WO2026022163A1 - Method for the autonomous emergency stop of a vehicle and associated vehicle - Google Patents

Abstract

The invention relates to a method (100) for the autonomous emergency stop of a vehicle (200) implemented following the detection of an inability of a driver to drive the vehicle (200), the method including: - a step (101) of statically warning the driver; - if there is no reaction from the driver during the static warning step (101), a step (102) of activating an emergency stop assistance function implemented on the vehicle (200), resulting in the implementation of the following steps: - at least one step (103) of dynamically warning the driver; - if a condition in which the driver regains control is not implemented during the dynamic warning step (103), a step (104) of slowing the vehicle (200) until it stops, during which a first deceleration setpoint is applied to the vehicle (200); the duration of the static warning step (101) and/or the duration of the dynamic warning step (103) and/or the duration of the slowing step (104) being conditioned by the speed of the vehicle (200) and the distance (D) to an area where an event (201) that poses a hazard to the driver has occurred.

Description

Description

Title of the invention: Autonomous emergency stopping method for a vehicle and associated vehicle

TECHNICAL FIELD OF THE INVENTION

[0001] The technical field of the invention is that of safety functions in vehicles, and more particularly that of emergency stopping functions in vehicles.

[0002] The present invention relates to a method for the emergency stopping of a vehicle and, in particular, to an autonomous emergency stopping method for a vehicle. The invention also relates to a vehicle and a computer program product for implementing the method.

TECHNOLOGICAL BACKGROUND OF THE INVENTION

[0003] The Emergency Stop Assist (ESA) function is a service that allows the driver, in the event of hands being released from the steering wheel, drowsiness or distraction for a certain period of time, to automatically stop the vehicle in its lane after a certain number of alerts and over a period that can extend over more than 30 seconds.

[0004] This function is intended in particular to make the vehicle safe if the driver experiences, for example, a medical emergency.

[0005] The current problem with this function is that the vehicle may find itself stopped in its lane in an area that presents a danger to the driver, for example in the middle of a turn or just after the crest of a hill.

[0006] There is therefore a need for a process enabling an autonomous emergency stop of a vehicle when its driver is unable to drive, which limits the risks to the driver once the vehicle has stopped.

Summary of the invention

[0007] The invention offers a solution to the problems mentioned above, by allowing the autonomous emergency stopping of the vehicle in a secure area.

[0008] A first aspect of the invention relates to a method for the autonomous emergency stopping of a vehicle implemented following the detection of a driver's inability to drive the vehicle, comprising:

• A static driver alert stage;

• If the driver does not react during the static warning phase, an activation phase of an emergency braking assistance function implemented on the vehicle will occur, leading to the implementation of the following steps:

• At least one dynamic driver alert step; • In the absence of implementation of a driver takeover condition during the dynamic alert stage, a vehicle deceleration stage until it comes to a stop, during which a first deceleration instruction is applied to the vehicle; the duration of the static alert stage and/or the duration of the dynamic alert stage and/or the duration of the deceleration stage being conditioned by the speed of the vehicle and the distance to an area of occurrence of an event presenting a danger to the driver.

[0009] Thanks to the invention, contextual data relating to future events that may present a danger to the driver are used to lengthen or shorten the warning or deceleration times before and after the activation of the emergency stop assist function, in order to stop the vehicle in safer areas, for example before the top of a hill or long after exiting a bend.

[0010] In addition to the characteristics mentioned in the preceding paragraph, the process according to the invention may have one or more additional characteristics from among the following, considered individually or according to all technically possible combinations.

[0011] According to one embodiment, a second deceleration instruction lower than the first deceleration instruction is applied to the vehicle during the dynamic warning stage.

[0012] Thus, in the event that the area where the event occurs is close to the vehicle or that an immediate event is detected, the vehicle is slowed down to make it possible to stop without endangering the driver.

[0013] According to a sub-variant of the preceding variant embodiment, the dynamic alert step comprises a first dynamic alert sub-step during which a third deceleration instruction is applied to the vehicle, and a second dynamic alert sub-step during which the second deceleration instruction is applied to the vehicle, the third deceleration instruction being less than the second deceleration instruction.

[0014] Thus, the slowing down of the vehicle is gradual.

[0015] According to an embodiment compatible with the previous embodiment, the regaining control condition depends on the speed of the vehicle and the distance to the area where the event occurred that presents a danger to the driver.

[0016] Thus, the driver's resumption of control of the vehicle can be facilitated when the time between the detection of the driver's incapacity and the stopping of the vehicle is reduced. [0017] According to an embodiment compatible with previous embodiments, the emergency stop assistance function implements a step of holding the vehicle stopped.

