WO2025003583A1 - Method and device for parameterising an adaptive cruise control function of an autonomous vehicle - Google Patents

Abstract

The invention relates to a method and a device for parameterising an adaptive cruise control function of an autonomous vehicle, the function being activated and being parameterised by a target inter-vehicle time and a target vehicle speed, referred to as the target speed, the method being implemented by a processor and comprising the steps of: receiving (301) a signal representative of a state of a button; receiving (302) a zone from a gaze analysis device; if this attribute determines (303) that there is a vehicle preceding the autonomous vehicle, with the preceding vehicle and the autonomous vehicle travelling in the same traffic lane, the target inter-vehicle time is incremented or decremented (304) according to the states of the button.

Description

DESCRIPTION

TITLE: Method and device for setting an adaptive speed regulation function of an autonomous vehicle

The present invention claims priority from French application 2306642 filed on 06/26/2023, the content of which (text, drawings and claims) is incorporated herein by reference.

Technical field of the invention

[0001] The invention is in the field of autonomous vehicle driving assistance systems. In particular, the invention relates to the parameterization of an adaptive cruise control function of an autonomous vehicle, said function being a driving assistance.

State of the art

[0002] “Vehicle” means any type of vehicle such as a motor vehicle, a moped, a motorcycle, a storage robot in a warehouse, etc. “Autonomous driving” of an “autonomous vehicle” means any process capable of assisting the driving of the vehicle. The process may thus consist of partially or totally steering the vehicle or providing any type of assistance to a natural person driving the vehicle. The process thus covers all autonomous driving, from level 0 to level 5 in the OICA scale, for the International Organization of Motor Vehicle Manufacturers.

[0003] The methods capable of assisting the driving of the vehicle are also called ADAS (from the English acronym "Advanced Driver Assistance Systems"), ADAS systems or driving assistance systems. An adaptive cruise control function of an autonomous vehicle is a driving aid, called ACC from the English "Adaptive Cruise Control". The operation of an ACC is known. The autonomous vehicle is also called an ego vehicle.

[0004] Also known, for example from FR 3 122 391 A1, are devices for monitoring an occupant of a vehicle, in particular devices for analyzing the driver's gaze and monitoring their attention. These devices are capable of determining the direction of the gaze and thus determining an area focused by the attention of the driver's gaze. This area may be a location located on the driver's seat, such as a predetermined area of a display. This area may also be a location outside the vehicle such as a vehicle traveling in front of the ego vehicle, a speed limit sign, etc. These devices are capable of determining one or more attributes related to the focused area. For example, these attributes may be a vehicle preceding the ego vehicle, a speed limit on a traffic sign, a displayed parameter of a driving aid, etc.

[0005] An ACC comprises means capable of detecting the presence of a vehicle preceding said ego vehicle, the two vehicles traveling on the same lane of traffic. The preceding vehicle is also called the target vehicle. The ACC is able to determine the distance between the ego vehicle and the vehicle, a distance called the inter-vehicle distance. The ACC is able to determine an inter-vehicle time from a measured speed of the vehicle.

[0006] An ACC user can set:

• a target speed, the speed at which the ego vehicle should travel. The target speed is chosen by the user based on the speed limit of the lane on which the ego vehicle is traveling. The choice is made using buttons or a human-machine interface;

• a target inter-vehicle time, called target TIV, which makes it possible to determine a target distance separating the ego vehicle from a target vehicle. This TIV is 2 seconds. The choice is made either from buttons other than the target speed selection buttons, or from the same buttons from a dedicated interface that must be activated using other buttons, not allowing to ergonomically and successively set a target speed and a TIV, and vice versa, in less than a second.

[0007] On a route, it is necessary to regularly modify the target speed according to the speed limits or the traffic context (traffic on a motorway/on a national road/in town, fluid/dense/very dense traffic). There are systems that make it possible to recognize a speed limit and to suggest to the user to use the identified speed limit as a target speed. However, a single TIV is not suitable for these different traffic contexts. A user will prefer a TIV varying from 2 seconds to 1 second on a motorway when traveling in a right-hand lane and depending on the speed and/or traffic density, another TIV around 1 second when the ego vehicle overtakes another vehicle, another TIV varying from 2 seconds to 1 second on a motorway when traveling in a left-hand lane depending on the speed and/or traffic density. Ideally, a user of the ego vehicle would like to be able to adjust the TIV according to the target speed and the traffic context that he will determine.

