• 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:
    A self-driving vehicle communication system (12) comprises at least one object detection and recognition device (18) configured to locate a user of the determined route (14) in his field of view (30). ), a control device (20) connected to the object detection and recognition device (18) and configured to evaluate the direction of movement of the user of the determined road (14), a display device (16) connected to the control device (20) and configured to notify the detection of the user of the determined route (14) to the latter; the display device (16) displaying a pointing graphic (38) pointing towards the pedestrian (14) so as to notify the pedestrian (14) that the presence and direction of movement of the pedestrian (14) are taken into account by the communication system (12).
    公开号:FR3067478A1
    申请号:FR1755070
    申请日:2017-06-07
    公开日:2018-12-14
    发明作者:S Kalms Volker
    申请人:Delphi Technologies Inc；
    IPC主号:
    专利说明:

    TECHNICAL AREA
    The present invention relates to a communication system for an autonomous driving vehicle and more particularly to a communication system notifying the taking into account of a pedestrian by the autonomous driving vehicle.
    TECHNOLOGICAL BACKGROUND OF THE INVENTION
    In the case of non-autonomous vehicles, that is to say with a driver behind the wheel and having control of their vehicle, pedestrians and drivers can communicate together, in particular by signs, in order to define together the priority of one vis à vis the other.
    In the near future, autonomous vehicles, that is to say vehicles without a driver behind the wheel, will be driven on the roads. With no driver behind the steering wheel and in control of the vehicle, a pedestrian crossing this type of vehicle may fear a reaction from the vehicle causing an impact between the autonomous vehicle and the pedestrian. Without communication between the vehicle and the pedestrian, the latter risks being permanently afraid of this type of vehicle and therefore of not accepting these vehicles.
    It is therefore important to offer a new solution to these problems.
    SUMMARY OF THE INVENTION
    According to the invention, a communication system for an autonomous driving vehicle comprises at least one object detection and recognition device configured to locate a determined road user in his field of vision, a control device connected to the object detection and recognition and configured to evaluate the direction of movement of the determined road user, a display device connected to the control device and configured to notify the detection of the determined road user to this latest. The display device displays a pointing graph pointing in the direction of the determined road user so as to notify the pedestrian of the taking into account of his presence and of his direction of movement by the communication system.
    The pointing graphics can be an animated graphics controlled by the control device so as to be able to point the determined road user in motion in the field of vision of the object detection and recognition device. The pointing graphics can symbolize at least one eye whose direction of gaze points towards the determined road user.
    The object detection and recognition device can be configured to detect priority road signs for the determined road user. The monitoring device can be configured to determine whether the determined road user is moving over the passage area of the determined road user associated with the priority road signs. The display device can be configured to display a road signaling graphics of priority for the determined road user associated with the movement of the determined road user over the passage area so as to notify the user of the route determined taking into account the priority road signs by the communication system. The object detection and recognition device can be configured to locate a pedestrian in his field of vision.
    According to the invention, an autonomous driving vehicle comprises the communication system described above.
    The vehicle may comprise the object detection and recognition device comprising a field of vision towards the front outside of the vehicle, also the control device configured to determine the intention of the determined road user to cross in front of the vehicle, the display device comprising a first display panel oriented towards the front of the vehicle so as to be visible to the road user determined and configured to display the pointing graphics, the pointing graphics pointing towards the '' specified road user intending to cross in front of the vehicle. Pointing graphics can point to the permanently determined road user when moving in the front field of vision of the vehicle.
    The vehicle may also include the object detection and recognition device comprising a rearward field of vision outside the vehicle, also the control device configured to determine the intention of the determined road user to cross behind. the vehicle, the display device comprising a second display panel oriented towards the rear of the vehicle so as to be visible to the road user determined and configured to display another pointing graphics, the other graphics of pointing pointing towards the determined road user intending to cross behind the vehicle. The other pointing graphics can point to the permanently determined road user when moving in the rear field of vision of the vehicle. The object detection and recognition device can be configured to locate a pedestrian in his field of vision.
    According to the invention, a method of controlling a communication system of an autonomous driving vehicle, the communication system comprising a display panel arranged on the autonomous driving vehicle and visible to a determined road user, includes the steps of:
    detecting a determined road user on the way to the autonomous driving vehicle;
    determine the intention of the determined road user to cross across the path of the autonomous vehicle;
    display on the display panel a pointing graphic pointing in the direction of the determined road user.
    The method can also include a step of:
    animate the pointing graphics so as to continually point the determined road user during his crossing on the path of the autonomous driving vehicle.
