• 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:
    This electronic device (10) for monitoring a road intersection area (12) comprises a detection module (14) configured to detect, via at least one sensor (16), at least one element of incoming traffic (18) in the road intersection zone (12), each sensor (16) being able to be connected to the detection module (14) and being disposed on the road near said road intersection zone (12).The device (10) further comprises a calculation module (20) configured to calculate at least one access indicator associated with the road intersection area (12) according to the detection of traffic element (s) ( 18) entering the road intersection zone (12), and a transmission module (22) configured to transmit at least one calculated indicator to an autonomous motor vehicle (24) when approaching the road intersection zone (12) .
    公开号:FR3079956A1
    申请号:FR1853096
    申请日:2018-04-10
    公开日:2019-10-11
    发明作者:Cem KARAOGUZ
    申请人:Transdev Group SA；
    IPC主号:
    专利说明:

    Electronic device and method for monitoring a road intersection area for autonomous motor vehicle (s), associated computer program
    The present invention relates to an electronic device for monitoring a road intersection area.
    The invention also relates to a method for monitoring a road intersection area, the method being implemented by an electronic monitoring device.
    The invention also relates to a computer program comprising software instructions which, when executed by a computer, implement such a monitoring method.
    The invention relates to the field of autonomous motor vehicles, in particular autonomous motor vehicles having a level of automation (of the English level of automation) greater than or equal to 3 according to the scale of the International Organization of Automobile Manufacturers (OICA). ). Autonomous motor vehicles include transport vehicles, such as taxis, shuttles, buses or coaches.
    Conventionally, an autonomous motor vehicle, in particular an autonomous vehicle having a level of automation equal to 3, 4 or 5 according to the OICA scale is equipped with a plurality of sensors and one or more computers coupled to these sensors , to allow for example the autonomous vehicle to position itself on the roadway and to regulate its speed according to car traffic, to avoid a collision with another vehicle or an obstacle, to detect a change of trajectory or even to perform a parking maneuver.
    However, the crossing of a road intersection zone by such an autonomous vehicle remains relatively risky, and therefore requires complex calculations to limit the risks of collision of the autonomous vehicle with another vehicle or an obstacle in the road intersection zone. .
    The object of the invention is therefore to propose an electronic device and an associated method for monitoring a road intersection zone intended for autonomous motor vehicle (s), making it possible to further limit the risks of collision inside the road intersection area, while requiring less complex calculations.
    To this end, the subject of the invention is an electronic device for monitoring a road intersection area, the device comprising:
    a detection module configured to detect, via at least one sensor, at least one element of traffic entering the road intersection zone, each sensor being able to be connected to the detection module and being disposed on the road near said road intersection area,
    a calculation module configured to calculate at least one access indicator associated with the road intersection zone as a function of the detection of element (s) of traffic entering the road intersection zone, and
    - a transmission module configured to transmit at least one calculated indicator to an autonomous motor vehicle when approaching the road intersection area.
    Thus, the electronic monitoring device according to the invention makes it possible to detect, via at least one sensor arranged on the roads near said road intersection zone, each element of traffic entering the road intersection zone, then to calculate a or several access indicators associated with the road intersection zone as a function of the detection or not of element (s) of traffic entering the road intersection zone, and of transmitting at least one indicator calculated to a motor vehicle autonomous when approaching the road intersection area.
    The autonomous vehicle approaching said road intersection zone is then authorized to enter said road intersection zone only if it has received a respective access indicator having an authorized access value. In other words, and conversely, each autonomous vehicle approaching the road intersection zone stops before entering said road intersection zone, as soon as it receives an access indicator having the value access prohibited.
    According to other advantageous aspects of the invention, the electronic monitoring device comprises one or more of the following characteristics, taken in isolation or in any technically possible combination:
    - the calculation module is configured to set each access indicator to an authorized access value as long as no element of traffic entering the road intersection area is detected;
    - the road intersection zone includes several access routes, and each access route for motor vehicle (s), in particular for autonomous motor vehicle (s), is associated with a predefined entry limit in the road intersection zone, and the calculation module is configured to calculate an access indicator for each entry limit;
    - the calculation module is configured to position, at a forbidden access value, an access indicator associated with an entry limit of a respective lane as soon as a traffic element positioned inside d is detected 'a detection zone associated with a secant path of said respective path;
    - the detection zone associated with a channel is a predefined zone in 2 or 3 dimensions, preferably in the form of a polygon;
    - the transmission module is configured to group together the set of indicator (s) calculated in a common file and to distribute said common file to the autonomous motor vehicle (s) on approach the road intersection area;
    - each access indicator has a value chosen from the group consisting of: prohibited access, authorized access, authorized access with specific speed limit, authorized access with indication of a potential danger; and
    - each autonomous motor vehicle has a level of automation greater than or equal to 3 according to the scale of the International Organization of Automobile Manufacturers.