[0018] According to an embodiment compatible with the previous embodiments, an audible and/or visual signal is emitted during the static alert stage and the dynamic alert stage.

[0019] According to an embodiment compatible with previous embodiments, at least one vehicle speed or trajectory control function is implemented, and/or the brakes are activated, during the dynamic warning stage.

[0020] According to an embodiment compatible with previous embodiments, the event presenting a danger to the driver is the presence of a road feature, a road event, a weather event or another vehicle near the vehicle, or an imminent departure from the lane of the vehicle.

[0021] A second aspect of the invention relates to a vehicle comprising means for implementing the method according to the invention.

[0022] A third aspect of the invention relates to a computer program product comprising instructions which, when the program is executed by a computer, lead the latter to implement the steps of the process according to the invention.

[0023] The invention and its various applications will be better understood by reading the following description and examining the accompanying figures.

BRIEF DESCRIPTION OF THE FIGURES

[0024] The figures are presented for illustrative purposes only and are in no way limiting of the invention.

• Fig. 1 is a synoptic diagram illustrating the sequence of steps of a process according to the invention.

• Fig. 2 shows a schematic representation of a vehicle on which the process according to the invention is applied, as a function of time.

DETAILED DESCRIPTION

[0025] Unless otherwise specified, the same element appearing on different figures has a unique reference.

[0026] The invention relates to a method for bringing a vehicle to an emergency stop autonomously, that is to say without intervention by a driver of the vehicle.

[0027] The sequence of steps of process 100 is illustrated in [Fig.1] and their effects on vehicle 200 as a function of time are illustrated in [Fig.2].

[0028] The method 100 is implemented following the detection of an inability of the driver to drive the vehicle 200, for example following a medical episode of the driver. [0029] Such an incapacity is detected, for example, if the hands are released from the steering wheel, or if drowsiness or distraction is detected in the driver for a certain period of time. The detection of drowsiness or distraction in the driver is carried out, for example, using a camera and artificial intelligence trained to identify certain signs in the driver, such as closed eyes, from images acquired by the camera.

[0030] On [Fig.2], the detection of the driver's incapacity is carried out at time tO and the vehicle 200 then has a speed vO.

[0031] A first step 101 of the process 100 consists of issuing a so-called static alert to the driver.

[0032] A "static alert" is understood to mean an alert which, unlike a dynamic alert, has no effect on the speed and/or trajectory of the vehicle.

[0033] The emission of a static alert consists, for example, of the emission of an audible signal and/or a visual signal to the driver.

[0034] The emission of a visual signal consists for example of the display of a message on a screen of the vehicle 200, the message being for example "Stay focused on driving".

[0035] On [Fig.2], the first step 101 is implemented between times t0 and tl and the vehicle 200 has a speed vl at time tl.

[0036] The duration of the first step 101 may depend on the speed of the vehicle 200 and the distance D to an area of occurrence of an event 201 presenting a danger to the driver.

[0037] The duration of the first step 101 depends, for example, on the speed of the vehicle 200 and the distance D to the area where the event 201 occurred, at the time of detection of the driver's inability to drive the vehicle 200, and the duration of the first step 101 can be updated according to the speed of the vehicle 200 and the distance D to the area where the event 201 occurred at a time later than the time of detection of the driver's inability to drive the vehicle 200.

[0038] Such an event 201 may be the presence of a particular road feature, for example the presence of a bend, a toll, a roundabout, a crossroads, or a hill, the presence of a road event or local hazard, for example the presence of an accident, a traffic jam, roadworks, or an object on the roadway, the presence of a meteorological event, for example the presence of fog or black ice, the presence of another vehicle nearby which has, for example, triggered an emergency stop function or Automated Emergency Braking (AEB), or an imminent lane departure. [0039] The term "imminent lane departure" means that the vehicle 200 is very close to one of the lane lines, or in a sharp turn with a lateral acceleration greater than 2.5m/ ^s² .

[0040] In [Fig.2], event 201 is the presence of an object on the roadway.

[0041] Thus, if the distance D between vehicle 200 and the area of occurrence of event 201 is too small to allow vehicle 200 to stop given its speed, the duration of the first step 101 can, for example, be shortened to allow the emergency stop of vehicle 200 to be implemented in an early manner.

[0042] Similarly, if the distance D between vehicle 200 and the area of occurrence of event 201 is too great to prevent vehicle 200 from stopping outside the area of occurrence of event 201 given its speed, the duration of the first step 101 can for example be extended in order to delay the emergency stop of vehicle 200.