[0008] Document US 2021/053586 A1 discloses systems and methods for improving the visual scanning behavior associated with vehicle control. Document US 2022/063635 A1 discloses a vehicle controller and a method for controlling a driving distance. Document US 2022/135079 A1 discloses a vehicle movement controller that recognizes an action of a driver of a vehicle from image data of the driver. Document US 2022/297727 A1 discloses a vehicle control device comprising a recognition device configured to recognize a surrounding situation of a vehicle.

Summary of the invention

[0009] An object of the present invention is to remedy the aforementioned problem, in particular to ergonomically allow, using the same button, to simultaneously adjust a target speed and a TIV without having to go through a dedicated interface. [0010] For this purpose, a first aspect of the invention relates to a method for setting an adaptive cruise control function of an autonomous vehicle, said function being activated and being set by a target inter-vehicle time and a target vehicle speed, called target speed, said method being implemented by a processor and comprising the steps of:

• Receiving a signal representative of a state of a button, said button having at least three states, a first state determining an absence of request or a neutral position, a second state determining a request for a first incremental variation, and a third state determining a request for a second incremental variation;

• Reception, from a gaze analysis device, of a zone focused by the gaze and of an attribute of said focused zone, said gaze analysis device being capable of determining at least three zones and being capable of associating with each determined zone at least one attribute linked to the zone;

• If said attribute determines a vehicle preceding said autonomous vehicle, said preceding vehicle and said autonomous vehicle traveling on the same traffic lane, said target inter-vehicle time is incremented or decremented depending on the states of said button.

[0011] Thus, the look specifies the operating context, the modification of the inter-vehicle time is modified very simply and ergonomically using a single button without having to activate, via a man-machine interface, a display dedicated to the modification of the inter-vehicle time.

[0012] Advantageously, said button has a fourth state, the fourth state determining an acknowledgment.

[0013] Advantageously, if said attribute determines a limit speed, said target speed is replaced by said limit speed depending on the states of said button.

[0014] Advantageously, a display device of said autonomous vehicle displays, for the attention of an occupant of said autonomous vehicle, said preceding vehicle and said limit speed.

[0015] Advantageously, said display device further displays said target speed, and in which if said attribute determines a display of said target speed, said target speed is incremented or decremented depending on the states of said button.

[0016] Advantageously, if said attribute determines a limit speed or if said attribute determines a display of said target speed, said target speed is replaced by said limit speed as a function of said fourth state of said button, and said target speed is incremented or decremented as a function of the second and third states of said button.

[0017] Advantageously, a step of transmitting to said display device a signal requesting highlighting, on the display device, of said focused zone. [0018] A second aspect of the invention relates to a device comprising an adaptive speed control device and a memory associated with at least one processor configured to implement the method according to the first aspect of the invention, said device being able to comprise a display system.

[0019] The invention also relates to a vehicle comprising the device.

[0020] The invention also relates to a computer program comprising instructions which, when the program is executed by the device according to the second aspect of the invention, lead the latter to implement the method according to the first aspect of the invention.

Brief description of the figures

[0021] Other characteristics and advantages of the invention will emerge from the description of the non-limiting embodiments of the invention below, with reference to the appended figures, in which:

[0022] [Fig. 1] schematically illustrates a device, according to a particular exemplary embodiment of the present invention.

[0023] [Fig. 2] schematically illustrates a display by a display device, according to a particular exemplary embodiment of the present invention.

[0024] [Fig. 3] schematically illustrates a method of setting the parameter of an adaptive cruise control function of an autonomous vehicle, according to a particular exemplary embodiment of the present invention.

Detailed description of the invention

[0025] The invention is described below in its non-limiting application to the case of an autonomous motor vehicle traveling on a road or on a traffic lane. Other applications such as a robot in a storage warehouse or a motorcycle on a country road are also conceivable.

[0026] Figure 1 shows an example of a device 101 included in the vehicle, in a network (“cloud”) or in a server. This device 101 can be used as a centralized device in charge of at least some steps of the method described below with reference to Figure 3. In one embodiment, it corresponds to an autonomous driving computer.

