a continuous line from a discontinuous line.

According to yet another example, the road lines 1010, 1011, 1012, 1013 are represented in the form of a function representing the evolution of the lateral position of a road line (for example relative to the vehicle 11) during a longitudinal movement along the traffic lanes 1001, 1002, 1003. Each road line is for example represented by a polynomial of degree 3 in the form P(x) = C ₀ + C ₁ * x + C ₂ * x² + C ₃ * x ³ , with C ₀ , C ₁ , C ₂ and C ₃ the coefficients of the polynomial.

The coefficients C ₀ , C ₁ , C ₂ and C ₃ come from the on-board camera(s) of the vehicle 11, from the ground marking detection system using images from this camera(s) or even determined by the BSI from road environment data 1.

The coefficient C ₀ represents for example a lateral distance between the center of the vehicle 11 and each boundary considered. The coefficient C ₁ represents an angle between the trajectory of the vehicle 11 and a tangent to the traffic lane (the heading). The coefficient C ₂ represents a radius of curvature and the coefficient C ₃ represents a derivative of this radius of curvature.

Thus, the first road line 1010 is for example defined by the polynomial P ₁₀₁₀ (x) = C _{0_1010} + C _{1_1010} * x + C _{2_1010} * x² + C _{3_1010} * x ³ and the second road line 1011 is defined by the polynomial P ₁₀₁₁ (x) = C _{0_1011} + C _{1_1011} * x + C _{2_1011} * x² + C _{3_1011} * x ³ , x representing the longitudinal distance relative to the vehicle 11 according to its direction of travel.

In a second operation, the BSI determines information representative of a position, in the road environment 1, of a traffic lane associated with the vehicle 11, called its own lane, among the plurality of traffic lanes 1001, 1002, 1003 , based on road environment data 1. The position of the own lane thus makes it possible to determine whether it is likely to be affected by a lane merger.

According to a particular example, the BSI determines whether the vehicle 11 is traveling on a left or right end of the plurality of traffic lanes 1001, 1002, 1003, that is to say, according to the example of the , on the first traffic lane 1001 or on the third traffic lane 1003.

In one embodiment, the BSI determines, for each element of the road environment 1, a width value L1, L2, L3, for example in a lateral direction perpendicular to the direction of longitudinal movement of the vehicle 11. The BSI detects by example the traffic lanes 1001, 1002, 1003 as elements of the road environment 1 and determines for each a width value L1, L2, L3. This value is then compared with a first threshold value, for example a threshold value recorded in a memory of the BSI, then making it possible to determine information representative of the traffic lanes 1001, 1002, 1003. The first threshold value is for example representative of a highway lane width, for example 3m wide. In other words, when the width value L1, L2, L3 associated with each traffic lane 1001, 1002, 1003 is greater than the first threshold value, the BSI identifies them as such, recognizes them as traffic lanes , and positions them relative to the vehicle 11. A width value L1, L2, L3 less than the first threshold value corresponds for example to the width of a space between a ground marking and a barrier in the road environment, each being represented by a road line 1010, 1011, 1012, 1013 but not necessarily defining a traffic lane.

In accordance with the previous example, the width of the traffic lanes 1001, 1002, 1003 is for example determined from the coefficients C ₀ associated with the road lines 1010, 1011, 1012, 1013, the first width L1 of the first lane of circulation 1001 then being obtained using the following equation:

Each traffic lane around the vehicle 11 is then counted, making it possible to position the specific lane among the plurality of traffic lanes 1001, 1002, 1003.

According to another example, the BSI determines two width values, each being respectively associated with a lane directly to the right or to the left of the vehicle 11. If one of the width values is less than the first threshold value or cannot be calculated, then the own lane corresponds to a right or left end of the plurality of traffic lanes 1001, 1002, 1003 and may be affected by a merger of lanes. If each width value is greater than the first threshold value, then the vehicle 11 is not affected by any subsequent merging of lanes, the own lane being a central lane.