    The invention also relates to a method for monitoring a road intersection area, the method being implemented by an electronic monitoring device and comprising:
    the detection, via at least one sensor, of at least one traffic element entering the road intersection zone, each sensor being able to be connected to the detection module and being disposed on the road near said zone road intersection,
    - the calculation of at least one access indicator associated with the road intersection zone as a function of the detection of element (s) of traffic entering the road intersection zone, and
    - the transmission of at least one calculated indicator to an autonomous motor vehicle when approaching the road intersection area.
    The invention also relates to a computer program comprising software instructions which, when executed by a computer, implement a monitoring method, as defined above.
    These characteristics and advantages of the invention will appear more clearly on reading the description which follows, given solely by way of nonlimiting example, and made with reference to the appended drawings, in which:
    FIG. 1 is a schematic representation of an electronic surveillance device according to the invention, configured to monitor a road intersection area,
    FIG. 2 is a view similar to that of FIG. 1 according to another example of a road intersection zone,
    - Figure 3 is a flowchart of a method, according to the invention, for monitoring the area of road intersection, the method being implemented by the electronic monitoring device of Figure 1, and comprising a detection step of at least one traffic element entering the road intersection zone, a step of calculating at least one access indicator associated with the road intersection zone as a function of the detection or not of element (s ) of traffic entering said road intersection zone, and a step of transmitting at least one indicator calculated to an autonomous motor vehicle when approaching the road intersection zone, and
    FIG. 4 is a flow diagram representing the step of calculating at least one access indicator, of the monitoring method of FIG. 3.
    In FIGS. 1 and 2, an electronic monitoring device 10 is configured to monitor a road intersection area 12. The electronic monitoring device 10 comprises a detection module 14 configured to detect, via at least one sensor 16, at least a traffic element 18 entering the road intersection zone 12, each sensor 16 being connected to the detection module 14, via a wired link 19, as illustrated in the examples of FIGS. 1 and 2, or else via a wireless link wire, not shown, such as a radio link. Each sensor 16 is disposed on the road near said road intersection zone 12.
    The electronic monitoring device 10 further comprises a calculation module 20 configured to calculate at least one access indicator associated with the road intersection zone 12 as a function of the detection or not of element (s) of incoming traffic 18 in the road intersection area 12.
    The electronic monitoring device 10 also comprises a transmission module 22 configured to transmit at least one calculated indicator to an autonomous motor vehicle 24 when approaching the road intersection zone 12.
    In the example of FIGS. 1 and 2, the electronic monitoring device 10 comprises an information processing unit 26 formed for example by a memory 28 and a processor 30 associated with the memory 28. The electronic monitoring device 10 comprises a transceiver 32, configured in particular to transmit, in the form of radio waves, the data transmitted by the transmission module 22 to the autonomous motor vehicle (s) 24 when approaching the road intersection zone 12.
    The road intersection zone 12 comprises several access routes 34. Each access route 34 is a traffic route, that is to say a route allowing the circulation of a traffic element 18, in particular d 'a motor vehicle, such as an autonomous motor vehicle 24, as in the example in Figure 1, or a pedestrian as in the example in Figure 2, and providing access to the intersection area road 12, that is to say entering said zone 12. At each access road 34 for motor vehicle (s), in particular for autonomous motor vehicle (s) 24, is associated with a predefined limit 36 of entry into the road intersection zone 12.
    In the example of FIG. 1, the road intersection zone 12 comprises four access routes 34, the routes in this example being traffic lanes for motor vehicle (s). The road intersection zone 12 is, in this example, crossed by the four access routes 34.
    In the example of FIG. 2, the road intersection zone 12 comprises two access routes 34, namely a traffic lane for motor vehicle (s) and a traffic lane for pedestrian (s), also called zebra crossing. In this example of Figure 2, a predefined entry limit 36 is associated with the access path 34 for motor vehicle (s), while the access path 34 for pedestrian (s) has no limit input preset.
    Each access road 34, whether it is a road for motor vehicle (s) or for pedestrian (s), is associated with a detection zone Z for the detection of element (s). 18. The detection zone Z is a zone in which a traffic element 18 is capable of being detected by the detection module 14 as a traffic element 18 entering the road intersection zone 12.