[0027] In the present invention, the device 101 is included in the vehicle.

[0028] This device 101 can take the form of a box comprising printed circuits, any type of computer or even a mobile telephone (“smartphone”).

[0029] The device 101 comprises a random access memory 102 for storing instructions for the implementation by a processor 103 of at least one step of the method as described below. The device also comprises a mass memory 104 for storing data intended to be retained after the implementation of the method. [0030] The device 101 may further comprise a digital signal processor (DSP) 105. This DSP 105 receives data to format, demodulate and amplify, in a manner known per se, this data.

[0031] The device 101 also comprises an input interface 106 for receiving the data implemented by the method according to the invention and an output interface 107 for transmitting the data implemented by the method according to the invention.

[0032] For example, the input interface 106 can receive the following data: position or geographic location of the vehicle, speed and/or acceleration of the vehicle, set or predetermined positions/speeds/accelerations, engine speed, position and/or travel of the clutch, brake and/or acceleration pedal, detection of other vehicles or objects, position or geographic location of the other vehicles or objects detected, speed and/or acceleration of the other vehicles or objects detected, operating states of sensors, confidence index of data from or processed by sensors and/or devices similar to the device 101. For example, the sensors capable of providing data are: GPS associated or not with a map, tachometers, accelerometers, RADAR, LIDAR, lasers, ultrasound, camera, eye analysis device, etc.

[0033] In an exemplary embodiment, the input interface can also receive the following data: a target inter-vehicle time, a target vehicle speed, a limit speed, a signal representative of a button state, an area focused by a gaze, an attribute of a focused area, ...

[0034] For example, the output interface 107 can transmit data similar to the data received by the input interface 106. The output interface 07 can transmit a predetermined increment or a predetermined decrement of an inter-vehicle time and/or a target speed, a signal representative of a request to highlight a displayed area, ...

[0035] [Fig. 2] schematically illustrates a display 201 by a display device, according to a particular embodiment of the present invention. The display device of said autonomous vehicle displays, for the attention of an occupant of said autonomous vehicle, a limit speed 202, a target speed 203 and a preceding vehicle 204. The limit speed 202, the target speed 203 and the preceding vehicle 204 are displayed in determined areas of the passenger compartment of the vehicle.

[0036] The speed limit 202 is conventionally determined from a navigation system comprising a map and means of geolocation of the vehicle. The map includes the traffic lanes and information determining a speed limit. The map can be embedded in the vehicle and/or unloaded from the vehicle (in a network, in the “cloud”). The speed limit can also be determined by recognition of roadside traffic signs from a camera embedded in the vehicle and processing of images from the camera.

[0037] The target speed 203 is a parameter that can be modified by the driver/occupant of the vehicle. This parameter corresponds to the speed at which the autonomous vehicle must travel in the absence of a target vehicle and a gap between the target inter-vehicle time and a measured inter-vehicle time. Typically, the target speed change is achieved by interaction between the driver and a button. The display of the target speed 203 on the display 201 allows the driver to know what the value of the target speed 203 is.

[0038] When the cruise control function identifies the presence of a target vehicle, a target vehicle being a vehicle preceding the autonomous vehicle, the target vehicle traveling on the same traffic lane as the autonomous vehicle, the function informs the driver of the autonomous vehicle. This information can be provided by displaying the preceding vehicle 204 as a representation of a vehicle.

[0039] Conventionally, the display 201 is in the axis of the steering wheel according to the normal direction of travel of the vehicle. The display is displayed on the dashboard. The display can also be displayed on a so-called head-up display screen. This display allows the driver to view this information. To view this information, the driver focuses his gaze on the information zone. A zone represents a region or a delimited space. Conventionally, a zone for the speed limit 202, for the target speed 203 or for the preceding vehicle is a few cm ² .

[0040] [Fig. 3] schematically illustrates a method for setting an adaptive cruise control function of an autonomous vehicle, according to a particular embodiment of the present invention. In this example, said function is activated. In other words, the speed of the autonomous vehicle is regulated as an ACC does, according to parameters such as a target inter-vehicle time and a target vehicle speed, called target speed, according to the presence or absence of a vehicle called target vehicle, said target vehicle traveling in front of said target autonomous vehicle and traveling on the same lane as said autonomous vehicle, and according to an inter-vehicle distance or inter-vehicle time, the transition between distance and time being obtained according to a speed of said autonomous vehicle.

