• 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 alerting a presence in a blind spot of a motor vehicle comprising: a step (E1) of acquiring a first image (I1) of the dead angle of the vehicle; step (E2) of acquisition of a second image (I2) comprising an orientation of the visual axis of the driver, - a step (E4) of detecting at least one presence in the dead angle of the vehicle, - a step (E6) for determining the orientation of the visual axis, and - a display step (E7), if the visual axis of the driver is determined oriented towards the side mirror, of at least one representative icon of the nature of said at least one detected object, said at least one icon being displayed in the visual axis of the driver, inside the cockpit.
    公开号:FR3066158A1
    申请号:FR1754162
    申请日:2017-05-12
    公开日:2018-11-16
    发明作者:Mamadou Moustapha Ndoye
    申请人:Peugeot Citroen Automobiles SA；
    IPC主号:
    专利说明:

    METHOD AND SYSTEM FOR ALERT OF A DEAD ANGLE OF A VEHICLE
    The invention relates, in general, the field of safety devices, in particular for monitoring a blind spot of a vehicle and more specifically relates to a method and an alert system in the event of the presence of '' one or more object (s) in the blind spot of a motor vehicle.
    In general, a motor vehicle comprises a plurality of mirrors allowing the driver to view the areas located at the rear of the vehicle, in particular during a lane change or a maneuver for example.
    Referring to Figure 1, a vehicle generally includes a central interior mirror and two side exterior mirrors to cover several areas of the rear of the vehicle. In practice, the driver can easily visualize the lateral zones (dotted zones in FIG. 1), present directly in his field of vision, and the zones behind him (hatched zones in FIG. 1), visible by means of the set of mirrors.
    However, there are areas which are neither present in the driver's direct field of vision, nor covered by the mirrors. Such zones Z, commonly known as “blind spot” and located on either side of the vehicle, are therefore not visible from the driving position, requiring the driver to turn his head to check for the presence of a pedestrian or 'Another vehicle for example, during a maneuver, overtaking or changing lanes, which forces it to take a look out of the road at the front of the vehicle.
    In known manner, many vehicles are thus equipped with an alert system allowing the detection of a presence in the blind spot of the vehicle. For example, document US 20050270789 describes a rear view mirror for a motor vehicle comprising a signaling device, adapted to emit a light signal when a presence in the blind spot of the vehicle is detected. However, such a system does not allow the driver to distinguish the nature of the presence, not allowing him to adapt a possible maneuver. Likewise, in the event of reduced visibility, the driver may not be able to distinguish the light signal displayed on the mirror outside the vehicle.
    In known manner, other detection systems include a display screen positioned inside the vehicle, generally in the center of the dashboard, allowing the display of an image of the area in the corner death. Such an image is for example captured by means of a video camera positioned outside the vehicle. However, such a system has the drawback of forcing the driver to look away from the road or from the rear view mirror to view the display screen, thereby disrupting his driving.
    Thus, document WO 201291476 describes a blind spot display system comprising a plurality of image capture modules allowing the reconstruction of the complete environment of the vehicle. The system further comprises a control module, configured to embed in the image a representation of the vehicle comprising the system, the vehicle being displayed in the form of an outline or in transparency so as to allow better readability of the image. . The system finally includes a screen allowing the display of the reconstructed image.
    However, such a display system is not operational in the event of poor external conditions and requires the installation of a screen generally positioned on the dashboard of the vehicle, requiring the driver to direct his gaze in several directions, which has a drawback in the event of an emergency maneuver for example.
    The invention therefore aims to at least partially overcome these drawbacks by proposing a simple, reliable and precise alert method and system, allowing the signaling of a presence in the blind spot of the vehicle. Such a system allows a precise signaling of the nature of the presence in the blind spot, while being easily readable by the driver without the latter being forced to turn his head and without being disturbed by the display.
