The present invention relates to the field of augmented reality driving assistance devices of a vehicle on a lane and also relates to an associated head-up display device, an associated vehicle and an augmented reality driving assistance method. Driving assistance devices for vehicles, comprising a central display disposed at the dashboard of the vehicle and a camera disposed at the rear of the vehicle, are already known. The central display allows displaying the image filmed by the camera when the driver reverses to give him an indication of the situation at the rear of the vehicle and without the need for him to turn his head towards the rear of the vehicle. It is possible to display, in addition to the image filmed by the camera, lines indicating to the driver the trajectory that the vehicle will take from data collected by the steering angle sensor steering wheel. This function helps the driver when reversing and, especially, facilitates the parking of the vehicle. However, such an assistance device provides no indication to the driver of the situation at the front of the vehicle, the driver's attention is diverted to the central display and the result is that the driver is less attentive to the situation at the front of the vehicle.

U.S. Pat. 2014/0267398 describes an augmented reality system, device and method for safely guiding a vehicle driver with respect to pedestrians. A vehicle navigator can detect a turn depending on the proximity of a vehicle approaching it. A target sensor can detect a pedestrian entering the turn and a pedestrian crossing. An indication to warn the driver of the proximity of a pedestrian can be displayed in a head-up display device in the background. However, this assistance device does not provide the driver with other information useful to the driver to assist him in his driving. The object of the present invention is to propose an improved solution making it possible to overcome at least the main limitations of the state of the art indicated above.

The present invention relates to an augmented reality driving assistance device of a vehicle on a lane comprising: a head-up display device suitable and intended to form at least one virtual image in a field of vision of a driver, at least one sensor for measuring the speed of the vehicle and/or a sensor for measuring the steering angle of the steering wheel of the vehicle, a communication module in communication with the head-up display device through first transmission means and with said measuring sensors through second transmission means, the assistance device is characterized in that it comprises: a computer suitable and intended for: acquiring in real time the vehicle speed and/or the steering angle of the steering wheel by means of the communication module, calculating an approximation of the vehicle's path according to the speed of the vehicle and/or the steering angle of the steering wheel, determining from the approximation of the vehicle's path a display signal representative of the vehicle's path, transmitting the display signal to the head-up display device to display a virtual image representative of the path of the vehicle superimposed on at least a portion of the lane in the driver's field of vision.

In this specification, the term "suitable and intended" means "configured", for example, a "computer suitable and intended" to perform certain functions, will be configured to perform those functions, for example on account of its hardware, firmware, software, etc.

The invention also relates to a vehicle characterized in that it comprises the assistance device as described above.

The invention also relates to a head-up display device characterized in that it comprises a computer suitable and intended for: acquiring in real time a vehicle speed and/or a steering angle of the steering wheel, calculating an approximation of the vehicle's path according to the speed of the vehicle and/or the steering angle of the steering wheel, determining from the approximation of the vehicle's path a display signal representative of the vehicle's path, transmitting the display signal to the head-up display device to display a virtual image representative of the vehicle's path superimposed on at least a portion of the lane in the driver's field of vision.

Finally, the invention also relates to an augmented reality driving assistance method of a vehicle on a lane comprising at least the following steps: measuring at least from a sensor measuring the vehicle speed and/or a sensor measuring the steering angle of the vehicle steering wheel, the vehicle speed and/or the steering angle of the vehicle steering wheel, transmitting to a communication module in communication with said measuring sensors through second transmission means, the speed of the vehicle and/or the steering angle of the steering wheel, transmitting to a computer in real time the speed of the vehicle and/or the steering angle of the steering wheel from the communication module, calculating by means of the computer an approximation of the vehicle's path according to the speed of the vehicle and/or the steering angle of the steering wheel, determining by means of the computer from the approximation of the vehicle's path a display signal representative of the vehicle's path, - transmitting the display signal to the head-up display device, displaying a virtual image representative of the vehicle's path superimposed on at least part of the lane in the driver's field of vision by means of the head-up display device.

The invention will be better understood thanks to the following description, which relates to several preferred embodiments, given by way of non-limiting examples, and explained with reference to the accompanying schematic drawings, in which:

Figure 1 is a schematic view of the assistance device according to the invention implanted in a vehicle, Figure 2 is a view of the vehicle interior showing the dashboard and the windshield as well as the representative virtual image of the vehicle's path displayed by the head-up display device,

Figures 3A and 3B are representative views of the real image of the lane and of the environment seen by the driver, to which is superimposed the virtual image representative of the vehicle's path displayed by the head-up display device,

Figure 4A is a view of the actual image of the lane and the environment seen by the driver, and

Figure 4B is a representative view of the real image of the lane and the environment seen by the driver, to which the virtual image representative of the vehicle's path is superposed, and a warning displayed by the head-up display device combined with a first or second or third or fourth or fifth warning virtual image.