[0041] The target inter-vehicle time parameter has a value of a predetermined parameter, for example 2 seconds, but can be modifiable by a driver/occupant of the vehicle, for example between 0.5 seconds and 4 seconds.

[0042] The target speed parameter has a value determined by the driver/occupant of the vehicle. This parameter corresponds to the speed at which the autonomous vehicle must travel in the absence of a target vehicle and a gap between the target inter-vehicle time and a measured inter-vehicle time. If the inter-vehicle time is smaller than the target inter-vehicle time, the function will regulate the speed of the autonomous vehicle such that after a while, the measured inter-vehicle time is equal to the target inter-vehicle time.

[0043] Step 301, StateB, is a step of receiving a signal representative of a state of a button, said button having at least three states, a first state determining an absence of request or a neutral position, a second state determining a request for a first incremental variation, and a third state determining a request for a second incremental variation.

[0044] In one operating mode, said button has a fourth state, the fourth state determining an acknowledgment.

[0045] Preferably, said button is a control placed near a steering wheel of the vehicle. A driver of the vehicle can thus manipulate the button without looking at it. In another operating mode, the button is simulated by a touch graphic interface. The button is capable of sending a signal making it possible to determine the state of the button.

[0046] Step 302, Zone, is a step of receiving, from a gaze analysis device, a zone focused by the gaze and an attribute of said focused zone, said gaze analysis device being capable of determining at least three zones and being capable of associating with each determined zone at least one attribute linked to the zone.

[0047] Devices for monitoring an occupant of a vehicle are known, in particular devices for analyzing the gaze and monitoring the attention of the driver. These devices are capable of determining the direction of the gaze and thus determining an area focused by the attention of the driver's gaze. This area may be a location located on the driver's seat, such as a predetermined area of a display. This area may also be a location outside the vehicle such as a vehicle traveling in front of the ego vehicle, a speed limit sign, etc.

[0048] After having determined an area focused by the driver, the gaze analysis device is able to associate an attribute with the area determined from the area determined directly and/or from vehicle data from vehicle sensors and/or devices similar to the device 101.

[0049] For example, if the determined focused area is the display of the preceding vehicle 204 on the display 201, the attribute associated with this area determines a vehicle preceding said autonomous vehicle. Also, if the determined focused area is at the rear of a preceding vehicle traveling on the same traffic lane, in other words the driver is looking straight ahead and a preceding vehicle is detected by a sensor of the cruise control function, the attribute associated with this area determines a vehicle preceding said autonomous vehicle.

[0050] For example, if the determined focused area is the display of the speed limit 202 on the display 201, the attribute associated with this area determines a speed limit. Also, if the determined focused area is a speed limit traffic sign, in other words the driver is looking towards a speed limit sign located in front of the vehicle, generally on one side of the traffic lane or at a height, said sign and the speed limit being detected by a sensor of the cruise control function, the attribute associated with this area determines a speed limit. [0051] For example, if the determined focused area is the target speed display 203 on the display 201, the attribute associated with that area determines a target speed.

[0052] Advantageously, when a focused zone corresponds to a zone of a display of the preceding vehicle, of the limit speed and/or of the target speed by at least one display device, the method further comprises a step of transmitting to said display device a signal requesting highlighting, on the display device, of said focused zone.

[0053] In step 303, Zonel?, it is tested whether said attribute determines a vehicle preceding said autonomous vehicle, said preceding vehicle and said autonomous vehicle traveling on the same traffic lane. If so, we proceed to step 304, otherwise we proceed to step 305.

[0054] In step 304, said target inter-vehicle time is incremented or decremented according to the states of said button. The driver's gaze being focused on the preceding vehicle, an action on the button will be able to finely configure the target inter-vehicle time according to the driver's needs and the context.