    The method road user described above may be a pedestrian.
    BRIEF DESCRIPTION OF THE DRAWINGS
    Other characteristics, objects and advantages of the invention will appear on reading the detailed description which follows, and with reference to the appended drawings, given by way of non-limiting example and in which:
    Figure 1 is a schematic view of a vehicle equipped with a communication system with a pedestrian, according to the invention
    Figure 2 is a schematic view of the vehicle displaying on its front display panel a graphic symbolizing eyes whose gaze points to the pedestrian intending to cross in front of the vehicle.
    Figure 3 is a schematic view of the vehicle displaying on its display panel before the graphic symbolizing the eyes of Figure 2 whose gaze points to the pedestrian crossing in front of the vehicle.
    FIG. 4 is a schematic view of the vehicle displaying on its display panel before the graphic symbolizing the eyes of FIG. 2, the gaze of which points to the pedestrian having crossed in front of the vehicle.
    Figure 5 is a schematic view of the vehicle displaying on its display panel before the graphic symbolizing the eyes of Figure 2 whose gaze points to the pedestrian intending to cross in front of the vehicle and also displaying on the display panel a three-color signaling light taken into account by the vehicle.
    Figure 6 is a schematic view of the vehicle displaying on its display panel before the graphic symbolizing the eyes of Figure 2 whose gaze points to the pedestrian intending to cross in front of the vehicle and also displaying on the display panel the pedestrian crossing on which the pedestrian will cross.
    FIG. 7 is a schematic view of the vehicle displaying on its front display panel a graphic symbolizing a hand of which a finger points to the pedestrian intending to cross in front of the vehicle.
    DESCRIPTION OF THE PREFERRED EMBODIMENTS
    According to FIG. 1, a vehicle 10 is equipped with a communication system 12 making it possible to communicate with a road user traveling with non-autonomous means and more particularly with a pedestrian
    14. The communication system 12 of the vehicle 10 comprises a display device 16, an object detection and recognition device 18 and a control device 20.
    The display device 16 comprises a display panel 22 arranged on the vehicle 10 so as to be visible to the pedestrian 14. According to the embodiment shown, the display panel 22 is arranged on the front cover 24 of the vehicle 10. The display device 16 includes an electronic interface 26 so that it can be electrically connected to other electronic devices.
    The object detection and recognition device 18 comprises a camera 28 whose field of vision 30 covers the front of the vehicle 10. The camera 28 is configured to capture an image from the field of vision 30 of the camera 28 and more particularly for locating pedestrian 14 in his field of vision 30. The object detection and recognition device 18 comprises another electronic interface 32 so that it can be electrically connected to other electronic devices.
    The object detection and recognition device 18 and the display device 16 are electrically connected to the control device 20. The control device 20 comprises a microcontroller 34 capable of analyzing the information received by the optical device 18 so to be able to control the display device 16.
    The communication system 12 thus arranged allows notification to the detected pedestrian 14 of taking into account its presence.
    More particularly, in the case of a self-driving vehicle 10, the display panel 22 makes it possible to display information intended for the detected pedestrian 14 making it possible to reassure the pedestrian 14 as to whether the driving vehicle 10 autonomous to correctly detect the pedestrian 14.
    The communication system 12 described above may also include additional devices in order to offer surveillance extended to the entire periphery of the vehicle 10, that is to say by adding object detection and recognition devices thereto. . The system can also include several displays distributed in other locations of the vehicle so as to be able to communicate visually with a detected pedestrian other than at the front of the vehicle.
    The object detection and recognition device 18 can also comprise at least one radar making it possible to increase the accuracy of location of the pedestrian 14 by the communication system 12. A radar can replace the camera 28 or be associated with the camera 28
    According to the embodiments described below, the object of the invention is to compensate for the absence of usual signs that a driver of a vehicle in non-autonomous mode could have done, in particular inviting pedestrian 14 to cross in front , or behind, vehicle 10.
    According to FIG. 2, the pedestrian 14 is about to cross in front of the self-driving vehicle 10. When the pedestrian 14 is located by the vehicle 10 thanks in particular to its object detection and recognition device 18, the control device 20 can assess the direction in which the pedestrian 14 is moving and thus estimate whether the pedestrian 14 at the intention to cross in front of the vehicle 10. In the case where the control device 20 considers that the pedestrian will cross in front of the vehicle 10, it controls the display panel 22 so that the latter displays a graphic symbolizing eyes 36 whose the direction D of the gaze (modeled by dotted lines) points towards the pedestrian 14. In the remainder of the invention, this type of graphics will be called a pointing graphics 38.
