FR3118849A1 - Method and device for securing an autonomous vehicle - Google Patents

Abstract

The invention relates to a method and a device for securing a vehicle (10) adapted to travel in an autonomous driving mode. To this end, a communication infrastructure control device (1) detects when the vehicle (10) is stationary on a road. The control device transmits to the vehicle (10) a first request awaiting a response from the driver, according to a vehicle-to-infrastructure communication mode, called V2I. In the absence of a response from the driver to the first request, the control device transmits in V2I one or more driving instructions to the vehicle (10) so that the latter reaches a safety position. Figure for abstract: Figure 1

Description

Method and device for securing an autonomous vehicle

The invention relates to methods and devices for securing a vehicle, in particular an autonomous vehicle. The invention also relates to a method and a device for controlling a vehicle, in particular an autonomous vehicle.

Technology background

Road safety is an important issue for our societies. With the increase in the number of vehicles on road networks around the world, regardless of traffic conditions, the risks of accidents and incidents caused by traffic conditions have never been greater.

When a vehicle stops on a road, for example after an accident, it is important to bring this vehicle to safety to avoid another accident, for example to prevent another vehicle traveling on the road from colliding with the vehicle stationary and no longer creates any risks for vehicles and their passengers, for example.

It happens that the driver of the stationary vehicle is no longer able to ensure control of his vehicle and that he therefore cannot put his vehicle in safety.

An object of the present invention is to improve the safety of vehicles on the roads.

Another object of the present invention is to provide a solution for securing a vehicle and increasing the safety of vehicles and their passengers.

According to a first aspect, the invention relates to a method for securing a vehicle, the vehicle being configured to travel in an autonomous driving mode, the method comprising the following steps:

- determination, by a communication infrastructure control device, of a current state of the vehicle representative of a stoppage of the vehicle on a road;

- transmission, by the control device, of first data representative of a first request intended for the vehicle, the first request requiring a response from a driver of the vehicle, the transmission being implemented according to a vehicle-to-infrastructure communication mode , known as V2I;

- transmission, by the control device according to the V2I communication mode, of second data representative of at least one driving instruction towards a safety position intended for the vehicle in the event of the driver's non-response to the first request.

According to a variant, the second data correspond to:

- data representative of the coordinates of a geolocation system corresponding to the safety position to be reached; and or

- data representative of at least one image of the safety position to be reached; and or

- data representative of a voice command to be given in the vehicle to control the vehicle towards the safety position to be reached.

According to another variant, the method further comprises a step of transmission, by the control device according to the V2I communication mode, of a second request intended for the vehicle, the second request requiring the vehicle to pass from a level of autonomy at a determined level of autonomy, the determined level of autonomy being greater than the current level of autonomy.

According to an additional variant, the first data correspond to:

- data representative of a voice message to be delivered in the vehicle requiring action by the driver in response to the voice message; and or

- data representative of graphic content to be displayed on a display screen on board the vehicle requiring action by the driver in response to the graphic content displayed; and or

- data representative of an alarm to be returned by an alarm system on board the vehicle and requiring action by the driver in response to the alarm.

According to yet another variant, the method further comprises a step of transmission, by the control device according to the V2I communication mode, of at least one command intended for at least one control system of the vehicle in the event of non- execution of the at least one driving instruction by the vehicle.

According to an additional variant, the at least one command belongs to a set of commands comprising:

- a vehicle start command;

- a vehicle stop command;

- a vehicle speed control;

- a vehicle steering control;

- A vehicle braking control; And

- a vehicle trajectory command.

According to another variant, the current state of the vehicle is determined from information representative of the environment of the vehicle.

According to an additional variant, the information representative of the environment is obtained by the control device from:

- at least one communication infrastructure sensor configured to acquire data representative of the environment; and or

- of the vehicle according to the V2I communication mode; and or

- at least one other vehicle according to the V2I communication mode.

According to a second aspect, the invention relates to a device for securing a vehicle, the device comprising a memory associated with a processor configured for the implementation of the steps of the method according to the first aspect of the invention.

According to a third aspect, the invention relates to a system comprising at least one vehicle configured to circulate according to an autonomous driving mode, for example of the automobile type, as well as a device as described above according to the second aspect of the invention.