    The detection zone Z associated with a channel 34 is a zone of predefined shape in 2 dimensions in a plane of the channel 34, or else in 3 dimensions taking into account also a height in a direction perpendicular to said plane.
    The detection zone Z is for example in the form of a polygon in 2 or 3 dimensions, the coordinates of the vertices of which are predefined, as illustrated with the lanes 34 associated with the arrows F1 and F3 in FIG. 1 or with the lane 34 for pedestrians ( s) in Figure 2.
    As a variant, the detection zone Z associated with a lane 34 is a portion of said lane 34 located between the entry limit 36 and a predefined distance D upstream of said entry limit 36, the traffic element 18 circulating from upstream to downstream on said track 34, as illustrated with tracks 34 associated with arrows F2 and F4 in FIG. 1 or with track 34 associated with arrows F5 in FIG. 2. Those skilled in the art will further observe that said arrows F1 to F5 also represent the direction of movement, from upstream to downstream, in the corresponding lane 34.
    In the example of FIGS. 1 and 2, the detection module 14, the calculation module 20 and the transmission module 22 are each produced in the form of software, or a software brick, executable by the processor 30. The memory 28 of the electronic monitoring device 10 is then able to store detection software configured to detect, via at least one sensor 16, at least one traffic element 18 entering the road intersection zone 12, calculation software configured to calculate at least one access indicator associated with the road intersection zone 12 as a function of the detection or not of element (s) of traffic 18 entering the road intersection zone 12 and configured transmission software to transmit at least one indicator calculated to an autonomous motor vehicle 24 approaching the road intersection zone 12. The processor 30 is then able to execute each of the software from the l detection software, calculation software and transmission software.
    In a variant not shown, the detection module 14, the calculation module 20 and the transmission module 22 are each produced in the form of a programmable logic component, such as an FPGA (from the English Field Programmable Gâte Arraÿ), or in the form of a dedicated integrated circuit, such as an ASIC (from the English Application Specifies Integrated Circuit).
    When the electronic monitoring device 10 is produced in the form of one or more software, that is to say in the form of a computer program, it is further able to be recorded on a medium, not shown, readable by computer. The computer-readable medium is, for example, a medium capable of storing electronic instructions and of being coupled to a bus of a computer system. For example, the readable medium is an optical disc, a magneto-optical disc, a ROM memory, a RAM memory, any type of non-volatile memory (for example EPROM, EEPROM, FLASH, NVRAM), a magnetic card or an optical card. A computer program comprising software instructions is then stored on the readable medium.
    In the example of FIGS. 1 and 2, the detection module 14, the calculation module 20 and the transmission module 22 are embedded in the single information processing unit 26, that is to say within a single electronic computer.
    As a variant, not shown, the detection module 14 on the one hand, and the calculation module 20 and the transmission module 22 on the other hand, are embedded in two separate and separate electronic computers.
    According to this variant, the electronic detection module 14 is for example disposed near the sensor or sensors 16, by being connected to each of the sensors 16, by wire 19 or radio link. In optional addition, the detection module 14 is for example integrated into a corresponding sensor 16.
    According to this variant, the calculation module 20 and the transmission module 22 are then for example placed within a supervision computer, positioned more distant from the sensor (s) 16. The supervision computer is for example a platform d 'a control center. In optional addition, the supervision computer is connected to several detection modules 14, and the calculation of the access indicator or indicators is then carried out according to the traffic element or elements entering the road intersection zone 12, detected ( s) by all of the detection modules 14.
    In addition, the transmission module 22 is also configured to transmit, to the autonomous motor vehicle 24 when approaching the road intersection zone 12, an access indicator having a forced value, for example manually by an operator, instead of the access indicator calculated by the calculation module 20.
    The detection module 14 is for example configured to detect a traffic element 18 entering the road intersection zone 12, as soon as a sensor 16 locates a traffic element 18 positioned inside the associated detection zone Z at said track 34.
    When the detection zone Z is the portion of said channel 34 located between the entry limit 36 and the distance D upstream of said entry limit 36, this distance D is for example predefined respectively for each channel d 'access 34, and is then likely to vary from one access route 34 to another. As a variant, the distance D is identical for all the access routes 34 of the road intersection zone 12.
    In the example of FIGS. 1 and 2, a single sensor 16 is associated with the road intersection zone 12, this single sensor 16 supervising the entire road intersection zone 12 and then being able to detect a traffic element 18 traveling on any lane 34 inside the road intersection zone 12, in particular inside a respective detection zone Z.