In a third operation, information representative of a merger of the own lane with a traffic lane adjacent to the own lane is determined based on the data. According to an exemplary embodiment, the BSI having positioned the own lane so as to determine whether it is likely to merge with an adjacent traffic lane, therefore determines whether such a merger occurs. According to another example, the BSI having positioned all of the traffic lanes 1001, 1002, 1003 and the own lane among them then determines which of these traffic lanes 1001, 1002, 1003 merges with an adjacent lane.

In one embodiment, the BSI determines a width parameter associated with the clean path, the width parameter varying along the clean path. The width parameter is expressed for example in the form of a function L(x), in a manner similar to the second operation, x representing the longitudinal distance from the vehicle 11. The width parameter is then compared with a second threshold value, the merger being detected when the width parameter is less than the second threshold value. The second threshold value corresponds for example to a zero width value, associated with a disappearance of the own lane by merging it with an adjacent lane, or even to a width value corresponding to a significant narrowing of the width of the lane. own lane announcing its merger with an adjacent lane and making it possible to identify the merger of the own lane in advance.

In agreement with the previous example and the , if the own lane corresponds to the first traffic lane 1001, the width L1(x) of the own lane is determined by the following formula:

Thus, the detection of the merger corresponds to the resolution of an equation, for example a second-order polynomial equation according to the coefficients associated with the polynomials P ₁₀₁₀ (x) and P ₁₀₁₁ (x), for which the values of x are limited to an interval of longitudinal distance in front of the vehicle 11, for example an interval corresponding to the maximum range of the on-board sensors of the vehicle 11. In other words, if the equation L1(x) – K = 0, with K corresponding to the second threshold value, presents at least one solution for a value of x included in a predefined interval, then a merger is detected on the own channel.

In a fourth operation triggered when the merger is detected on the own lane, the BSI controls the ADAS system of the vehicle 11. In other words, the BSI adapts the behavior of the ADAS system so as to allow the merger to approach , specifically when it is detected on the own track, the ADAS system not being affected in other cases.

According to a particular variant, a lane change request is made to a driver of the vehicle 11, for example via one or more man-machine interfaces (HMI) on board the vehicle 11. The BSI transmits, for example, representative information of the request inside the multiplexed network to an IVI computer (from the English “In-Vehicle Infotainment” or in French “Infodivertissement onboard”). The request is for example displayed on a display screen, for example touchscreen, integrated into the passenger compartment (for example integrated into a dashboard of the vehicle 11). The display is accompanied for example by the display of one or more virtual buttons, pressing a button allowing for example the driver to confirm reading of the message and to respond positively or negatively to the request.

The BSI then receives a response to the request, for example an explicit response such as pressing a button in response to the displayed request, or an implicit response corresponding to taking control of the vehicle 11. Depending on the type of response considered, this is therefore received from a man-machine interface of the on-board screen type or even the steering wheel of the vehicle 11.

In one embodiment, when the response received is positive, that is to say representative of an assent from the driver, the trajectory of the vehicle 11 is controlled towards the adjacent traffic lane, for example by implementing an on-board SALC system as described above. Such trajectory control optionally includes stopping other ADAS systems incompatible with the change of lanes of the vehicle 11. When the response received is negative, the on-board ADAS system is stopped, the vehicle 11 can then no longer be driven in such a manner. autonomous on the own lane merging with the adjacent traffic lane, and the driver of the vehicle 11 having to regain at least partial control, in particular in order to manually implement the lane change. The prior issuance of the request also makes it possible to warn the driver of the vehicle 11 in advance of a possible takeover of the vehicle 11.

Thus, the method according to the invention makes it possible to determine more precisely, when a road environment includes a merging of lanes, whether this has an impact on the lane of the vehicle carrying ADAS systems, and to adapt the behavior of the vehicle accordingly. The safety and comfort of the driver is thus ensured by avoiding the untimely deactivation of ADAS systems and by increasing their use cases.

schematically illustrates a device configured to control a driving assistance system of a vehicle, according to a particular and non-limiting embodiment of the present invention. The device 2 corresponds for example to a device on board the vehicle 11, for example a computer of the ADAS system or a BSI. The device 2 is for example configured to receive data from on-board systems of the vehicle 11 and/or other computers, and to control an ADAS system of the vehicle 11.