According to a fourth aspect, the invention relates to a computer program which comprises instructions adapted for the execution of the steps of the method according to the first aspect of the invention, this in particular when the computer program is executed by at least one processor.

Such a computer program can use any programming language, and be in the form of source code, object code, or intermediate code between source code and object code, such as in a partially compiled form, or in any other desirable form.

According to a fifth aspect, the invention relates to a computer-readable recording medium on which is recorded a computer program comprising instructions for the execution of the steps of the method according to the first aspect of the invention.

On the one hand, the recording medium can be any entity or device capable of storing the program. For example, the medium may comprise a storage means, such as a ROM memory, a CD-ROM or a ROM memory of the microelectronic circuit type, or even a magnetic recording means or a hard disk.

On the other hand, this recording medium can also be a transmissible medium such as an electrical or optical signal, such a signal being able to be conveyed via an electrical or optical cable, by conventional or hertzian radio or by self-directed laser beam or by other ways. The computer program according to the invention can in particular be downloaded from an Internet-type network.

Alternatively, the recording medium may be an integrated circuit in which the computer program is incorporated, the integrated circuit being adapted to execute or to be used in the execution of the method in question.

Brief description of figures

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 1 to 4, in which:

schematically illustrates a communication infrastructure and a vehicle, according to a particular embodiment of the present invention;

illustrates a flowchart of the different steps of a process for securing the vehicle of the , according to a first particular embodiment of the present invention;

illustrates a flowchart of the different steps of a process for securing the vehicle of the , according to a second particular embodiment of the present invention;

schematically illustrates a device of the communication infrastructure of the configured to secure the vehicle from the , according to a particular embodiment of the present invention.

A method and a device for securing a vehicle will now be described in the following with reference in conjunction with FIGS. 1 to 4. The same elements are identified with the same reference signs throughout the description which will follow.

According to a particular and non-limiting example of embodiment of the invention, a method for securing a vehicle adapted to circulate according to an autonomous driving mode comprises the determination, by a communication infrastructure control device, of a current state of the vehicle when stationary on a road or traffic lane. The determination of the state is for example obtained from environmental information acquired by one or more sensors (for example a camera) monitoring the road environment of the vehicle. The control device transmits to the vehicle a first request awaiting a response from the driver of the vehicle. This transmission is advantageously carried out within the framework of a communication from the infrastructure to the vehicle, called vehicle-to-infrastructure or V2I communication. In the absence of a response from the driver to the first request, the control device transmits in V2I one or more driving instructions to the vehicle so that the latter goes to safety, that is to say so that the vehicle reaches a safety position (for example on an emergency lane, on a space reserved for emergency stops or on a rest area), i.e. a position away from traffic and out of a traffic lane to minimize the risk of collision with another vehicle.

Such a method allows the infrastructure to remotely control a vehicle which is in a stationary position on a road, for example after an accident. This makes it possible to remotely manage vehicles in a problem situation, for example when the driver is unable to drive the vehicle or control the transition to autonomous mode of the vehicle. This thus makes it possible to reduce the risk of accident or additional accident linked to the presence of a stationary vehicle on the road with an infrastructure which it is possible to ensure that it is still operational, unlike some vehicle systems.

Such a process is for example implemented within the framework of a so-called MRM procedure (from the English "Minimal Risk Maneuver" or in French "minimum risk maneuver") having the objective of reducing the risks in road traffic, such a process being implemented automatically by a system when the driver of the vehicle does not respond to a request to take control of the vehicle in manual mode.

schematically illustrates a communication infrastructure 1 communicating with a vehicle 10, according to a particular and non-limiting embodiment of the present invention.

There illustrates a first vehicle 10 and a second vehicle 11 traveling in a road environment, for example on a two-way traffic road, a highway, an expressway, a road in an urban environment.

According to the example of , the vehicle 10 is stationary on the road, for example after an engine failure or an accident, for example a collision with an object on the road or on the side of the road. The vehicle 10 thus presents a danger for traffic on the road, for itself and/or for other road users by running the risk of a collision with a vehicle approaching from behind, for example.

According to the example of , the vehicle 10 corresponds to a motor vehicle. However, the object of the invention is not limited to motor vehicles, but extends to any type of land vehicle, for example a truck, a bus, a motorcycle.