    In a variant not shown, a plurality of sensors 16 is associated with the road intersection zone 12.
    Each sensor 16 is arranged on the road near said road intersection area 12. Each sensor 16 is for example arranged along an access road 34, or even in the roadway forming said access road 34.
    Each sensor 16 is for example chosen from the group consisting of: a video camera in the visible range, an infrared camera, a LIDAR, a radar and a sensor integrated in the roadway, such as an electromagnetic sensor, an ultrasonic sensor, or another sensor with double detection, electromagnetic and ultrasonic.
    In the example of FIGS. 1 and 2, the sensor 16 is a video camera in the visible range, the field of view of which, also called FOV (from the English Field Of View), covers the entire area of road intersection 12.
    Those skilled in the art will generally understand that when the sensor 16 is a camera, the latter is chosen and positioned so that the entire road intersection area 12 is covered by the field or fields of the or cameras. Similarly, when the sensor 16 is a LIDAR or a radar, the number of sensors 16 is chosen in accordance with the number of access routes 34, and the sensors 16 are positioned, as known per se, in order to cover the the entire road intersection zone 12, in particular each detection zone Z. Similarly, when the sensor 16 is a sensor integrated in the road, such as a magnetometer, an electromagnetic sensor, an ultrasonic sensor or also a double detection sensor combining an electromagnetic detection and an ultrasonic detection, a respective sensor 16 is associated with each detection zone Z.
    Each sensor 16 is then able to identify one or more traffic elements located in a respective detection zone Z for an access route 34. Each sensor 16 is also, for each identified traffic element 18, capable of determining a position of said traffic element 18, such as its instantaneous position, and to measure a speed of said traffic element 18, such as its instantaneous speed.
    Each traffic element 18 is an element capable of traveling and / or crossing a respective lane 34. Each traffic element 18 is in particular an element capable of being in a respective detection zone Z.
    Each traffic element 18 is for example chosen from the group consisting of: a motorized vehicle, a non-motorized vehicle, a pedestrian and an animal.
    The calculation module 20 is configured to calculate at least one access indicator associated with the road intersection zone 12 as a function of the detection or not, by the detection module 14, of element (s) of incoming traffic 18 in the road intersection area 12.
    The calculation module 20 is for example configured to position each access indicator to an authorized access value as long as no traffic element 18 entering the road intersection zone 12 is detected by the detection module
    14.
    The calculation module 20 is for example configured to calculate an access indicator for each entry limit 36. The calculation module 20 is then for example configured to position an access indicator at a prohibited access value associated with an entry limit 36 of a respective lane 34, upon detection of a traffic element 18 positioned inside the detection zone Z associated with a intersecting lane of said respective lane.
    In other words, as soon as a traffic element 18 entering a respective detection zone Z is detected by the detection module 14, said detection being transmitted by the detection module 14 to the calculation module 20, the calculation module 20 positions then, at the access prohibited value, the access indicator associated with the entry limit (s) 36 of the one or all of the channels 34 which are intersecting with the channel 34 for which a traffic element incoming 18 was detected at its entry limit 36.
    Each access indicator has, for example, a value equal to prohibited access or authorized access. When the access indicator is capable of taking only these two values, its value is for example coded in the form of a bit, with the value 0 corresponding by convention to prohibited access to the road intersection zone 12 and the value 1 corresponding to authorized access to the road intersection zone 12.
    In optional addition, each access indicator has more than two values and then has complementary values with respect to the two aforementioned values, for example in order to inform the autonomous motor vehicle 24 of an authorized access under restriction.
    According to this optional supplement, each access indicator has for example a value chosen from the group consisting of: prohibited access, authorized access, authorized access with specific speed limit and authorized access with indication of a potential danger. The indication of a potential danger is for example an indication of work, an indication of a vehicle being on the shoulder, etc. The person skilled in the art will then understand that in this example, the value of authorized access, without additional details, corresponds to authorized access without any particular restriction, that is to say without restriction other than those inherent to the highway code of the country concerned.
    In optional addition, the calculation module 20 is further configured to calculate, for each access indicator having the access prohibited value, a respective time delay. The duration of this time delay is for example a predefined value, such as a value between 10 seconds and 2 minutes.
    According to this optional supplement, the calculation of the time delay associated with each access indicator having the value of prohibited access makes it possible to balance the downtime of autonomous motor vehicles 24 at the entrances to the road intersection zone 12, in particular when the traffic density is high.