The augmented reality driving assistance device of a vehicle 1 on a lane 2 comprises: - a head-up display device 3 suitable and intended to form at least one virtual image 5, 6 in a field of vision of a driver 4, at least one sensor for measuring the speed of the vehicle 1 and/or one sensor for measuring the steering angle of the steering wheel of the vehicle 1 , a communication module in communication with the head-up display device 3 through first transmission means and with said measuring sensors through second transmission means.

The term "head-up display device 3" means a device comprising display means comprising a combiner or associated with the windshield 7 of the vehicle 1 to create a virtual image 5, 6 in the field of vision of the driver 4 (Figure 1 ). Generally, the head-up display device 3 may be, at least partially, integrated into the vehicle dashboard 1 .

The term "communication module" means any means of data transmission, such as a serial bus system, integrated into the vehicle 1 . According to the invention, the assistance device is characterized in that it comprises: a computer suitable and intended for: acquiring in real time the speed of the vehicle 1 and/or the steering angle of the steering wheel 9 from the communication module, calculating an approximation of the vehicle's path 1 according to the speed of the vehicle 1 and/or the steering angle of the steering wheel 9, determining from the approximation of the vehicle's path 1 a display signal representative of the vehicle's path 1 , transmitting the display signal to the head-up display device 3 to display a virtual image representative of the vehicle's path 5 superimposed on at least a portion of the lane 2 in the field of vision of the driver 4 (Figures 2, 3A, 3B, 4B).

Advantageously, such an assistance device makes it possible to improve the safety of the driving conditions of a driver 4 in a vehicle 1 . Indeed, thanks to the invention, the driver 4 has at his disposal, directly in his field of vision, information in real time on the path that the vehicle 1 will follow. Since the virtual image representative of the vehicle's path displayed in the head-up display device is advantageously superimposed on the real image of the lane 2 and the environment (Figure 4A), the driver 4 is able to analyze, anticipate and make decisions faster which improves security. For example, the assistance device according to the invention makes it possible to display a curved line or a surface representative of the shape of the turn, enabling the driver 4 to anticipate the turn and to adapt his driving (Figures 3A, 3B and 4B).

Preferably, the communication module may be a serial bus system, preferably a Controller Area Network (CAN) bus according to ISO 1 1898 standard.

Preferably, the sensor for measuring the speed of the vehicle 1 may be a sensor of the speed of the wheels 8 of the vehicle 1 and may be arranged at the wheels 8 of the vehicle 1 .

Preferably, the sensor for measuring the steering angle of the steering wheel 9 may be arranged at the steering wheel 9 of the vehicle 1 . It makes it possible to measure the deflection angle of the front wheels 8 of the vehicle 1 .

The speed measuring sensor and the steering angle measuring sensor of the steering wheel 9 may each comprise a microprocessor for transmitting the data relating to the speed or the steering angle of the steering wheel 9 to the CAN bus.

The speed measuring sensor of the vehicle 1 and the steering angle measuring sensor of the steering wheel 9 may preferentially be sensors already installed in the vehicle 1 . Advantageously, it is not necessary to implant new ones.

The assistance device may include at least one measuring sensor for measuring climactic condition related data and/or a remote network including climactic condition related data. The communication module may be in communication with said at least one sensor for measuring climactic conditions and/or said remote network through third transmission means and the computer may be suitable and intended for: acquiring real-time climactic data through the communication module, determining from the data relating to the climactic conditions a display signal representative of the climactic conditions, transmitting the display signal representative of the climactic conditions to the head-up display device 3 to display a virtual image representative of the vehicle's path 5 and a warning 6 relating to the climactic conditions.

Advantageously, the virtual image displayed is both representative of the vehicle's path 5, and a warning 6 to warn the driver 4 of current climactic conditions. The driver 4 then has at his disposal, in addition to the information on the path, information on the climactic conditions directly in his field of vision. For example, the warning 6 may be a graphic representation or a metaphor informing the driver 4 that it is raining, for example in the form of a message. Advantageously, the driver 4 can adapt his path or his speed according to this information.

The sensor for measuring climactic conditions may be a temperature, depression, hygrometry or similar probe that may be implanted in the vehicle 1 and is connected to the communication module, preferably to the CAN bus.

The remote network may be a remote server in which data relating to climactic conditions are stored. In this case, means may be connected to the communication module so as to allow a wireless communication connected to the remote network which in this case forms the third transmission means.

Data on climactic conditions can be air temperature, atmospheric pressure, humidity rate, precipitation amount, wind direction. However, these examples are not limiting.

