• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method for determining a speed setpoint (L15) for a vehicle traveling on a road, comprising detecting a signaling panel by a video camera (1) indicating a first speed limit (L11), receiving a second limitation (L12) by a geolocation device (3), determining a third limitation (L13) by coupling the first and second limitations, and establishing a speed setpoint (L15) for a device to assist the line (6), taking into account the third limitation and information (L14) from the driver of the vehicle, so that in the absence of driver information, this instruction corresponds to said third limitation, and in case information of the driver, the instruction corresponds to these.
    公开号:FR3064967A1
    申请号:FR1752937
    申请日:2017-04-05
    公开日:2018-10-12
    发明作者:Cindy Braconot；Aurelie Faux
    申请人:Renault SAS；
    IPC主号:
    专利说明:

    FIELD OF THE INVENTION
    The present invention relates to a method and a device for assisting in driving a vehicle on the roadway. It relates more particularly to a mechanism for determining a speed setpoint for a system for regulating and / or limiting the speed of the vehicle.
    BACKGROUND OF THE INVENTION
    For several years, speed limitation or regulation devices have appeared in vehicles in order to provide comfort in driving a vehicle, but also, and above all, to increase safety by avoiding speeding and the dangers associated with them.
    These devices allow automatic speed control, in different ways. So, we can distinguish speed regulators and speed limiters,
    Cruise control is a system for automatically stabilizing the speed of vehicles. The driver sets the speed at which he wants to drive, then the automated system takes over and maintains the defined speed. This cruise control maintains a fixed speed without any action by the driver on
    The accelerator.
    The speed limiter is an electronic clamping of the maximum speed of the vehicle, which allows you to drive normally, slow down, stop, start again, without exceeding the programmed speed limit, and keeping the function active.
    Cruise control and speed limitation can be implemented by different equipment, and a given vehicle may have only one of these equipment; but it can also be the same equipment having these two functions, between which the driver can choose.
    In all cases, the speed reference is most often provided by the driver, but there are also solutions allowing to take into account information coming from a GPS system, as in patent application EP2141680, or from a panel detection system as in patent applications W02004068439 or EP1985489.
    However, these two mechanisms remain relatively inflexible and different in their logic of use. In particular, no solution combines several sources of information to define the speed setpoint used by the cruise control and / or speed limitation system. In addition, these solutions do not allow satisfactory interactions between the driver and the speed setpoint.
    There is therefore a need for a solution which is both ergonomic for maximizing driver comfort and driving safety, and which makes it possible to take into account different sources of information in order to produce the most relevant instruction possible.
    SUMMARY OF THE INVENTION
    The object of the present invention is to provide a mechanism which at least partially overcomes the aforementioned drawbacks.
    To this end, the present invention provides a method for determining a speed setpoint for a vehicle traveling on a road, comprising detecting a traffic sign by a video camera indicating a first speed limit, receiving a second speed limit by a geolocation device, determining a third limitation by coupling said first and second limitations, and establishing a speed setpoint intended for a driving assistance device, taking into account said third limitation and information from the so in the absence of said instruction corresponds to the driver of said driver information vehicle said third limitation and in the event of driver information, said instruction corresponds to these.
    According to preferred embodiments, the invention comprises one or more of the following characteristics which can be used separately or in partial combination with one another or in total combination with one another:
    the work zone panels are also detected to determine a first associated speed limit;
    when said instruction is determined by the driver's information, exceeding the third limitation by the speed of said vehicle causes an alert intended for said driver;
    said instruction is transmitted to a cruise control in order to maintain the speed of said vehicle substantially equal to said instruction;
    said instruction is transmitted to a speed limiter in order to prevent the overshooting of said instruction by the speed of said vehicle.