    More specifically, to achieve this result, the present invention relates to a method of alerting a presence in a blind spot of a vehicle, especially a motor vehicle, said vehicle being driven by a driver, said vehicle comprising at least a side mirror and an interior passenger, said method comprising: - a step of acquiring a first image of said blind spot of the vehicle, - a step of acquiring a second image of the driver, said second image comprising an orientation of the driver's visual axis, - a step of detecting, on said first image, the presence of at least one object in the blind spot of the vehicle, - a step of determining the nature of said at least one object detected , - a step of determining the orientation of the visual axis of the driver, and - a display step, if the visual axis of the driver is determined oriented towards the rear view mirror lateral eur, of at least one icon representative of the nature of said at least one detected object, said at least one icon being displayed in the visual axis of the driver, inside the passenger compartment.
    Such a method advantageously makes it possible to signal the presence of an object in the blind spot of the vehicle whatever the external conditions, while displaying an icon only when the driver directs his gaze towards the rear view mirror, making it possible to limit the discomfort caused by the lighting of an icon. Such a method makes it possible to provide more security on board the vehicle. Advantageously, the display step allows the simultaneous display of a pictogram illustrating a danger, making it possible to enhance the visibility of the presence of an object, representing a potential danger.
    Advantageously, the vehicle comprising a driver-side door comprising a trim, said at least one icon is displayed on a display module positioned in said trim of the driver-side door, allowing display in the driver's visual axis, that is to say in his field of vision, when the latter directs his gaze towards the rear view mirror.
    Advantageously, the vehicle comprising a driver's side door comprising a window, said at least one icon is displayed on said window or on an interior surface of the driver's side door by means of a projector, allowing an alternative display in the driver's visual axis, when he directs his gaze towards the rear-view mirror.
    Advantageously, the vehicle comprising a computer, the method comprises, after the step of acquiring a first image and the step of acquiring a second image, an analysis step, by the vehicle computer using an image processing algorithm, said first image and said second image.
    Preferably, the icon representative of the nature of the presence detected is displayed flashing, making it possible to reinforce the display.
    Advantageously, the presence of a plurality of objects being detected in the blind spot of the vehicle, the display step simultaneously displays several icons representative of the nature of several objects detected on the first image, allowing signaling of a plurality of dangers.
    Alternatively, the different icons representing the plurality of objects can be displayed successively, allowing a larger display, allowing better visibility of potential dangers.
    The invention also relates to a system for alerting a presence in a blind spot of a vehicle, in particular a motor vehicle, said vehicle being controlled by a driver, said vehicle comprising at least one side mirror and an onboard computer, said alert system comprising: - an external acquisition module, configured to acquire a first image of said blind spot of the vehicle, - an internal acquisition module, configured to acquire a second image of said driver, said second image comprising an orientation of the driver's visual axis, said on-board computer in the vehicle being configured to detect in the first image the presence of at least one object in the blind spot of the vehicle and determine the nature of said at least one object, said on-board computer being further configured to detect, in the second image, the orientation of the visual axis of the driver, and - a display module, configured to display an icon representative of said nature of said at least one object detected in the blind spot of the vehicle, said display module being positioned in the driver's visual axis, when the latter is determined to be oriented to the side mirror.
    Such a presence alert system also makes it possible to identify the type of object present in the blind spot of the vehicle, without the driver having to move his gaze and therefore to divert him from the rear view mirror when looking at it for a maneuver. The driver is also not distracted by a continuous display when this is not necessary.
    Advantageously, the vehicle comprising a driver's side door comprising a trim, said display module is a screen positioned in said driver's side door trim.
    Advantageously, the vehicle comprising a driver side door comprising a window, said display module is a projector configured to project said at least one icon onto said window or onto an interior surface of the door on the driver side.
    The invention finally relates to a motor vehicle comprising an on-board computer and an alert system as described above.