    The transmission module 22 is configured to transmit at least one access indicator to an autonomous motor vehicle 24 when approaching the road intersection zone 12.
    The transmission module 22 is for example configured to group the set of access indicator (s) in a common file, also called a container, and to distribute said common file to the motor vehicle (s). autonomous (s) 24 when approaching the road intersection zone 12.
    This transmission of the access indicator (s) in a diffused manner then makes it possible to facilitate the transmission of the access indicators by the transmission module 22, each autonomous motor vehicle 24 recipient then being able to filter the information contained in the common file received, in order to take into account only the access indicator relating to it, that is to say the access indicator associated with the access channel 34 on which it is located.
    As a variant, the transmission module 22 is configured to transmit, individually and to each autonomous motor vehicle 24 when approaching the road intersection zone 12, the access indicator relating to it, that is to say the access indicator associated with the access track 34 on which said autonomous motor vehicle 24 is located.
    The common file, for example, complies with the SPaT protocol (from the English Signal Phase and Timing).
    Each autonomous motor vehicle 24 preferably has a level of automation greater than or equal to 3 according to the scale of the International Organization of Automobile Manufacturers (OICA). The level of automation is then equal to 3, i.e. conditional automation (from English Conditional Automation), or equal to 4, i.e. high automation (from English High Automation), or equal to 5, that is to say a full automation (from English Full Automation).
    According to the OICA scale, level 3 conditional automation corresponds to a level for which the driver does not need to constantly monitor dynamic driving or the driving environment, while always having to be able regain control of the autonomous motor vehicle 24. According to this level 3, an autonomous driving management system, on board the autonomous motor vehicle 24, then performs the longitudinal and lateral driving in a defined use case and is suitable recognize their performance limits and ask the driver to resume dynamic driving with sufficient time.
    Level 4 of high automation corresponds to a level for which the driver is not required in a defined use case. According to this level 4, the autonomous driving management system, on board the autonomous motor vehicle 24, then performs dynamic lateral and longitudinal driving in all situations of this defined use case.
    Level 5 of complete automation finally corresponds to a level for which the autonomous driving management system, on board the autonomous motor vehicle 24, performs dynamic lateral and longitudinal driving in all the situations encountered by the autonomous motor vehicle 24 , throughout its journey. No driver is then required.
    A person skilled in the art will further understand that, according to the invention, an autonomous motor vehicle 24 approaching the road intersection zone 12 will be authorized to enter said road intersection zone 12 only if it has received an indicator not having the value of access prohibited.
    The transmission of the access indicator or indicators to each autonomous motor vehicle 24 is for example carried out according to a communication protocol conforming to the Wi-Fi standard, and / or to the LTE standard (from English Long Term Evolution), or again according to the Ethernet protocol. The transceiver 32, associated with the transmission module 22 for the transmission of the indicator (s) in the form of radio waves, is then in an analogous manner in accordance with the Wi-Fi standard, and / or the LTE standard. The transceiver 32 more generally complies with one or more medium or long distance radiocommunication standards, such as a radiocommunication standard allowing the transmission of information over a distance greater than or equal to 50 m, preferably over a greater distance. or equal to 100 m.
    Each access route 34 extends along an extension axis, and two access routes 34 intersect when their extension axes are themselves intersecting, that is to say intersect, or even intersect. cut at a point. In other words, two intersecting access roads 34 intersect.
    Each entry limit 36 is also called the entry border and then delimits an entry into the corresponding road intersection area 12. Each entry limit 36 is also called access point, in the broad sense of the concept of access point, the entry limit 36 not generally being punctual, but rather in the form of a straight line segment or of a curve segment.
    By way of example, in FIG. 1, the access routes 34 which are intersecting with the access route 34 associated with the arrow F1 are the access routes 34 associated respectively with the arrows F2 and F4. The access routes 34 associated respectively with the arrows F1 and F3 are considered to be parallel to one another and are therefore not intersecting from one another. Likewise, the access routes 34 associated respectively with the arrows F2 and F4 are considered to be parallel to one another and are therefore not intersecting from one another.
    The position of each entry limit 36, as well as an optional complement to each upstream limit 38, is for example defined by GPS coordinates (from the Global Positioning System), such as the GPS coordinates of the ends of a corresponding segment, forming said boundary 36, 38.