The assistance device may include at least one climactic condition measuring sensor for measuring climactic related data and/or a remote network including climactic data. The communication module may be in communication with said at least one climactic condition measuring sensor and/or said remote network through third transmission means and the computer may be suitable and intended for: acquiring climactic data in real time through the communication module, comparing the climactic condition data and the data relating to the speed of the vehicle 1 and/or the steering angle of the steering wheel 9 to define a criticality level of the path and/or speed of the vehicle 1 based on the climactic condition data, determining from the criticality level a display signal representative of the criticality level of the path and/or the speed based on the climactic conditions, transmitting the display signal of the criticality level of the path and/or the speed, based on the climactic conditions, to the head-up display device 3 to display a virtual image representative of the vehicle's path 5 and a warning 6 relating to the criticality level of the path and/or the speed based on the climactic conditions.

Advantageously, the virtual image displayed is both representative of the vehicle's path 5, and a warning 6 making it possible to warn the driver 4 of the level of dangerousness of his driving based on his speed and the climactic conditions. The driver 4 then has at his disposal directly in his field of vision, in addition to the information on the path, information on the level of dangerousness of his driving. For example, the warning 6 may be a graphic representation or a metaphor informing the driver 4 that it is raining and that his speed is too high, for example in the form of a message. Advantageously, the driver 4 can adapt his path or his speed based on this information.

The assistance device may comprise a navigation system for collecting data relating to a recommended route according to the geography of the lane 2. The communication module may be in communication with the navigation module through fourth transmission means and the computer may be suitable and intended for: acquiring the data relating to a recommended route in real time through the communication module, determining from the data relating to a recommended route a display signal representative of the recommended route, transmitting the display signal representative of the recommended route to the head-up display device 3 to display a virtual image representative of the vehicle's path 5 and the recommended route of the vehicle 1 . Advantageously, the virtual image displayed is both representative of the vehicle's path 5 and the route recommended by the navigation module. The driver 4 then has at his disposal, directly in his field of vision, in addition to the information on the path, information on the route recommended by the navigation module.

The navigation module may be a global positioning system (GPS) device. The navigation module can be connected to the communication module, preferably to the CAN bus.

The assistance device may comprise at least one detection sensor of lane 2 for collecting data relating to a lane 2 departure of the vehicle 1 . The communication module may be in communication with said at least one lane 2 detection sensor through fifth transmission means and the computer may be suitable and intended for: acquiring the data relating to a departure from lane 2 of the vehicle 1 in real time through the communication module, determining from the data relating to a departure from lane 2 of the vehicle 1 a display signal representative of a departure from lane 2 of the vehicle 1 , transmitting the display signal representative of the recommended route to the head-up display device 3 to display a virtual image representative of the vehicle's path 5 and a warning 6 relating to a lane departure of the vehicle 1 .

Advantageously, the virtual image displayed is both representative of the vehicle's path 5 and a warning 6 making it possible to warning the driver 4 of a lane departure of the vehicle 1 . The driver 4 then has at his disposal, directly in his field of vision, in addition to information about the path, information allowing him to optimally rectify his path.

The lane detection sensor may consist of at least one camera which may be connected to the communication module, preferably to the CAN bus, or to an ADAS sensor management module outside the HUD.

The assistance device may comprise at least one module for correcting the path of vehicle 1 to collect data relating to the correction of the path of vehicle 1 . The communication module may be in communication with said module for correcting the path of vehicle 1 through sixth transmission means and the computer can be suitable and intended for:

acquiring in real time the data relating to the correction of the path of vehicle

1 through the communication module, determining from the data relating to the correction of the path of vehicle 1 a display signal representative of the correction of the path of vehicle 1 , transmitting the display signal representative of the correction of the path of vehicle 1 to the head-up display device 3 to display a virtual image representative of the vehicle's path 5 and a warning 6 relating to the correction of the path of vehicle 1 . Advantageously, the virtual image displayed is both representative of the vehicle's path 5 and a warning 6 making it possible to warning the driver 4 of a lane departure of the vehicle 1 . The driver 4 then has at his disposal, directly in his field of vision, in addition to the information on the path, information allowing him to optimally rectify his path.

The module for correcting the path of vehicle 1 may be an ESP computer, also called programmed electrostabilizer, which can be connected to the communication module, preferably to the CAN bus.

The head-up display device 3 may comprise the computer. In this case, the head- up display device 3 integrating the computer can receive the data generated by the different sensors and/or by the path correction module of the communication module, preferably by the CAN bus. In this case, the display signal representative of the path of vehicle 1 is transmitted directly from the computer to the display device.