    Another object of the invention relates to a computer program comprising instructions which, when executed by a processor of a computer system, entail the implementation of a method as previously described.
    means for determining a third coupling of said first and second
    Another object of the invention relates to a device for determining a speed setpoint for a vehicle traveling on a road, comprising reception means for receiving a first speed limit from a system for detecting recognition of traffic signs. , coupled with a video camera, and a second limitation of a geolocation device, limitations by limitations, and, means for establishing a speed setpoint intended for a driving assistance device, taking into account said third limitation and information from the driver of said vehicle, so that in the absence of driver information, said instruction is determined by said third limitation, and in case of driver information, said instruction is determined by them .
    Another object of the invention relates to a vehicle comprising a device as defined above, said detection system for recognition of traffic signs, coupled with a video camera, and said geolocation device, as well as at least one device from among cruise control and a speed limiter.
    In this vehicle, the geolocation device is of the GPS type. It may also be a communication terminal in logical connection with said reception means.
    Other characteristics and advantages of the invention will appear on reading the following description of a preferred embodiment of the invention, given by way of example and with reference to the accompanying drawings.
    BRIEF DESCRIPTION OF THE DRAWINGS
    FIG. 1 schematically represents an example of a functional structure of a device for determining a speed reference, according to an embodiment of the invention.
    DETAILED DESCRIPTION OF THE INVENTION
    The invention relates to all kinds of vehicles likely to move on a road and to be confronted with a problem of regulation and / or limitation of the authorized speed. These can be passenger cars, utility vehicles (trucks, etc.), motorcycles, etc.
    A road can be considered, in the context of the invention, as a succession of sections, each section being able to be associated with a maximum authorized speed. This speed can be determined by a general rule (for example, 110 or 130 km / h, on a French motorway, etc.), or by road signs. These traffic signs include speed limit signs, but other signs can also implicitly impose a maximum speed (work signs, entry signs into urban areas, etc.).
    The maximum speed authorized per section is also stored in the databases of navigation systems, of the GPS type (for “Global Positioning System” in English) which assist the driver by presenting him with a map of his environment, his position as well as contextual information (including speed limits) and can offer navigation that takes into account this different information.
    The invention aims to take into account these two sources of information as well as those from the driver
    himself to to generate a deposit of speed. This deposit of speed can be used in entry of a device of limitation speed or d ' a system of regulation of speed, which is activatable or not by the
    driver.
    FIG. 1 shows a functional structure of a device for determining a speed reference according to an embodiment of the invention. This functional structure does not impose anything on the precise implementation of the device. Thus, several functional means can be implemented by the same equipment, for example the same information processing device.
    This functional structure is typically embedded in the vehicle.
    It includes a device 1 for capturing images in front of the vehicle. This device is typically a video camera making it possible to generate a video stream, but it can also be a photographic device generating sequences of photographs.
    This video stream or this sequence of images is then transmitted to a system 2 for recognizing traffic signs. Such systems are part of the state of the art. Generally, they process the images of the incoming streams (video streams, image sequences) in order to detect the characteristic shapes of a traffic sign, then they determine the semantics of this sign and deduce the numerical value of a first speed limit Lu.
    Furthermore, the vehicle can embark a navigation system of the GPS type (system 3), which can also provide a second speed limitation L12 from the location and information stored in a geographic database.
    Ideally, these two speed limits should match, but there may be situations where the first and second speed limits differ. This may notably be an error in the geographic database or a change in the limitation which has not been updated in this database. It may also be a temporary limitation for work.
    According to the invention, means 4 are provided for determining a third limitation L13 by coupling these two speed limits Lu, 12
    Different coupling mechanisms or algorithms are possible. For example, it is possible to consider the limitation L12 from the navigation system as the default limitation, in the absence of detection of a traffic sign determining a Lu limitation. In the event of detection of a traffic sign determining a Lu limitation, this imposes the value of the coupled limitation L13.
    In other words, the speed limit L13 determined by the means 4 can be expressed by the equation:
    L n , if L n - 0
    L n , if L n + 0
    In this equation, for convenience of writing, it is assumed that if no traffic sign relating to a speed limit is detected, system 2 generates a zero value (Ln = 0).