    Those skilled in the art will understand that the entry limit 36, shown in broken lines in Figure 1 or in Figure 2, and the upstream limit 38, shown in dotted lines in Figure 1 or in Figure 2, are each predefined limits, the position of which is known, but do not necessarily correspond to a marking on the ground on the roadway of the associated access route 34. The entry limit 36, as well as an optional supplement the upstream limit 38, are then considered to be virtual limits.
    The operation of the electronic monitoring device 10 according to the invention will now be explained with the aid of FIG. 3 showing a flow diagram of the method, according to the invention, of monitoring the road intersection zone 12, the method being set implemented by the electronic monitoring device 10.
    During an initial step 100, the monitoring device 10 detects, via its detection module 14, the set of any traffic element (s) 18 entering the road intersection zone 12.
    As indicated above, this detection of any element (s) of incoming traffic 18 is carried out using the sensor (s) 16 connected to the detection module 14, these sensors 16 being disposed on the road near the area. road intersection 12 and not being on board a respective autonomous motor vehicle 24.
    During this detection step 100, the monitoring device 10 detects for example a traffic element 18 positioned inside the detection zone Z associated with a respective channel 34 as soon as a corresponding sensor 16 locates a traffic element 18 on said channel 34 positioned inside the detection zone Z, for example at most the predefined distance D upstream of said entry limit 36, the traffic element 18 circulating from upstream to downstream on said track 34.
    In the example of FIG. 1, the autonomous motor vehicle 24 moving along the arrow F1 is in the process of crossing the entry limit 36 and positioned inside the detection zone Z associated with the track 34 on which it circulates. It is then detected as a traffic element 18 entering the road intersection zone 12.
    On the other hand, the autonomous motor vehicle 24 moving along arrow F4 is not positioned inside the detection zone Z associated with the track 34 on which it is traveling, and in particular has not yet crossed the limit upstream 38 associated with track 34 on which it circulates. It is therefore not detected as a traffic element 18 entering the road intersection zone 12.
    The monitoring device 10 then calculates, during the next step 110 and via its calculation module 20, at least one access indicator associated with the road intersection zone 12 as a function of detection or not, during the 'initial step 100, of traffic element (s) 18 entering the road intersection zone 12. This calculation step 110 will be described in more detail below, with reference to the flow diagram of FIG. 4.
    The monitoring device 10 finally transmits, during the next step 120 and via its transmission module 22, at least one access indicator to an autonomous motor vehicle 24 when approaching the road intersection zone 12.
    During this transmission step 120, the transmission module 22 groups together, for example, the set of access indicator (s) in a corresponding common file, then broadcasts this common file to the motor vehicle (s). ) autonomous (s) 24 when approaching the road intersection zone 12, this for an efficient and simplified transmission of the access indicators.
    Step 110 for calculating the access indicator or indicators associated with the road intersection zone 12 will now be described in more detail with reference to FIG. 4.
    During a sub-step 200, the calculation module 20 receives, from the detection module 14, the set of any traffic element (s) 18 entering the road intersection zone 12 , detected during the detection step 100.
    This set of detected incoming traffic element (s) 18 is, for example, transmitted in the form of a list, from the detection module 14 to the calculation module 20. The man of the The trade will of course understand that if no traffic element 18 entering the road intersection zone 12 was detected during the detection step 100, then said set, or even said list, is empty.
    The calculation module 20 then initializes, during sub-step 205, an input limit index i to the value 1, the input limit index i being an integer index with a value between 1 and N, allowing each entry limit 36 to be identified from among the plurality of entry limits 36 associated with the road intersection zone 12. By convention, the entry limit index i is incremented by one entry limit 36 to another. In the example of FIG. 1, the entry limit 36 associated with the arrow F1 is for example identified by the entry limit index i equal to 1, that associated with the arrow F2 by the limit index input i equal to 2, and so on. N represents the total number of entry limits 36 associated with the road intersection zone 12, and is for example equal to 4 in the example of FIG. 1.
    The calculation module 20 then tests, during the sub-step 210, if the value of the entry limit index i is strictly greater than N, in which case all the entry limits 36 associated with the area of road intersection 12 have been taken into account, and the calculation step 110 is then completed.
    Otherwise, that is to say if the value of the entry limit index i is less than or equal to N, then the calculation module 20 goes to sub-step 215, during which it determines, at from the set, or list, received during sub-step 200, if an incoming traffic element 18 has been detected for the entry limit 36 of index i.