[0055] For example, the request for a first incremental variation will increment the inter-vehicle time by a few hundredths of a second, for example 0.01 seconds, 0.05 seconds, 0.1 seconds, 0.2 seconds, 0.5 seconds, ... The request for a second incremental variation will decrement the inter-vehicle time by a few hundredths of a second, for example -0.01 seconds, -0.05 seconds, -0.1 seconds, -0.2 seconds, -0.5 seconds, ... Advantageously, the increment is 0.1 seconds and the decrement is -0.1 seconds, the values being predetermined.

[0056] At the end of step 304, we return to step 301, for example.

[0057] In step 305, Zone2?, we test whether said attribute determines a limit speed. If so, we go to step 306, otherwise we go to step 307.

[0058] In step 306, Vlim, said target speed is replaced by said limit speed depending on the states of said button. For example, if the state of the button is a state other than the first state determining an absence of request or a neutral position, the new target speed is equal to the limit speed. This is particularly useful when changing the limit speed on the same traffic lane. At the end of step 306, we return to step 301, for example.

[0059] In step 307, Zone3?, it is tested whether said attribute determines a display of said target speed. If so, we proceed to step 308, otherwise we proceed to step 302 or 301.

[0060] In step 308, Vcib, said target speed is incremented or decremented according to the states of said button. The driver's gaze being focused on the target speed, an action on the button will be able to set the target speed according to the driver's need and the context.

[0061] For example, requesting a first incremental variation will increment the target speed by a few tenths of km/h (or speed units), for example example 0.1 km/h, 0.5 km/h, 1 km/h, 2 km/h, ... Requesting a second incremental variation will decrement the target speed by a few tenths of a km/h (or speed units), for example -0.1 km/h, -0.5 km/h, -1 km/h, -2 km/h, ... Advantageously, the increment is 1 km/h and the decrement is -0.1 km/h, the values being predetermined.

[0062] At the end of step 308, we return to step 301, for example.

[0063] The present invention is not limited to the embodiments described above as examples: it extends to other variants.

[0064] For example, the method has been described according to a sequence of steps. Certain steps can be carried out in parallel or according to another sequence.

Claims

1. Method for setting an adaptive cruise control function of an autonomous vehicle, said function being activated and being set by a target inter-vehicle time and a target vehicle speed, called target speed, said method being implemented by a processor (103) and comprising the steps of: • Reception (301) of a signal representative of a state of a button, said button having at least three states, a first state determining an absence of request or a neutral position, a second state determining a request for a first incremental variation, and a third state determining a request for a second incremental variation; • Reception (302), from a gaze analysis device, of a zone focused by the gaze and of an attribute of said focused zone, said gaze analysis device being capable of determining at least three zones and being capable of associating with each determined zone at least one attribute linked to the zone; • If said attribute determines (303) a vehicle preceding said autonomous vehicle, said preceding vehicle and said autonomous vehicle traveling on the same traffic lane, said target inter-vehicle time is incremented or decremented (304) depending on the states of said button. 2. Method according to claim 1, said button has a fourth state, the fourth state determining an acknowledgment. 3. Method according to one of the preceding claims, in which if said attribute determines (305) a limit speed, said target speed is replaced (306) by said limit speed depending on the states of said button. 4. The method of claim 3, wherein a display device of said autonomous vehicle displays, to an occupant of said autonomous vehicle, said preceding vehicle and said limit speed. 5. The method of claim 4, wherein said display device further displays said target speed, and wherein if said attribute determines (307) a display of said target speed, said target speed is incremented or decremented (308) based on the states of said button. 6. A method according to claim 5 taken in combination with claim 2, wherein if said attribute determines a limit speed or if said attribute determines a display of said target speed, said target speed is replaced by said limit speed depending on said fourth state of said button, and said target speed is incremented or decremented depending on the second and third states of said button. 7. Method according to claim 6, in which the method further comprises a step of transmitting to said display device a signal requesting highlighting, on the display device, of said focused area. 8. Device (101) comprising an adaptive speed control device and a memory (102) associated with at least one processor (103) configured for implementing the method according to claims 1 to 3, said device (101) further comprising a display device when the processor implements the method according to one of claims 4 to 7. 9. Vehicle comprising the device according to the preceding claim. 10. Computer program comprising instructions which, when the program is executed by the device (101) according to claim 8, lead the latter to implement the method according to one of claims 1 to 7.