    The navigation system may not be integrated into the vehicle. It is then possible to establish a logical connection between it and the means 4 in order to allow it to transmit the limitation L12.
    This logical connection can be provided by various local telecommunication means, such as for example a Wi-Fi network, a Bluetooth connection, etc.
    Such a navigation system 3 not integrated in the vehicle can also be of the GPS type, since there are many removable GPS navigators. But it can also be a “smartphone” or “tablet” type communication terminal with an appropriate application allowing navigation and the acquisition of speed limits by road sections. Such an application can for example be the “Waze” application.
    The driver also has the possibility of defining and transmitting a speed limitation or setpoint L14 independently of L13, as is the case in on-board systems in vehicles offering a speed regulation / limitation system.
    According to the invention, means 5 are provided for establishing a consolidated speed reference L15, taking into account the third limitation L13 and information L14 coming from the driver of the vehicle. On activation of the speed regulation / limitation device, and in the absence of driver information, the consolidated setpoint L15 corresponds to the third limitation L13., And in the event of driver information generating information L14, the instruction corresponds to these.
    In other words, we can establish a speed setpoint L15, thus formulated by the equation:
    Λ5
    As before, for convenience of writing, it is assumed that if the driver does not define any information, the value is zero (Li4 = 0).
    Thus, the driver, in particular if he has activated the speed regulation / limitation device, has the possibility of letting the processing means 4, 5 determine a setpoint L15 automatically.
    When he wishes, he can determine an L14 limitation himself, in a manner known per se. This information L14 supplied by the driver can then impose the value of the setpoint L15, whatever the limitation L13 established by coupling the limitations Lu, L12 from the system 2 for recognition of the traffic signs and the geolocation device 3.
    In such an operating mode, the limits Lu, L12, L13 determined automatically are no longer used for determining the setpoint L15. According to one embodiment of the invention, they can nevertheless be communicated to the driver via a man-machine interface. For example, they can be displayed on the dashboard, and possibly, an audible and / or light signal can alert the driver if the information L14 which he supplies is greater than the limitation L13 established automatically.
    It can also be provided or alternatively to trigger such an alert when the actual speed of the vehicle exceeds the limitation L13 established automatically.
    This consolidated speed instruction L15 can then be transmitted to a driving assistance device 6.
    This driving assistance device may include:
    a speed regulating device, or speed regulator, 6a, the objective of which is then to maintain the speed of the vehicle substantially at the set value L15 ;
    - a device for limitation of speed, or limiter speed, 6b, of which The objective is to prevent the overshoot of setpoint L 15 by the actual speed of vehicle.
    These two devices, 6a, 6b, can act directly on the steering members of the vehicle during acceleration, deceleration or braking.
    ίο
    Of course, the present invention is not in the examples and in the embodiment described and but it is susceptible of numerous variants to those skilled in the art.
    not limited represented, accessible
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    Method for determining a setpoint
    speed (Lily) for a vehicle traveling on a road, consists in detect a sign signaling by a camera video (1) indicating a first limitation of speed (Read), to receive a second limitation ( L12) by
    a geolocation device (3), determining a third limitation (L13) by coupling said first and second limitations, and establishing a speed setpoint (L15) intended for a driving assistance device (6), taking takes into account said third limitation and information (L14) from the driver of said vehicle, so that in the absence of information from the driver, said instruction corresponds to said third limitation, and in the event of information from the driver, said instruction corresponds to these.
    [2" id="c-fr-0002]
    2. Method according to the preceding claim, in which the work zone panels are also detected to determine a first associated speed limit.
    [3" id="c-fr-0003]
    3. Method according to one of the preceding claims, wherein when said setpoint is determined by the driver's information, exceeding the third limitation by the speed of said vehicle causes an alert intended for said driver.