    Other features and advantages of the invention will appear on reading the detailed description of the embodiments of the invention, given by way of example only, and with reference to the drawings which show: • Figure 1 , a schematic representation of a vehicle comprising two side mirrors, a central mirror and an alert system according to the invention, as well as a representation of the areas visible to a driver from his driving position, as well as blind spots, • Figure 2, a diagram of an example of an embodiment of the alert system according to the invention • Figure 3, a block diagram of the steps of an alert method according to an exemplary embodiment of the invention, • Figure 4, a schematic representation of an object present at the rear of the vehicle and visible from the driver's side rear view mirror, • Figure 5, a representation of the driver's vision from the driving position and of the object of FIG. 5 visible in the rear-view mirror, • FIG. 6, a schematic representation of an object present at the rear in the blind spot of the vehicle, and FIG. 7, a representation of the driver's vision from the driving position and of the alert system according to an embodiment of the invention in which the computer has detected both the object of FIG. 7 and the visual axis of the driver in the direction of the rear view mirror.
    In what follows, the embodiments described relate more particularly to an implementation of the alert method according to the invention in a motor vehicle. However, any implementation in a different context, in particular in any type of vehicle, is also covered by the present invention.
    As a reminder, with reference to Figure 1, a motor vehicle 1 comprises a central mirror 5 and two side mirrors 4, configured to allow the driver to view the rear of the vehicle 1. Such mirrors 4, 5 allow the driver to view hatched and dotted areas. Z zones shown in Figure 1 and known as blind spot, are neither present in the driver's direct field of vision, nor covered by the mirrors 4, 5.
    When the driver must check a blind spot, the latter is forced to turn his head to check the presence of a pedestrian or another vehicle for example, during a maneuver, overtaking or a lane change, which forces him to orient his visual axis in a direction other than the road. The visual axis of an individual corresponds to the path along which the light rays from an observed point source would take a most direct path to the fovea, that is to say the area of the retina located at the bottom of the 'eye. In other words, the visual axis corresponds to the axis between an individual's eye and the latter's point of fixation.
    According to a preferred embodiment of the invention, with reference to Figure 2, the vehicle 1 comprises an alert system 2 for indicating to the driver the presence of one or more object (s) in a blind spot. Such an alert system 2 comprises an external acquisition module 21, an internal acquisition module 22, and a display module 23. Such an alert system 2 is configured to exchange data with a computer 3, for example the main computer 3 of vehicle 1. The alert system 2 presented in this document cooperates with the main computer 3 of vehicle 1, however it goes without saying that the alert system 2 could include a specific computer, configured to carry out the image processing and data exchange operations which will be described below.
    In this example, the external acquisition module 21 is positioned outside the vehicle 1, preferably on the side mirror 4 on the driver's side. Such an external acquisition module 21, for example a video camera, is configured to capture an image, designated first image h, of the zone Z comprising the blind spot. The external acquisition module 21 is also configured to send to the main computer 3 of the vehicle 1 such a first captured image h, comprising the blind spot of the vehicle 1.
    The internal acquisition module 22 is positioned inside the vehicle 1, in the passenger compartment, for example on the dashboard or in the driver's side door so as to allow the shooting of the axis driver's visual. Such an internal acquisition module 22, for example a video camera, is configured to capture an image, designated second image 12 comprising the visual axis of the driver, that is to say an image comprising the orientation of the gaze of the driver. The internal acquisition module 22 is further configured to send the second captured image 12, comprising the visual axis of the driver of the vehicle 1, to the main computer 3 of the vehicle 1.
    The main computer 3 is configured to analyze the first image h and the second image l2 by means of an image processing algorithm known to those skilled in the art, which will not be described in more detail in this document. .
    The main computer 3 is thus configured to detect, on the first image h, the presence of one or more object (s) and determine the nature of the object, such as another motor vehicle, a motorcycle, a pedestrian, an animal or a bicycle for example. The main computer 3 is finally configured to select, in a predetermined database for example, one or more icon (s) representative (s) of the nature of the object or objects present detected in the blind spot of the vehicle 1.
    The main computer 3 is further configured to analyze the second image 12 and determine the orientation of the visual axis of the driver. For example, if the driver is looking at the road, the main computer 3 is configured to determine that the visual axis is oriented towards the road at the front of the vehicle 1. Similarly, if the driver wishes to check the side mirror 4, the main computer 3 is configured to determine that the visual axis is oriented towards this side mirror 4. The main computer 3 thus makes it possible to detect when the driver looks at the side mirror 4 for the purpose of performing a maneuver, such as overtaking or a lane change for example.