The vehicle 10 is configured to circulate according to an autonomous driving mode, that is to say that the vehicle 10 embeds one or more systems configured to control the vehicle and assist the driver in driving the vehicle, or even replace the driver for drive the vehicle on the road. Thus, the vehicle 10 is able to travel on the road under the full supervision of a driver or in an autonomous or semi-autonomous mode. The vehicle circulates according to a level of autonomy equal to 0 or according to a level of autonomy going from 1 to 5 for example, according to the scale defined by the American federal agency which established 5 levels of autonomy going from 1 to 5, level 0 corresponding to a vehicle having no autonomy, the driving of which is under the total supervision of the driver, and level 5 corresponding to a completely autonomous vehicle.

The level 0 of autonomy and the 5 levels of the classification of the federal agency in charge of road safety are listed below:

- level 0: no automation, the driver of the vehicle fully controls the main functions of the vehicle (engine, accelerator, steering, brakes);

- level 1: driver assistance, automation is active for certain vehicle functions, the driver retaining overall control over the driving of the vehicle; cruise control is part of this level, like other aids such as ABS (anti-lock braking system) or ESP (programmed electro-stabilizer);

- level 2: automation of combined functions, the control of at least two main functions is combined in the automation to replace the driver in certain situations; for example, adaptive cruise control combined with lane centering allows a vehicle to be classified as level 2, as does automatic parking assistance;

- level 3: limited autonomous driving, the driver can hand over complete control of the vehicle to the automated system which will then be in charge of critical safety functions; however, autonomous driving can only take place under certain determined environmental and traffic conditions (only on the motorway, for example);

- level 4: complete autonomous driving under conditions, the vehicle is designed to carry out all the critical safety functions on its own over a complete journey; the driver provides a destination or navigation instructions but is not required to make himself available to regain control of the vehicle;

- level 5: completely autonomous driving without driver assistance in all circumstances.

To this end, the vehicle 10 is equipped with or embeds one or more driving assistance systems, called ADAS (from the English “Advanced Driver-Assistance System” or in French “Advanced Driving Assistance System”) , such a system being configured to assist, or even completely replace, the driver of the vehicle 10.

The vehicle 10 advantageously embeds a communication device for transmitting and receiving data intended for another vehicle and/or a server of a network infrastructure 1. Each communication device can be likened to a node of a network , for example an ad hoc wireless network.

The infrastructure of the network 1 comprises for example communication devices 110, 111, each device 110, 111 corresponding for example to an antenna of a cellular network of the 4G or 5G LTE type or to a UBR ("Roadside Unit" ), each corresponding to a node of the network, in addition to the nodes equipping the vehicle 10 and optionally the vehicle 11.

According to the particular example of , the road is monitored by one or more sensors, for example by a camera 112. This camera is advantageously associated with or equipped with a communication device connected to the network 1, for example to transmit to the network the images acquired by this camera 112

The vehicle 10, and the vehicle 11 if applicable, advantageously communicate using a so-called vehicle-to-everything or V2X communication system (from the English “vehicle-to-everything” or in French “Véhicule vers tout”), for example based on ITS G5 3GPP LTE-V or IEEE 802.11p standards. In such a V2X communication system, each vehicle embeds a node to allow communication from vehicle to vehicle V2V (from the English “vehicle-to-vehicle”), from vehicle to infrastructure V2I (from the English “vehicle-to- -infrastructure”) and/or vehicle-to-pedestrian V2P, the pedestrians being equipped with mobile devices (for example a smart phone (“Smartphone”)) configured to communicate with vehicles, for example via the network infrastructure 1.

According to a particular embodiment, all the nodes (that is to say the communications devices associated with the vehicles 10, 11, with the camera 112 and the antennas or UBR 110, 111) of the network 1 form a network wireless ad hoc (also called WANET (from the English "Wireless Ad Hoc Network") or MANET (from the English "Mobile Ad Hoc Network"), corresponding to a decentralized wireless network. Unlike a centralized network which is based on an existing infrastructure comprising, for example, routers or access points linked together by a wired or wireless infrastructure, the ad hoc wireless network is made up of nodes which each participate in the data routing by retransmitting data from one node to another, from the sender to the receiver, depending on the network connectivity and the routing algorithm implemented. The ad hoc wireless network advantageously corresponds to a vehicular ad hoc network (or VANET, standing for “Vehicular Ad hoc NETwork”) or to an intelligent vehicular ad hoc network (or InVANET, standing for “Intelligent Vehicular Ad hoc NETwork”), also known as the “GeoNetworking” network. In such a network, 2 or more vehicles each carrying a node can communicate with each other in the context of V2V vehicle-to-vehicle communication; each vehicle can communicate with the infrastructure set up as part of a V2I vehicle-to-infrastructure communication; each vehicle can communicate with one or more pedestrians equipped with mobile devices (for example a smart phone (“Smartphone”)) as part of a V2P vehicle-to-pedestrian communication (“vehicle-to- walker”).