    [4" id="c-fr-0004]
    4. Method according to one of the preceding claims, wherein said setpoint (L15) is transmitted to a speed controller (6a) in order to maintain the speed of said vehicle substantially equal to said setpoint.
    [5" id="c-fr-0005]
    5. Method according to one of the preceding claims, in which said instruction (Lis) is transmitted to a speed limiter (6b) in order to prevent the overshooting of said instruction (Lis) by the speed of said vehicle.
    [6" id="c-fr-0006]
    6. Computer program comprising instructions which, when executed by a processor of a computer system, entail the implementation of a method according to one of claims 1 to 5.
    [7" id="c-fr-0007]
    7. Device for determining a speed setpoint (Lis) for a vehicle traveling on a road, comprising reception means for receiving a first speed limit (Lu) from a system (2) for detecting recognition of signs signaling device, coupled with a video camera (1), and a second limitation (L12) of a geolocation device (3), means (4) for determining a third limitation (L13) by coupling said first and second limitations, and means (5) for establishing a speed setpoint (L15) intended for a driving assistance device (6), taking into account said third limitation and information (L14) coming from the driver of said vehicle, so that in the absence of information from the driver, said instruction corresponds to said third limitation, and in the event of information from the driver, said instruction corresponds to these.
    [8" id="c-fr-0008]
    8. Vehicle comprising a device according to claim 7, said system (2) for detection of recognition of traffic signs, coupled with a video camera (1), and said geolocation device, as well as at least one device from a regulator speed (6a) and a speed limiter (6b).
    [9" id="c-fr-0009]
    9. Vehicle according to the preceding claim, in which said geolocation device is of the GPS type.
    10. Vehicle according to claim 8, wherein said geolocation device is a terminal
    [10" id="c-fr-0010]
    15 communication in logical connection with said reception means.
    1/1 * -12
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    同族专利:
    公开号 | 公开日
    FR3064967B1|2019-11-22|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP1359557A1|2002-04-30|2003-11-05|Matsushita Electric Industrial Co., Ltd.|Vehicle navigation system that automatically translates roadside signs and objects|
    FR2938365A1|2008-11-10|2010-05-14|Peugeot Citroen Automobiles Sa|Data e.g. traffic sign, operating device for use in motor vehicle e.g. car, has regulation unit automatically acting on assistance device when speed is lower than real speed of vehicle and when no action by driver|
    DE102011116741A1|2011-10-22|2012-04-12|Daimler Ag|Motor car speed controlling method, involves informing activated automatic speed control determined by velocity control governor to rider by output device at point of time to which speed value is determined|
    US20170072952A1|2015-09-10|2017-03-16|Mando Corporation|Driving assistance apparatus and driving assistance method|CN111376912A|2018-12-29|2020-07-07|长城汽车股份有限公司|Vehicle speed control method and system of automatic driving vehicle and vehicle|
    WO2020249891A1|2019-06-12|2020-12-17|Psa Automobiles Sa|Method for determining the maximum authorised speed for a motor vehicle which uses an adaptive cruise-control function|
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    法律状态:
    2018-04-20| PLFP| Fee payment|Year of fee payment: 2 |
    2018-10-12| PLSC| Publication of the preliminary search report|Effective date: 20181012 |
    2019-04-18| PLFP| Fee payment|Year of fee payment: 3 |
    2020-04-20| PLFP| Fee payment|Year of fee payment: 4 |
    2021-04-23| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1752937|2017-04-05|
    FR1752937A|FR3064967B1|2017-04-05|2017-04-05|DETERMINING A SPEED SET FOR A VEHICLE BY DETECTING THE SIGNALING PANELS AND DETERMINING THE INFORMATION OF THE DRIVER|FR1752937A| FR3064967B1|2017-04-05|2017-04-05|DETERMINING A SPEED SET FOR A VEHICLE BY DETECTING THE SIGNALING PANELS AND DETERMINING THE INFORMATION OF THE DRIVER|
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