    The main computer 3 is finally configured to transmit to the display module 23 one or more icons representative of the nature of one or more object (s) detected in the blind spot of the vehicle 1 and control the display of the display module 23 when the visual axis of the driver has been determined oriented towards the side mirror 4. Thus, if the main computer 3 detects an object in the first image h but does not determine that the visual axis of the driver is oriented towards the side mirror 4, then the main computer 3 does not transmit any information to the display module 23.
    The display module 23 is configured to display, inside the passenger compartment of the vehicle 1, the icon or icons received from the main computer 3, allowing the driver to view the icon regardless of the external conditions. Such a display module 23 can for example be an LCD screen, acronym for "liquid crystal display" in English, meaning "liquid crystal display". Such an LCD screen allows the display of one or more icons simultaneously. Alternatively, the display module 23 can be a projector configured to project one or more icon (s) representative of the nature of the object or objects detected in the blind spot of the vehicle 1, on the window or an interior surface of the vehicle. the door of the vehicle 1 in the visual axis of the driver for example.
    Preferably, the display module 23 is further configured to display the icon representative of the present object, in a flashing manner, making it possible to attract the driver's attention and thus increase the safety of the occupants of the vehicle 1. A pictogram alerting the driver of the danger can also be displayed at the same time as the icon (s).
    Referring to Figure 3, there will now be described a method of alerting the presence of an object in the blind spot of a vehicle 1 according to a preferred embodiment of the invention.
    The alert method according to the invention comprises a first step E1 of acquiring a first image h, by the external acquisition module 21, comprising the blind spot of the vehicle 1 and a second step E2 d acquisition of a second image 12, by the internal acquisition module 22, comprising the visual axis of the driver. The first image h and the second image l2 are then sent in a step E3 to the main computer 3 of the vehicle 1, which analyzes them by means of an image processing algorithm, for example of signal processing.
    The main computer 3 then detects for example in a step E4 the presence of an object on the first image h and determines in a step E5 the nature or type of the object, for example a bicycle, a motor vehicle or an animal for example. The main computer 3 then selects an icon representative of the nature of the object, for example in a database prerecorded in the main computer.
    In a step E6, the main computer 3 then detects on the second image l2 the orientation of the visual axis of the driver. When the driver's visual axis is determined oriented towards the side mirror 4, the main computer 3 then controls in a step E7, after having transmitted the icon representative of the presence to the display module 23, the display of a such icon on the display module 23. If the presence of a plurality of objects is detected, the display module 23 then displays in this step E7 several icons. Such icons can for example be displayed successively or simultaneously, fixed or flashing.
    By way of example, with reference to Figures 4 and 5, in the event of a maneuver, the driver directs his visual axis towards the side mirror 4 and directly detects the presence of a biker. However, as shown in FIGS. 6 and 7, if the same biker is in the blind spot of the vehicle 1, the external acquisition module 21 captures a first image h comprising the biker and the internal acquisition module 22 captures a second image l2 comprising the orientation of the visual axis of the driver allowing the main computer 3 to determine whether the driver is looking at the side mirror 4. The main computer 3 then detects the presence of the biker on the first image h and determines its nature by selecting an icon representative of the biker. The main computer 3 simultaneously detects that the driver's visual axis is oriented towards the side mirror 4, the display module 23, here an LCD screen, then displays the icon representing the biker.
    The alert system and method are described in this document with reference to the side mirror and the blind spot on the driver's side, however it goes without saying that the invention also applies to the side mirror and to the passenger side blind spot.
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    Claims:
    1. Method for alerting a presence in a blind spot of a vehicle (1), in particular of a motor vehicle (1), said vehicle (1) being driven by a driver, said vehicle (1) comprising at least one side mirror (4) and an interior cabin, said method comprising: - a step (E1) of acquiring a first image (h) of said blind spot of the vehicle (1), - a step (E2) of acquiring a second image (l2) of the driver, said second image l2 comprising an orientation of the visual axis of the driver, - a step (E4) of detection, on said first image (h), of the presence of at least one object in the blind spot of the vehicle (1), - a step (E5) of determining a nature of said at least one detected object, - a step (E6) of determining the orientation of the visual axis of the driver, and - a display step (E7), if the driver's visual axis is determined oriented towards the side mirror (4 ), at least one icon representative of the nature of said at least one detected object, said at least one icon being displayed in the visual axis of the driver, inside the passenger compartment.