    According to Figure 3, the pedestrian 14 detected by the communication system 12 of Figure 1, is crossing in front of the vehicle 10 with autonomous driving. The direction D of the gaze 36 always points towards the pedestrian 14. In other words, the pointing graphics 38 is a graphics whose animation is controlled by the control device 20 so as to be able to point the pedestrian 14 when it crosses in front of vehicle 10.
    Finally, according to FIG. 4, the pedestrian 14 has finished crossing in front of the self-driving vehicle 10. Pedestrian 14 is still in the field of vision of the object detection and recognition device 18, the control device 20 combined with the object detection and recognition device 18 continues to track pedestrian 14 and controls the panel display 22 so that the direction D of the gaze still points towards pedestrian 14.
    According to this communication system 12, the pedestrian 14 will no doubt have crossed in front of the vehicle 10 having seen the pointing graphics 38 of the vehicle 10 according to which, the self-driving vehicle 10 has taken into account the presence of the pedestrian 14 and the pedestrian path 14.
    According to FIG. 5, the autonomous driving vehicle 10 is stopped by a three-color signaling light 40. The three-color signaling light 40 is in the field of vision 30 of the object detection and recognition device 18. The pedestrian 14 intending to cross in front of the autonomous vehicle 10 is also detected and located by the object detection and recognition device 18. According to this embodiment, in addition to displaying the pointing graphics 38, the control panel display 22 also displays a road sign graphic 42 giving priority to pedestrians, in this case a graphic symbolizing the three-color signal light 40, so as to notify the pedestrian, in addition to taking the latter into account, counting of the three-color signaling light 40. The status of the three-color signaling light 40 can also be displayed so as to notify the pedestrian of the intention of the vehicle 10, namely the intention of stopping or intention to restart.
    An alternative could be to display a pedestrian light. In general, the communication system can be provided to display a road signaling graphic 42 of pedestrian priority associated with the movement of the pedestrian 14.
    FIG. 6 differs from FIG. 5 in that the pedestrian priority road signs 14 detected by the communication system 12 is a pedestrian crossing 44, so that the display panel 22 displays a road sign graphics 42 symbolizing the pedestrian crossing 44.
    The invention is not limited to the display of an animated pointing graphics 38 symbolizing an eye or a pair of eyes 36 whose direction D of gaze is controlled by the location of a pedestrian 14 in the field of vision 30 of the object detection and recognition device 18. According to FIG. 7, other pointing graphics 38 can also be symbolized. For example, the finger 46 with one hand can point in the direction D of the pedestrian 14 crossing in front of the vehicle 10.
    The invention is also not limited to notifying a pedestrian 14 crossing in front of the self-driving vehicle 10. The object detection and recognition device 18 can comprise another camera comprising a field of vision towards the rear outside of the vehicle, and the display device 16 can comprise another display panel arranged at the rear of the vehicle. vehicle 10. This arrangement makes it possible to notify a pedestrian 14 crossing behind the vehicle 10.
    According to the invention, a method of communication of a vehicle 10 with autonomous driving towards a pedestrian 14 comprises a step of arrangement of a display panel 22 on the autonomous vehicle 10 and visible by a pedestrian 14. Several panels of display can be envisaged both on the front of the vehicle 10 and elsewhere on the vehicle 10. Another step consists in detecting a pedestrian 14 on the way to the autonomous vehicle 10 by means of a detection and recognition device d object 18, such as a camera 28 or a radar or the combination of the two. The addition of a radar device can allow a more precise location of the pedestrian 14. Another step consists in determining the intention or not of the pedestrian 14 to cross through the path of the autonomous vehicle 10 by means of the analysis, by the control device 20, information transmitted by the object detection and recognition device 18, that is to say by the analysis of the image captured by the camera 28 or by the analysis of the radar signal. Another step then consists in displaying on the display panel 22 a pointing graphics 38 pointing in the direction D of the pedestrian 14. When the pedestrian 14 moves, another step consists in animating the pointing graphics 38 so as to continuously point pedestrian 14 during its crossing on the way to the vehicle. The animation of the pointing graphics 38 is controlled by the control device 20, the said control device 20 analyzing the evolution of the location of the pedestrian 14 through the images captured by the camera 28 of the detection and recognition device d object 18.
    Although the embodiments describe a communication system 12 for vehicle 10 with autonomous driving with a pedestrian 14 and its control method, it is quite possible to extend the invention to a communication system 12 for vehicle 10 to autonomous driving. It is also possible to extend the invention to any other specific road user such as, for example, cyclists, bikers or even drivers of motor vehicles. The device can fully communicate with these road users when they are in the field of vision 30 of the object detection and recognition device 18.