The nodes corresponding to the antennas (or UBR) 110 and 111 as well as the node corresponding (or associated) to the camera 112 are advantageously connected to one or more remote servers or to the "cloud" 100 (or in French "cloud") via a wired and/or wireless connection. The antennas or UBR 110 and 111 can thus act as a relay between the “cloud” 100 and the vehicle 10 and/or the vehicle 11.

One or more control devices (or servers) of the network 1 located for example in the “cloud” 100 are configured to receive information on the road environment from the sensor or sensors such as the camera 112 in order to process and analyze them. Other sources of information on the environment come for example from the vehicles, for example the vehicle 11, circulating in the road environment if these vehicles are equipped with ad-hoc sensors and a communication device allowing the exchange of information with the "cloud" 100 of the network 1.

According to a particular embodiment, the vehicle 11 is equipped with one or more sensors configured to acquire data representative of the environment and transmit them to one or more servers or control devices of the “cloud” 100.

The vehicle 11 embeds, for example, one or more of the following sensors:

- one or more millimetric wave radars arranged on the vehicle 11, for example at the front, at the rear, on each front/rear corner of the vehicle; each radar is adapted to emit electromagnetic waves and to receive the echoes of these waves returned by one or more objects (for example the vehicle 10), with the aim of detecting obstacles and their distances vis-à-vis the vehicle 11; and or

- one or more LIDAR (s) (from the English "Light Detection And Ranging", or "Detection and estimation of the distance by light" in French), a LIDAR sensor corresponding to an optoelectronic system composed of a transmitter device laser, a receiver device comprising a light collector (to collect the part of the light radiation emitted by the emitter and reflected by any object located on the path of the light rays emitted by the emitter) and a photodetector which transforms the light collected as an electrical signal; a LIDAR sensor thus makes it possible to detect the presence of objects (for example the vehicle 10) located in the emitted light beam and to measure the distance between the sensor and each object detected; and or

- one or more cameras (associated or not with a depth sensor) for the acquisition of one or more images of the environment around the vehicle 11 located in the field of vision of the camera or cameras.

The vehicle 11 transmits for example the raw data resulting from the acquisition by this or these sensors or a processed version of these data resulting from the sensors to the “cloud” 100. A processed version corresponds to a version in which the objects and their positions have for example been detected, according to any method known to those skilled in the art, for example any learning method (from the English "machine learning") based on artificial intelligence with for example implementation of a network of neurons.

When the raw data is transmitted to the "cloud" 100, the control device or devices or servers receiving this data process this raw data according to any method known to those skilled in the art to detect the objects and their locations, for example the presence of the vehicle 10 stationary on the road, for example according to a learning method based on artificial intelligence with for example implementation of a neural network.

illustrates a flowchart of the different steps of a method for securing the vehicle 10, according to a particular and non-limiting embodiment of the present invention. The method is for example implemented by a device for controlling a communication infrastructure 1, this device being for example located in the "cloud" or by the device 4 of the .

In a first step 21, a device for controlling the infrastructure or the communication network 1, for example a "cloud" server 100, determines the current state of the vehicle 10 and detects when the latter is stationary on the road or pavement. The determination of the current state is obtained from data of the environment in which the vehicle 10 moves. These data are for example obtained:

- one or more sensors arranged to monitor traffic in the environment (for example one or more cameras, one or more LIDARs and/or radars); and or

- one or more vehicles circulating in the environment and carrying one or more sensors, for example sensors configured to detect objects such as one or more cameras, one or more LIDARs and/or radars, this or these vehicles transmitting these raw or processed data at the control device according to a vehicle-to-everything communication mode, called V2X, in particular according to a vehicle-to-infrastructure communication mode, called V2I; and or

- of the vehicle 10 according to the V2X communication mode, in particular V2I.