The device 2 is for example configured for the implementation of the operations described with regard to the and/or steps of the process described with regard to the . Examples of such a device 2 include, without being limited to, on-board electronic equipment such as an on-board computer of a vehicle, an electronic computer such as an ECU (“Electronic Control Unit”), a telephone smart phone, tablet, laptop. The elements of device 2, individually or in combination, can be integrated into a single integrated circuit, into several integrated circuits, and/or into discrete components. The device 2 can be produced in the form of electronic circuits or software (or computer) modules or even a combination of electronic circuits and software modules.

The device 2 comprises one (or more) processor(s) 20 configured to execute instructions for carrying out the steps of the method and/or for executing the instructions of the software(s) embedded in the device 2. The processor 20 may include integrated memory, an input/output interface, and various circuits known to those skilled in the art. The device 2 further comprises at least one memory 21 corresponding for example to a volatile and/or non-volatile memory and/or comprises a memory storage device which may comprise volatile and/or non-volatile memory, such as EEPROM, ROM , PROM, RAM, DRAM, SRAM, flash, magnetic or optical disk.

The computer code of the embedded software(s) comprising the instructions to be loaded and executed by the processor is for example stored on memory 21.

According to different particular and non-limiting examples of embodiment, the device 2 is coupled in communication with other similar devices or systems and/or with communication devices, for example a TCU (from the English “Telematic Control Unit” or in French “Telematic Control Unit”), for example via a communications bus or through dedicated input/output ports.

According to a particular and non-limiting example of embodiment, the device 2 comprises a block 22 of interface elements for communicating with external devices, for example a remote server or the “cloud”, other nodes of the ad hoc network. The interface elements of block 22 include one or more of the following interfaces:

- RF radio frequency interface, for example of the Wi-Fi® type (according to IEEE 802.11), for example in the 2.4 or 5 GHz frequency bands, or of the Bluetooth® type (according to IEEE 802.15.1), in the band frequency at 2.4 GHz, or Sigfox type using UBN radio technology (from English Ultra Narrow Band, in French ultra narrow band), or LoRa in the 868 MHz frequency band, LTE (from English “ Long-Term Evolution” or in French “Long-Term Evolution”), LTE-Advanced (or in French LTE-advanced);

- USB interface (from the English “Universal Serial Bus” or “Bus Universel en Série” in French);

- HDMI interface (from the English “High Definition Multimedia Interface”, or “Interface Multimedia Haute Definition” in French);

- LIN interface (from English “Local Interconnect Network”, or in French “Réseau interconnecté local”).

Data is for example loaded to the device 2 via the interface of the block 22 using a Wi-Fi® network such as according to IEEE 802.11, an ITS G5 network based on IEEE 802.11p or a mobile network such as a 4G network (or 5G) based on the LTE (Long Term Evolution) standard defined by the 3GPP consortium, in particular an LTE-V2X network.

According to another particular and non-limiting example of embodiment, the device 2 comprises a communication interface 23 which makes it possible to establish communication with other devices (such as other computers of the on-board system) via a communication channel 24. The communication interface 23 corresponds for example to a transmitter configured to transmit and receive information and/or data via the communication channel 24. The communication interface 23 corresponds for example to a CAN type wired network (from the English “Controller Area Network” or in French “Réseau de controlleres”), CAN FD (from the English “Controller Area Network Flexible Data-Rate” or in French “Réseau de controllers à flow flexible data”), FlexRay ( standardized by the ISO 17458 standard) or Ethernet (standardized by the ISO/IEC 802-3 standard).