[0043] The duration of the first step 101 is for example 5 seconds in a nominal case, i.e. in the absence of detection of an event 201 likely to present a danger to the driver in the context of the emergency stop, and 3 seconds in the case where the distance D between the vehicle 200 and the area of occurrence of the event 201 is small.

[0044] The data relating to events 201 are data, for example, from navigation, from a camera of vehicle 200, or from a map produced in a participatory manner, i.e. crowdsourced.

[0045] If the driver does not react during the first step 101, for example if the driver does not put his hands back on the steering wheel after the detection of a release of the hands on the steering wheel or if the driver is not detected as being sufficiently awake or alert after the detection of drowsiness or distraction, a second step 102 of the method 100 is implemented.

[0046] The second step 102 of the process 100 consists of activating an emergency stop assist function implemented on the vehicle 200.

[0047] Such activation is carried out automatically.

[0048] On [Fig.2], the second step 102 is implemented at time tl.

[0049] Activation of the emergency stop assistance function leads to the implementation of the following steps of process 100.

[0050] A third step 103 of the process 100 consists of issuing a so-called dynamic alert to the driver.

[0051] The issuance of a dynamic alert consists for example of implementing at least one function of controlling the speed or trajectory of the vehicle 200 and/or activating the brakes. [0052] The speed control function is for example a speed regulation function or Autonomous Cruise Control (ACC) in English.

[0053] The trajectory control function is, for example, a lane-following assistance function.

[0054] In [Fig.2], the third step 103 is implemented between times t1 and t3.

[0055] An audible and/or visual signal may also be emitted during the third stage

103.

[0056] The emission of a visual signal consists for example of the display of a message on a screen of vehicle 200, the message being for example "Emergency stop Take back control".

[0057] The duration of the third step 103 may depend on the speed of the vehicle 200 and the distance D to the area of occurrence of the event 201 which presents a danger to the driver.

[0058] The duration of the third step 103 depends, for example, on the speed of the vehicle 200 and the distance D to the area where the event 201 occurred, at the time of detection of the driver's inability to drive the vehicle 200, and the duration of the third step 103 can be updated according to the speed of the vehicle 200 and the distance D to the area where the event 201 occurred at a time later than the time of detection of the driver's inability to drive the vehicle 200.

[0059] The duration of the third step 103 is for example 10 seconds in a nominal case, 4 seconds in the case where the distance D between the vehicle 200 and the area of occurrence of the event 201 is small and 16 seconds in the case where the distance D between the vehicle 200 and the area of occurrence of the event 201 is large.

[0060] According to one embodiment, the third step 103 of the process 100 comprises a first substep 1031 and a second substep 1032.

[0061] The first substep 1031 consists, for example, of implementing the speed control function and the lane keeping assist function, and the second substep 1032 consists, for example, of implementing the speed control function, the lane keeping assist function and activating the brakes in the form of jerks.

[0062] On [Fig.2], the first substep 1031 is implemented between times t1 and t2 and the vehicle 200 has a speed v2 at time t2, and the second substep 1032 is implemented between times t2 and t3 and the vehicle 200 has a speed v3 at time t3.

[0063] The duration of the first substep 1031 is, for example, 5 seconds in a nominal case, 2 seconds in the case where the distance D between the vehicle 200 and the area where event 201 occurs is small, and 8 seconds in the case where the distance D between the vehicle 200 and the area where event 201 occurs is large, and the duration of the second sub-step 1032 is for example 5 seconds in a nominal case, 2 seconds in the case where the distance D between vehicle 200 and the area of occurrence of event 201 is small and 8 seconds in the case where the distance D between vehicle 200 and the area of occurrence of event 201 is large.

[0064] If the driver does not implement a takeover condition during the third step 103, a fourth step 104 of the process 100 is carried out.

[0065] A condition for regaining control is, for example, a change in position of the brake pedal and/or the accelerator pedal, and/or a torque action on the steering wheel, and/or the detection of hands on the steering wheel and/or the activation of a cancel button.

[0066] The fourth step 104 consists of slowing down vehicle 200 until vehicle 200 comes to a stop, by applying a first deceleration instruction to vehicle 200.

[0067] On [Fig.2], the fourth step 104 is implemented between times t3 and t4 and the vehicle 200 has a speed v4 at time t4.

[0068] The speed v3 is therefore greater than the speed v4 and the speed v4 is zero.

[0069] The duration of the fourth step 104 may depend on the speed of the vehicle 200 and the distance D to the area of occurrence of the event 201 which presents a danger to the driver.