The control device determines a stoppage of the vehicle 10 on the road, for example after an accident. Such a stop is for example determined when the speed of the vehicle is equal to 0 km/h (for example via the image or LIDAR or radar data), when the vehicle is identified as being across the lane, when the analysis of the image data detects that the hazard warning lights of vehicle 10 are activated (for example following automatic activation by an on-board system of vehicle 10 following an accident or incident).

In a second step 22, the control device transmits first data of a first request to the vehicle 10 according to the V2I communication mode when the control device has determined that the vehicle 10 is stationary on the road and therefore presents a risk for himself and other vehicles circulating in this environment.

The first request requires a response from the driver and corresponds for example to:

- a voice message to be returned or reproduced in the vehicle 10 (for example on one or more speakers in the passenger compartment of the vehicle 10 and/or on a smart telephone (“smartphone”) of the driver and/or of one or more passengers of the vehicle 10. The voice message corresponds for example to a message asking the driver or a passenger of the vehicle to acknowledge receipt of the message by performing a determined action, for example by pressing a confirmation button displayed for this purpose on a touch screen in the passenger compartment or on the smartphone, or by confirming receipt of the message by an oral response; and/or

a graphic content to be displayed on a display screen on board the vehicle, for example a screen arranged in the passenger compartment of the vehicle 10 or a screen of a smart telephone of the driver and/or of one or more passengers. The graphic content corresponds for example to a text or an image requiring an action from the driver (or from a passenger) in response, such as for example pressing an icon or a button displayed on the touch screen, and/or confirming receipt of the graphic message with an oral response; and or

- an alarm to be returned by an alarm system on board the vehicle and requiring an action from the driver in response to the alarm, such as for example pressing a physical button in the vehicle, an icon or a virtual button displayed on a touch screen, and/or by confirming receipt of the graphic message by an oral response.

In a third step 23, the control device transmits to the vehicle 10, according to the V2I communication mode, a set of second data representative of at least one driving instruction to be executed by the vehicle 10 in autonomous mode, so that the vehicle 10 joins a safety position in case of non-response of the driver to the first request. A non-response corresponds to the absence of a response to the first request within a determined time interval (for example no response within 2, 3, 5 or 10 seconds following the transmission of the first request) and/or no response of the driver of the vehicle 10 (or of a passenger) after the successive sending of several first requests (for example 2, 3, 4 or 5 first requests).

The driving instruction(s) are for example intended for one or more vehicle control systems 10 on board the vehicle 10 and in charge of controlling the vehicle 10 when the latter is in autonomous or semi-autonomous driving mode (for example with a level of autonomy greater than a determined threshold, for example greater than or equal to level 3 or 4).

The second data of the driving instruction(s) correspond to:

- data representative of the coordinates of a geolocation system corresponding to the safety position to be reached; and or

- data representative of at least one image of the safety position to be reached; and or

- data representing a voice command to be given in the vehicle to control the vehicle towards the safety position to be reached; and or

- data representative of a trajectory to be followed to reach the safety position.

When the driver or a passenger of the vehicle 10 responds to the first request (for example by confirming that he is able to take the hand of the vehicle 10 to steer and reach a safety position), the method or process for setting security stops and the second and third steps 22, 23 are not executed. In this case, the method comprises a step of receiving the driver's or passenger's response by the control device, this response being transmitted by the vehicle 10 to the communication infrastructure according to the V2I communication mode by example.

illustrates a flowchart of the different steps of a method for securing the vehicle 10, according to another particular and non-limiting embodiment of the present invention. The method is for example implemented by a device for controlling a communication infrastructure 1, this device being for example located in the "cloud" or by the device 4 of the .

In a first step 31, one or more devices for controlling the infrastructure or the communication network 1 analyzes the situation of the environment, for example via the processing of data received:

- one or more infrastructure sensors responsible for monitoring the environment; and or

- one or more vehicles circulating in the environment.

In a second step 32, the control device finds that the current state of at least one vehicle circulating in the monitored environment is stationary, for example that there has been an accident or a collision involving one or several vehicles and resulting in the stopping of one or more vehicles presenting a danger on the road. The control device then transmits one or more first requests intended for the vehicle or vehicles stationary on the road according to the V2I communication mode, for example as described for step 22 of the .