    If no incoming traffic element 18 has been detected for this entry limit 36 of index i, then the calculation module 20 positions, during the sub-step 220, at the or at one of the values d authorized access, each access indicator associated with an entry limit 36 of a channel 34 which is secant from that for which no element of incoming traffic 18 has been detected in this entry limit 36 of index i. The calculation module 20 then increments, during sub-step 225, the value of the input limit index i by one unit, before returning to sub-step 210 to test whether the value of the input limit index i, incremented by one, is then strictly greater than N.
    If, during sub-step 215, the calculation module 20 has determined on the contrary that at least one element of incoming traffic 18 has been detected for this entry limit 36 of index i, then the calculation module 20 go to sub-step 230. During sub-step 230, it tests whether the value of the access indicator associated with this entry limit 36 of index i is equal or not to the access value not allowed.
    If the value of the access indicator associated with this entry limit 36 of index i is equal to access prohibited, then the calculation module 20 goes to sub-step 225 during which it increments the value of the entry limit index i of a unit, before returning to sub-step 210.
    If, on the contrary, the value of the access indicator associated with this entry limit 36 of index i is equal to the or one of the authorized access values, and is therefore not equal to the value access prohibited, then the calculation module 20 goes to sub-step 235 during which it sets, at the access prohibited value, each access indicator associated with an input limit 36 of a channel 34 which is secant from that for which at least one element of incoming traffic 18 has been detected at this entry limit 36 of index i.
    At the end of sub-step 235, the calculation module 20 passes to sub-step 225 during which it increments the value of the input limit index i by one unit, before returning to the sub-step 210.
    Calculation step 110 ends when the value of the input limit index i becomes strictly greater than N, following these successive increments of one unit during each iteration of sub-step 225.
    In the example of FIG. 1, the autonomous motor vehicle 24 moving along the arrow F1 is in the process of crossing the entry limit 36 and positioned inside the detection zone Z associated with the track 34 on which it circulates. It is then detected as an incoming traffic element 18 for the entry limit 36 of index i equal to 1. During the calculation step 110, during the first implementation of the sub-step 215, the test is then positive, and the calculation module 20 therefore passes to sub-step 230 during which it determines that the value of the access indicator associated with this input limit 36 of index 1 is equal to an authorized access value. Consequently, during sub-step 235, the calculation module 20 positions, at the access prohibited value, each access indicator associated with an input limit 36 of a channel 34 which intersects that of for which at least one element of incoming traffic 18 has been detected at this entry limit 36 of index 1. In other words, during sub-step 235, the calculation module 20 positions, at the access prohibited value , the access indicator associated with the entry limit 36 of index 2 (corresponding to the arrow F2) and that associated with the entry limit 36 of index 4 (corresponding to the arrow F4).
    The autonomous motor vehicle 24 moving along arrow F4, and approaching the entry limit 36 associated with the track 34 on which it is traveling, will thus receive, during the transmission step 120, the equal access indicator with access prohibited for this entry limit 36 of index i equal to 4. The autonomous motor vehicle 24 moving according to arrow F4 will consequently stop before this entry limit 36 of index 4 associated with track 34 on which it circulates.
    Monitoring the road intersection zone 12 according to the invention then makes it possible to avoid a collision between the autonomous motor vehicle 24 moving along the arrow F1 which has already entered the road intersection zone 12 and the one moving according to arrow F4 about to enter the road intersection zone 12, without however requiring the use of on-board sensor (s) on board said autonomous motor vehicle (s) 24.
    It can therefore be seen that the electronic device 10 according to the invention and the associated method for monitoring the road intersection zone 12 intended for autonomous motor vehicle (s) 24 allow, via less complex calculations , to further limit the risks of collision inside the road intersection zone 12, while not requiring the use of on-board sensor (s) on board said autonomous motor vehicle (s) 24.
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    1. Electronic device (10) for monitoring a road intersection area (12), the device (10) comprising:
    - a detection module (14) configured to detect, via at least one sensor (16), at least one traffic element (18) entering the road intersection zone (12), each sensor (16) being able to be connected to the detection module (14) and being disposed on the road near said road intersection zone (12), characterized in that the device (10) further comprises:
    - a calculation module (20) configured to calculate at least one access indicator associated with the road intersection area (12) as a function of the detection of traffic element (s) (18) entering the area d '' road intersection (12),
    - a transmission module (22) configured to transmit at least one calculated indicator to an autonomous motor vehicle (24) when approaching the road intersection zone (12).
    [2" id="c-fr-0002]
    2. Device (10) according to claim 1, in which the calculation module (20) is configured to position each access indicator at an authorized access value as long as no traffic element (18) entering the area road intersection (12) is not detected.