[0070] The duration of the fourth step 104 depends, for example, on the speed of the vehicle 200 and the distance D to the area where the event 201 occurred, at the time of detection of the driver's inability to drive the vehicle 200, and the duration of the fourth step 104 can be updated according to the speed of the vehicle 200 and the distance D to the area where the event 201 occurred at a time later than the time of detection of the driver's inability to drive the vehicle 200.

[0071] The duration of the fourth step 104 is for example a function of the first deceleration instruction, itself chosen according to the speed of the vehicle 200 and the distance D to the area of occurrence of the event 201 presenting a danger to the driver.

[0072] The first deceleration setpoint is for example between 0 and 1 m/s ² .

[0073] According to one embodiment, the regaining control condition may depend on the speed of the vehicle 200 and the distance D to the area of occurrence of the event 201 presenting a danger to the driver.

[0074] For example, regaining control is facilitated when the emergency braking of vehicle 200 is initiated early, i.e., when the duration of the first step 101 and/or the duration of the third step 103 and/or the duration of the fourth step 104 is shortened. For instance, the changes in pedal position and/or the torque applied to the steering wheel required for regaining control may be less significant in this case. [0075] According to one embodiment, a second deceleration instruction lower than the first deceleration instruction is applied to vehicle 200 during the third step 103.

[0076] According to one embodiment, a third deceleration instruction is applied to vehicle 200 during the first substep 1031 and the second deceleration instruction is applied to vehicle 200 during the second substep 1032, the third deceleration instruction being less than the second deceleration instruction.

[0077] The second deceleration setpoint is for example 0.6 m/ ^s² and the third deceleration setpoint is for example 0.3 m/ ^s² .

[0078] The speed v1 is therefore greater than the speed v2, which is itself greater than the speed v3.

[0079] The method 100 according to the invention may include a fifth step of holding the vehicle 200 in a standstill once the vehicle 200 has stopped.

[0080] An audible and/or visual signal may also be emitted during the fifth step 105.

[0081] The emission of a visual signal consists, for example, of displaying a message on a screen of vehicle 200, the message being, for example, "Emergency stop performed".

Claims

Demands [Claim 1] A method (100) for the autonomous emergency stopping of a vehicle (200) implemented following the detection of a driver's inability to operate the vehicle (200), comprising: - A static driver alert step (101); - If the driver does not react during the static alert step (101), a step (102) of activation of an emergency braking assistance function implemented on the vehicle (200) will occur, resulting in the implementation of the following steps: • At least one dynamic driver alert stage (103); • In the absence of implementation of a condition for the driver to take back control during the dynamic alert stage (103), a stage (104) of slowing down the vehicle (200) until it comes to a stop, during which a first deceleration instruction is applied to the vehicle (200); the duration of the static alert stage (101) and/or the duration of the dynamic alert stage (103) and/or the duration of the slowing down stage (104) being conditioned by the speed of the vehicle (200) and the distance (D) to an area of occurrence of an event (201) presenting a danger to the driver. [Claim 2] Method (100) according to claim 1, wherein a second deceleration command lower than the first deceleration command is applied to the vehicle (200) during the dynamic alert step (103). [Claim 3] Method (100) according to claim 2, wherein the dynamic alert step (103) comprises a first dynamic alert substep (1031) during which a third deceleration command is applied to the vehicle (200), and a second dynamic alert substep (1032) during which the second deceleration command is applied to the vehicle (200), the third deceleration command being lower than the second deceleration command. [Claim 4] Method (100) according to any one of the preceding claims, wherein the regaining control condition depends on the speed of the vehicle (200) and the distance (D) to the area of occurrence of the event (201) presenting a danger to the driver. [Claim 5] Method (100) according to any one of the preceding claims, wherein the emergency stop assist function implements a step (105) of holding the vehicle (200) stationary. [Claim 6] Method (100) according to any one of the preceding claims, wherein an audible and/or visual signal is emitted during the static alert step (101) and the dynamic alert step (103). [Claim 7] A method (100) according to any one of the preceding claims, wherein at least one vehicle speed or trajectory control function (200) is implemented, and/or the brakes are activated, during the dynamic warning step (103). [Claim 8] A method (100) according to any one of the preceding claims, wherein the event (201) that presents a danger to the driver is the presence of a road feature, a road event, a weather event or another vehicle in the vicinity of the vehicle, or an imminent lane departure of the vehicle. [Claim 9] Vehicle comprising means for implementing the method (100) according to any one of the preceding claims. [Claim 10] Product: A computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the steps of the method (100) according to any one of claims 1 to 8.