In a third step 33, the control device waits for a response from the driver (or a passenger) of each vehicle to which a first request is addressed, for example during a determined time interval running from the issue of the first request.

In the event of a response to the first request, the method proceeds to the fourth step 34 in which the driver of each vehicle having responded positively to the first request takes control of the vehicle 10, that is to say the vehicle passes into a manual circulation mode under the supervision of the driver and leaves the scene of the incident or accident to for example reach a safety position under the responsibility of the driver. In this case, the method ends with the fourth step 34.

In the event of non-response to the first request, the method proceeds to the fifth step 35. The absence of response is for example noted by the control device in the event of non-receipt of a response from a destination vehicle of a first request at the end of the determined time interval. According to an optional embodiment variant, the method comprises a step of receiving an acknowledgment of receipt of the first request. The transmission, according to the V2I communication mode, of the acknowledgment by a vehicle having received a first request is for example implemented automatically by the system in charge of rendering the message corresponding to the first request when the latter has been returned. In the event of non-receipt of the acknowledgment by the control device, a second transmission of the first request is for example implemented by the control device.

In this fifth step 35, the control device analyzes the state of each vehicle that has not responded to the first request. Such an analysis makes it possible, for example, to verify whether the vehicle concerned is in a manual or autonomous driving mode and to determine the current level of autonomy of the vehicle concerned.

If the result of the analysis indicates that the vehicle concerned is in an autonomous driving mode with a level of autonomy greater than a determined threshold (for example with a level of autonomy greater than or equal to 4 or 5), then the process goes to a seventh step 37.

If the result of the analysis indicates that the vehicle concerned is in an autonomous driving mode with a level of autonomy strictly lower than the determined threshold, then the method passes to a sixth step 36.

In the sixth step 36, the control device transmits to the vehicle concerned and according to the V2I communication mode at least one second request. Such a second request corresponds to a request to switch the vehicle concerned from the current level of autonomy determined in step 35 to a determined level of autonomy, the determined level of autonomy being greater than the current level of autonomy. The level of autonomy determined corresponds for example to the maximum level of autonomy that the vehicle concerned can take, according to the configuration of the vehicle concerned and/or according to the operating state (operational state or not) of the on-board system or systems in charge driving in autonomous mode of the vehicle concerned, such an operating state being for example included in the analysis implemented in step 35.

According to an optional variant embodiment, the control device receives an acknowledgment, according to the V2I communication mode, from the vehicle concerned when the latter has passed into the determined autonomy mode allowing passage to step 37. According to this variant and if the acknowledgment is not received, the control device requests the dispatch of help and/or an assistance vehicle to locate the vehicle concerned.

In the seventh step 37, the control device transmits to the vehicle concerned, according to the V2I communication mode, a set of second data representative of at least one driving instruction to be executed by the vehicle concerned, so that the vehicle concerned joins a safe position. The seventh step corresponds for example to the third step 23 described with regard to the .

If the vehicle 37 implements the driving instruction(s), the method ends with this seventh step. The implementation of the driving instruction(s) by the vehicle concerned is for example verified by the control device from the environmental data received by the control device, for example received from the sensors of the infrastructure. The method ends for example when the control device finds that the vehicle concerned has indeed reached the safety position indicated by the second data. The observation is for example carried out by the processing of data received from the sensors of the infrastructure and/or the reception of data transmitted by the vehicle concerned according to the V2I communication mode confirming that the safety position has been reached by the vehicle concerned. .

In the event of absence of implementation of the driving instruction(s) by the vehicle concerned, the method passes to an eighth step 38.

In the eighth step 38, the control device takes control of the vehicle concerned by transmitting one or more commands to the vehicle concerned to direct it towards the safety position, according to the V2I communication mode. The command or commands are for example selected by a user via a man-machine interface, called an HMI, for example a graphical HMI associated with or implemented on the control device. The command or commands comprise for example one or more instructions and a set of parameters intended for one or more control systems of the vehicle concerned, for example one or more ADAS systems implemented in the autonomous driving mode of the vehicle concerned. The command(s) transmitted correspond to one of the following commands, or to several or even all of the following commands according to all the possible combinations:

- A vehicle start command, for example a vehicle engine start command;

- a vehicle stop command, for example to switch off the vehicle engine once the safety position has been reached;

- a vehicle speed control;

- a vehicle steering control;

- A vehicle braking control; And

- a vehicle trajectory command.