    [3" id="c-fr-0003]
    3. Device (10) according to claim 1 or 2, wherein the road intersection area (12) comprises several access routes (34), and to each access route (34) for motor vehicle (s) (s), in particular for autonomous motor vehicle (s) (24), there is associated a predefined limit (36) of entry into the road intersection zone (12), and in which the module Calculation (20) is configured to calculate an access indicator for each entry limit (36).
    [4" id="c-fr-0004]
    4. Device (10) according to claim 3, in which the calculation module (20) is configured to position, at a prohibited access value, an access indicator associated with an entry limit (36) of a respective lane (34) upon detection of a traffic element (18) positioned inside a detection zone (Z) associated with a lane (34) intersecting from said respective lane (34).
    [5" id="c-fr-0005]
    5. Device (10) according to claim 4, wherein the detection zone (Z) associated with a channel (34) is a predefined zone in 2 or 3 dimensions, preferably in the form of a polygon.
    [6" id="c-fr-0006]
    6. Device (10) according to any one of the preceding claims, in which the transmission module (22) is configured to group together the set of indicator (s) calculated in a common file and to distribute said file common to (s) autonomous motor vehicle (s) (24) when approaching the road intersection zone (12).
    [7" id="c-fr-0007]
    7. Device (10) according to any one of the preceding claims, in which each access indicator has a value chosen from the group consisting of: prohibited access, authorized access, authorized access with specific speed limit, authorized access with indication of a potential danger.
    [8" id="c-fr-0008]
    8. Device (10) according to any one of the preceding claims, in which each autonomous motor vehicle (24) has a level of automation greater than or equal to 3 according to the scale of the International Organization of Automobile Manufacturers.
    [9" id="c-fr-0009]
    9. Method for monitoring a road intersection area (12), the method being implemented by an electronic monitoring device (10) and comprising:
    - Detection (100), via at least one sensor (16), of at least one traffic element (18) entering the road intersection zone (12), each sensor (16) being able to be connected to the detection module (14) and being disposed on the road near said road intersection zone (12), characterized in that the method further comprises:
    - the calculation (110) of at least one access indicator associated with the road intersection zone (12) as a function of the detection of traffic element (s) (18) entering the road intersection zone (12)
    - the transmission (120) of at least one indicator calculated to an autonomous motor vehicle (24) when approaching the road intersection zone (12).
    [10" id="c-fr-0010]
    10. Computer program comprising software instructions which, when executed by a computer, implement a method according to the preceding claim.
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    同族专利:
    公开号 | 公开日
    CA3039874A1|2019-10-10|
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    US20190311617A1|2019-10-10|
    AU2019202500A1|2019-10-24|
    FR3079956B1|2021-12-24|
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    法律状态:
    2019-03-21| PLFP| Fee payment|Year of fee payment: 2 |
    2019-10-11| PLSC| Publication of the preliminary search report|Effective date: 20191011 |
    2020-03-13| PLFP| Fee payment|Year of fee payment: 3 |
    2021-03-11| PLFP| Fee payment|Year of fee payment: 4 |
    2021-04-23| TP| Transmission of property|Owner name: TRANSDEV GROUP INNOVATION, FR Effective date: 20210318 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1853096|2018-04-10|
    FR1853096A|FR3079956B1|2018-04-10|2018-04-10|ELECTRONIC DEVICE AND METHOD FOR MONITORING A ROAD INTERSECTION ZONE FOR AUTONOMOUS MOTOR VEHICLE, ASSOCIATED COMPUTER PROGRAM|FR1853096A| FR3079956B1|2018-04-10|2018-04-10|ELECTRONIC DEVICE AND METHOD FOR MONITORING A ROAD INTERSECTION ZONE FOR AUTONOMOUS MOTOR VEHICLE, ASSOCIATED COMPUTER PROGRAM|
    CA3039874A| CA3039874A1|2018-04-10|2019-04-09|Electronic device and monitoring process of a road intersection zone for self-driving cars, associated computer program|
    EP19168041.2A| EP3553762A1|2018-04-10|2019-04-09|Electronic device and method for monitoring an area of road intersection intended for autonomous motor vehicle, associated computer program|
    US16/379,306| US20190311617A1|2018-04-10|2019-04-09|Electronic device and method for monitoring a road intersection zone for autonomous motor vehicle, related computer program|
    AU2019202500A| AU2019202500A1|2018-04-10|2019-04-10|Electronic device and method for monitoring a road intersection zone for autonomous motor vehicle, related computer program|
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