    [2" id="c-fr-0002]
    2. Alerting method according to the preceding claim, wherein, the vehicle (1) comprising a driver's side door comprising a trim, said at least one icon is displayed on a display module (23) positioned in said trim of the driver's side door.
    [3" id="c-fr-0003]
    The alerting method according to claim 1, wherein, the vehicle (1) comprising a driver side door comprising a window, said at least one icon is displayed on said window or on an interior surface of the driver side door by means of a projector.
    [4" id="c-fr-0004]
    4. Alert method according to one of the preceding claims, the vehicle (1) comprising a computer (3), said method comprises subsequent to step (E1) of acquiring a first image (h) and to the step (E2) of acquiring a second image (12), a step (E3) of analysis, by the computer (3) of the vehicle (1) by means of an image processing algorithm, of said first image (h) and of said second image (12).
    [5" id="c-fr-0005]
    5. Alerting method according to one of the preceding claims, in which the icon representing the nature of the presence detected is flashed.
    [6" id="c-fr-0006]
    6. Alert method according to one of the preceding claims, the presence of a plurality of objects being detected in the blind spot of the vehicle (1), in which the display step (E7) simultaneously displays several icons representative of the nature of several objects detected in the first image (h).
    [7" id="c-fr-0007]
    7. Warning system (2) of a presence in a blind spot of a vehicle (1), in particular of a motor vehicle (1), said vehicle (1) being driven by a driver, said vehicle (1) comprising at least a side mirror (4) and an on-board computer (3), said alert system (2) comprising: - an external acquisition module (21), configured to acquire a first image (h) of said blind spot of the vehicle ( 1), - an internal acquisition module (22), configured to acquire a second image (l2) of said driver, said second image (l2) comprising an orientation of the visual axis of the driver, said computer (3) embedded in the vehicle (1) being configured to detect in the first image (h) the presence of at least one object in the blind spot of the vehicle (1) and determine the nature of said at least one object, said on-board computer (3) being further configured to detect, in the second image (l2), the orientat ion of the visual axis of the driver, and - a display module (23), configured to display an icon representative of said nature of said at least one object detected in the blind spot of the vehicle (1), said module display (23) being positioned in the driver's visual axis, when the driver is determined oriented towards the side mirror (4).
    [8" id="c-fr-0008]
    8. Alert system (2) according to the preceding claim, in which the vehicle (1) comprising a driver's side door comprising a trim, said display module (23) is a screen positioned in said trim of the driver's side door .
    [9" id="c-fr-0009]
    9. alert system (2) according to one of claims 7 and 8, wherein the vehicle (1) comprising a driver's side door comprising a window, said display module (23) is a projector configured to project said at least one icon on said window or on an interior surface of the driver's side door.
    [10" id="c-fr-0010]
    10. Motor vehicle (1) comprising an on-board computer (3) and an alert system (2) according to one of claims 7 to 9.
    类似技术:
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    同族专利:
    公开号 | 公开日
    FR3066158B1|2019-06-07|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
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    法律状态:
    2018-04-23| PLFP| Fee payment|Year of fee payment: 2 |
    2018-11-16| PLSC| Publication of the preliminary search report|Effective date: 20181116 |
    2019-04-19| PLFP| Fee payment|Year of fee payment: 3 |
    2021-02-12| ST| Notification of lapse|Effective date: 20210105 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1754162A|FR3066158B1|2017-05-12|2017-05-12|METHOD AND SYSTEM FOR ALERTING A PRESENCE IN A DEAD ANGLE OF A VEHICLE|
    FR1754162|2017-05-12|FR1754162A| FR3066158B1|2017-05-12|2017-05-12|METHOD AND SYSTEM FOR ALERTING A PRESENCE IN A DEAD ANGLE OF A VEHICLE|
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