The route or the movement of the vehicle is for example followed in real time on a map displayed on a display screen associated with the control device. The successive positions of the vehicle concerned or its route are for example obtained via video images obtained from the camera 112 and/or via information representative of position (for example coordinates) transmitted by the vehicle concerned according to the V2I communication mode, these information being for example obtained from a geolocation system on board the vehicle concerned.

Such monitoring allows, for example, the user controlling the control device or the control device when the latter operates automatically or autonomously (for example by implementing artificial intelligence based, for example, on a neural network ) to adapt the commands to be transmitted as the vehicle concerned moves and any obstacles concerned. If the vehicle concerned is equipped with a camera filming the road in front of the vehicle concerned, the images acquired by the on-board camera are for example transmitted to the control device according to the V2I communication mode for better monitoring of the journey.

The method then ends when the vehicle concerned reaches the safety position.

schematically illustrates a device 4 configured for securing a vehicle, for example securing the vehicle 10, according to a particular and non-limiting embodiment of the present invention. The device 4 corresponds for example to a device of the “cloud” 100, for example a control device of the server or computer type.

According to another example, the device 4 corresponds to a computer of the on-board system of the vehicle in charge of receiving the requests, instructions and commands transmitted by the control device, these requests, instructions and/or commands being retransmitted to one or more other computers of the embedded system via a multiplexed data bus for example.

The device 4 is for example configured for the implementation of the operations and steps described with regard to the , 2, and 3. Examples of such a device 4 include, but are not limited to, electronic equipment such as a server, computer, laptop, tablet, or in-vehicle device such as an on-board computer of a vehicle, an electronic computer such as an ECU ("Electronic Control Unit") or a smart phone.

The elements of device 4, individually or in combination, can be integrated in a single integrated circuit, in several integrated circuits, and/or in discrete components. The device 4 can be made in the form of electronic circuits or software (or computer) modules or else a combination of electronic circuits and software modules. According to different particular embodiments, the device 4 is coupled in communication with other similar devices or systems and/or with communication devices, for example one or more antennas or UBR, one or more sensors such as one or more cameras, a TCU (from the English “Telematic Control Unit” or in French “Unité de Contrôle Télématique”), for example via a communication bus or through dedicated input/output ports.

The device 4 comprises one (or more) processor(s) 40 configured to execute instructions for carrying out the steps of the method and/or for executing the instructions of the software or software embedded in the device 4. The processor 40 can include integrated memory, an input/output interface, and various circuits known to those skilled in the art. The device 4 further comprises at least one memory 41 corresponding for example to a volatile and/or non-volatile memory and/or comprises a memory storage device which can comprise volatile and/or non-volatile memory, such as EEPROM, ROM, PROM, RAM, DRAM, SRAM, flash, magnetic or optical disk.

The computer code of the on-board software or software comprising the instructions to be loaded and executed by the processor is for example stored on the memory 41.

According to a particular and non-limiting embodiment, the device 4 comprises a block 42 of interface elements for communicating with external devices, for example a remote server or the “cloud”, other nodes of the ad hoc network. Block 62 interface elements include one or more of the following interfaces:

- RF radio frequency interface, for example of the Bluetooth® or Wi-Fi® type, LTE (from English "Long-Term Evolution" or in French "Evolution à long terme"), LTE-Advanced (or in French LTE-advanced );

- USB interface (from the English "Universal Serial Bus" or "Universal Serial Bus" in French);

- HDMI interface (from the English “High Definition Multimedia Interface”, or “Interface Multimedia Haute Definition” in French);

- LIN interface (from English “Local Interconnect Network”, or in French “Réseau interconnecté local”).

Data are for example loaded to the device 4 via the block 42 interface using a Wi-Fi® network such as according to IEEE 802.11, an ITS G5 network based on IEEE 802.11p or a mobile network such as a 4G network (or LTE Advanced according to 3GPP release 10 – version 10) or 5G, in particular an LTE-V2X network.