According to a particular and non-limiting embodiment, the device 2 can provide output signals to one or more external devices, such as a display screen 25, touchscreen or not, one or more speakers 26 and/or other peripherals 27 (projection system) via output interfaces 28, 29 and 30 respectively. According to a variant, one or the other of the external devices is integrated into the device 2.

illustrates a flowchart of the different stages of a method of controlling a driving assistance system of a vehicle traveling in a road environment comprising a plurality of traffic lanes, for example an ADAS system of the vehicle 11, according to a particular and non-limiting example of embodiment of the present invention. The method is for example implemented by a device on board the vehicle 11 or by the device 2 of the .

In a first step 31, data representative of the road environment are received from at least one device embedded in the vehicle.

In a second step 32, information representative of a position, in the road environment, of a traffic lane associated with the vehicle, called its own lane, among the plurality of traffic lanes, is determined based on the data.

In a third step 33, information representative of a merger of the own lane with a traffic lane adjacent to the own lane is determined based on the data.

In a fourth step 34, the driving assistance system is controlled according to the determined fusion.

According to a variant, the variants and examples of the operations described in relation to the apply to the stages of the process of .

Of course, the present invention is not limited to the exemplary embodiments described above but extends to a method of controlling a vehicle driving assistance system in a plurality of situations and/or which would include additional steps without departing from the scope of the present invention. The same would apply to a device configured to implement such a process.

The present invention also relates to a vehicle, for example an automobile or more generally an autonomous vehicle with a land engine, comprising the device 2 of the .

Claims (10)

Method for controlling a driving assistance system for a vehicle (11) traveling in a road environment (1) comprising a plurality of traffic lanes (1001, 1002, 1003), said method comprising the following steps:
- reception (31) of data representative of said road environment (1) from at least one device embedded in said vehicle (11);
- first determination (32) of information representative of a position, in said road environment (1), of a traffic lane associated with said vehicle (11), called its own lane, among said plurality of traffic lanes (1001, 1002, 1003) depending on said data;
- second determination (33) of information representative of a merger of said own lane with a traffic lane adjacent to said own lane, based on said data; And
- control (34) of said driving assistance system of said vehicle (11) as a function of said determined fusion. Method according to claim 1, in which said data representative of said road environment (1) comprises information representative of road lines (1010, 1011, 1012, 1013), said road lines (1010, 1011, 1012, 1013) belonging to a set of lines including:
- ground marking associated with said road environment (1); and or
- a barrier associated with said road environment (1); and or
- a road edge associated with said road environment (1),
said first determination (32) and/or said second determination (33) being carried out as a function of said information representative of road lines. A method according to claim 1 or 2, wherein said first determination (32) comprises the following steps:
- determination of a width value (L1, L2, L3) associated with an element of said road environment (1) from said data;
- comparison of said width value (L1, L2, L3) with a first threshold value; And
- determination of information representative of a traffic lane (1001, 1002, 1003) associated with said road environment (1) based on a result of the comparison. Method according to one of claims 1 to 3, in which said second determination (33) comprises the following steps:
- determination of a width parameter associated with said own path, said width parameter varying along said own path; And
- comparison of said width parameter with a second threshold value, said fusion being detected when said width parameter is less than said second threshold value. Method according to one of claims 1 to 4, in which said control (34) comprises the following steps:
- rendering a lane change request to a driver of said vehicle (11);
- reception of a response to said request from a man-machine interface on board said vehicle (11);
- controlling a trajectory of said vehicle (11) towards said adjacent traffic lane when said response is positive; And
-stopping said driving assistance system when said response is negative. Method according to one of claims 1 to 5, in which said driving assistance system comprises a semi-automatic lane change system. Computer program comprising instructions for implementing the method according to any one of the preceding claims, when these instructions are executed by a processor. Computer-readable recording medium on which a computer program is recorded comprising instructions for carrying out the steps of the method according to one of claims 1 to 6. Device (2) for controlling a vehicle driving assistance system, said device (2) comprising a memory (21) associated with at least one processor (20) configured for implementing the steps of the process according to any one of claims 1 to 6. Vehicle (11) comprising the device according to claim 9.