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    1. Communication system (12) for an autonomous driving vehicle (10), comprising at least one object detection and recognition device (18) configured to locate a specific road user (14) in his field of vision (30);
    a control device (20) connected to the object detection and recognition device (18) and configured to evaluate the direction of movement of the determined road user;
    a display device (16) connected to the control device (20) and configured to notify the detection of the determined road user (14) to the latter;
    characterized in that the display device (16) displays a pointing graphic (38) pointing towards the determined road user (14) so as to notify the determined road user (14) of the taking into account its presence and its direction of movement by the communication system (12).
    [2" id="c-fr-0002]
    2. Communication system (12) according to the preceding claim characterized the pointing graphics (38) is an animated graphics controlled by the control device (20) so as to be able to point the user of the determined route (14) in motion in the field of vision (30) of the object detection and recognition device (18).
    [3" id="c-fr-0003]
    3. Communication system (12) according to any one of the preceding claims, characterized in that the pointing graphics (38) symbolizes at least one eye (36) whose direction (D) of the gaze points towards the determined road user (14).
    [4" id="c-fr-0004]
    4. Communication system (12) according to any one of the preceding claims, characterized in that the object detection and recognition device (18) is configured to detect road signs (44) of priority to the road user determined (14);
    the control device (20) is configured to determine whether the determined road user (14) moves over the determined road user passage zone associated with the road user priority signaling (44). the determined route (14);
    the display device (16) is configured to display a road signaling graphic (42) of priority to the determined road user (14) associated with the movement of the determined road user (14) over the area of passage so as to notify the determined road user (14) of taking into account the road signs (44) giving priority to the determined road user (14) by the communication system (12).
    [5" id="c-fr-0005]
    5. Communication system (12) according to any one of the preceding claims, characterized in that the object detection and recognition device (18) is configured to locate a pedestrian in his field of vision (30);
    [6" id="c-fr-0006]
    6. Self-driving vehicle (10) comprising the communication system (12) according to any one of the preceding claims.
    [7" id="c-fr-0007]
    7. Vehicle (10) according to claim 6 characterized in that the object detection and recognition device (18) comprises a field of vision (30) towards the outside front of the vehicle (10);
    the control device (20) is configured to determine the intention of the determined road user (14) to cross in front of the vehicle (10);
    the display device (16) comprises a first display panel (22) oriented towards the front of the vehicle (10) so as to be visible to the determined road user (14) and configured to display the graphics pointing (38); the pointing graphics (38) pointing towards the determined road user (14) intending to cross in front of the vehicle (10).
    [8" id="c-fr-0008]
    8. Method for controlling a communication system of a self-driving vehicle (10), the communication system comprising a display panel (22) arranged on the self-driving vehicle (10) and visible to a user of the determined route (14), the method comprising the steps of:
    5 detecting the determined road user (14) on the way to the autonomous driving vehicle (10);
    determining the intention of the determined road user (14) to cross through the path of the self-driving vehicle (10);
    display on the display panel (22) a pointing graph (38) 10 pointing in the direction of the determined road user (14).
    [9" id="c-fr-0009]
    9. Control method according to the preceding claim characterized in that it comprises a step of:
    animate the pointing graphics (38) so as to continuously point to the determined road user (14) during his crossing on the way to the vehicle (10) with autonomous driving.
    [10" id="c-fr-0010]
    10. Control method according to any one of claims 8 to 9 characterized in that the determined road user (14) is a pedestrian
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    同族专利:
    公开号 | 公开日
    FR3067478B1|2020-08-28|
    引用文献:
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    法律状态:
    2018-12-14| PLSC| Search report ready|Effective date: 20181214 |
    2019-06-25| PLFP| Fee payment|Year of fee payment: 3 |
    2019-12-20| TP| Transmission of property|Owner name: APTIV TECHNOLOGIES LIMITED, BB Effective date: 20191112 |
    2020-06-29| PLFP| Fee payment|Year of fee payment: 4 |
    2021-06-11| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1755070A|FR3067478B1|2017-06-07|2017-06-07|COMMUNICATION SYSTEM FOR AUTONOMOUS DRIVED VEHICLES AND ITS ORDERING METHOD|
    FR1755070|2017-06-07|FR1755070A| FR3067478B1|2017-06-07|2017-06-07|COMMUNICATION SYSTEM FOR AUTONOMOUS DRIVED VEHICLES AND ITS ORDERING METHOD|
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