According to another particular embodiment, the device 4 comprises a communication interface 43 which makes it possible to establish communication with other devices (such as other servers, antennas or UBRs, sensors or according to another example of realization of the on-board system computers) via a communication channel 430. The communication interface 63 corresponds for example to a transmitter configured to transmit and receive information and/or data via the communication channel 430. The communication interface 43 corresponds for example to a wired network of the Ethernet type (standardized by the ISO/IEC 802-3 standard) or optical fiber, or according to another example when the device 4 corresponds to a computer of the on-board system, to a wired network of the type CAN (from English “Controller Area Network” or in French “Réseau de Contrôleurs”), CAN FD (from English “Controller Area Network Flexible Data-Rate” or in French “Réseau de control flexible data rate converters”), FlexRay (standardized by ISO 17458) or Ethernet (standardized by ISO/IEC 802-3).

According to an additional particular embodiment, the device 4 can provide output signals to one or more external devices, such as a display screen, one or more loudspeakers and/or other peripherals respectively via interfaces output not shown.

According to an additional particular embodiment, the device 4 can receive input signals from one or more external devices, such as a keyboard, a mouse, a microphone and/or other peripherals respectively via interfaces of entry not shown.

Of course, the invention is not limited to the embodiments described above but extends to a method for controlling a vehicle, in particular remote control of the vehicle, as well as to the device configured for setting work of such a process.

The invention also relates to a system comprising one or more communication devices corresponding to the device 4 of the coupled in communication with one or more vehicles, for example automobile or more generally one or more autonomous land motor vehicles. The control device(s) advantageously communicate with the vehicle(s) in a wireless communication mode of the V2X type, or more specifically of the V2I type.

Claims (10)

Method for securing a vehicle (10), said vehicle (10) being configured to travel in an autonomous driving mode, said method comprising the following steps:
- determination (21), by a communication infrastructure control device (1), of a current state of said vehicle (10) representative of a stop of said vehicle on a road;
- transmission (22), by said control device, of first data representative of a first request intended for said vehicle (10), said first request requiring a response from a driver of said vehicle (10), said transmission being works according to a vehicle-to-infrastructure communication mode, known as V2I;
- transmission (23), by said control device according to said V2I communication mode, of second data representative of at least one driving instruction towards a safety position intended for said vehicle (10) in the event of no response from said driver to said first request. Method according to claim 1, for which said second data correspond to:
- data representative of coordinates of a geolocation system corresponding to said safety position to be reached; and or
- data representative of at least one image of said safety position to be reached; and or
- data representative of a voice command to be given in said vehicle (10) to control said vehicle (10) towards said safety position to be reached. Method according to claim 1 or 2, further comprising a step of transmission (36), by said control device according to said V2I communication mode, of a second request intended for said vehicle (10), said second request requesting a passage said vehicle (10) from a current level of autonomy to a determined level of autonomy, said determined level of autonomy being greater than said current level of autonomy. Method according to any one of Claims 1 to 3, for which the said first data correspond to:
- data representative of a voice message to be delivered in said vehicle (10) requiring an action from said driver in response to said voice message; and or
- data representing graphic content to be displayed on a display screen on board said vehicle (10) requiring an action from said driver in response to said displayed graphic content; and or
- data representative of an alarm to be returned by an alarm system on board said vehicle and requiring an action from said driver in response to said alarm. Method according to any one of claims 1 to 4, further comprising a step of transmission, by said control device according to said V2I communication mode, of at least one command intended for at least one control system of said vehicle (10) in the event of non-execution of said at least one driving instruction by said vehicle (10). Method according to claim 5, for which said at least one command belongs to a set of commands comprising:
- A start command of said vehicle;
- A stop command of said vehicle;
- A speed control of said vehicle;
- A steering control of said vehicle;
- A braking control of said vehicle; And
- A path control of said vehicle. Method according to one of claims 1 to 6, for which said current state of said vehicle (10) is determined from information representative of the environment of said vehicle (10). Method according to claim 7, for which said information representative of the environment is obtained by said control device from:
- at least one sensor (112) of said communication infrastructure (1) configured to acquire data representative of said environment; and or
- said vehicle according to said V2I communication mode; and or
- at least one other vehicle (11) according to said V2I communication mode. Device (4) for securing a vehicle, said device (4) comprising a memory (41) associated with at least one processor (40) configured for the implementation of the steps of the method according to any one of the claims 1 to 8. System comprising the device (4) according to claim 9 and at least one vehicle (10) configured to travel in an autonomous driving mode.