Alternatively, the computer can be connected to the communication module, preferably to the CAN bus or can be integrated in another computer, itself connected to the CAN bus. The computer is then an entity separate from the head-up display device 3. In these cases, the head-up display device 3 may be devoid of a computer. In these cases, the display signal representative of the path of vehicle 1 can be transmitted from the computer to the display device through the CAN bus.

The representative virtual image of the vehicle's path 5 may be selected from a curved line (Figures 2, 3A, 4B), a straight line, a surface (Figure 3B) and a grid. The representative virtual image of the vehicle's path 5 may be in color.

The representative virtual image of the vehicle's path 5 and a warning 6 may be selected from a curved line, a straight line, a surface or a grid combined with a graphic representation, preferably a pictogram (Figure 4B).

The use of a graphic representation known to the driver 4, such as a pictogram, is ideal for forming a warning 6 and makes it possible to reduce the reaction time of the driver 4.

The representative virtual image of the vehicle's path 5 and a warning 6 relating to the criticality level of the path and/or the speed based on the climactic conditions may be selected from a curved line, a straight line, a surface, a grid, in color and the color may be based on the criticality level of the path and/or the speed of the vehicle 1 according to the data relating to the climactic conditions.

For example, this virtual image may be red to indicate a danger to the driver 4 or green to indicate the absence of danger to the driver 4. The invention also relates to a vehicle 1 characterized in that it comprises the assistance device as described above.

The invention also relates to a head-up display device 3 comprising a computer.

According to the invention, the head-up display device 3 is characterized in that the computer is suitable and intended for: acquiring in real time the speed of the vehicle 1 and/or the steering angle of the steering wheel 9, calculating an approximation of the path of vehicle 1 based on the speed of the vehicle 1 and/or the steering angle of the steering wheel 9, determining from the approximation of the path of vehicle 1 a display signal representative of the path of vehicle 1 , transmitting the display signal to the head-up display device 3 to display a virtual image representative of the vehicle's path 5 superimposed on at least a portion of the lane 2 in the field of vision of the driver 4.

In this case, the computer comprises all the other functions described previously allowing the display of a virtual image representative of the vehicle's path 5 and a warning 6 that may relate to: the climactic conditions, and/or the criticality level of the path and/or the speed based on the climactic conditions, and/or - the correction of the path of vehicle 1 , and/or a lane departure of the vehicle 1 , and/or a virtual image representative of the vehicle's path 5 and the recommended route.

The invention also relates to an augmented reality driving assistance method of a vehicle 1 on a lane 2 comprising at least the following steps: measuring at least from a speed measuring sensor of the vehicle 1 and/or a sensor for measuring the steering angle of the steering wheel 9 of the vehicle 1 , the speed of the vehicle 1 and/or the steering angle of the steering wheel 9, transmitting to a communication module in communication with said measuring sensors through second transmission means, the speed of the vehicle 1 and/or the steering angle of the steering wheel 9, transmitting to a computer in real time the speed of the vehicle 1 and/ or the steering angle of the steering wheel 9 from the communication module, calculating by means of the computer an approximation of the path of the vehicle 1 based on the speed of the vehicle 1 and/or the steering angle of the steering wheel 9, determining from the approximation of the path of vehicle 1 , using the computer, a display signal representative of the path of vehicle 1 , transmitting the display signal to the head-up display device 3, displaying a virtual image representative of the vehicle's path 5 superimposed on at least a portion of the lane 2 in the field of vision of the driver 4 by means of the head-up display device 3.

The method may further comprise at least the following steps: measuring at least from a climatic condition measuring sensor data relating to climactic conditions and/or acquiring from a remote network data relating to climactic conditions, transmitting to a communication module in communication with said at least one climatic condition measuring sensor and/or said remote network, through third transmission means, the data relating to the climatic conditions, transmitting in real time from the communication module to the computer the data relating to the climatic conditions, determining from the data relating to the climatic conditions, using the computer, a display signal representative of the climatic conditions, - transmitting the display signal representative of the climatic conditions to the head-up display device 3, displaying a virtual image representative of the vehicle's path 5 and a warning 6 relating to the climatic conditions by means of the head-up display device 3. The method may further comprise at least the following steps: measuring at least from a climatic condition measuring sensor data relating to climactic conditions and/or acquiring from a remote network data relating to climactic conditions, transmitting to a communication module in communication with said at least one climatic condition measuring sensor and/or said remote network, through third transmission means, the data relating to the climatic conditions, transmitting in real time from the communication module to the computer the data relating to the climatic conditions, comparing by means of the computer the data relating to the climatic conditions and the data relating to the speed of the vehicle 1 and/or the steering angle of the steering wheel 9 to define a criticality level of the path and/or the speed of the vehicle 1 based on climactic conditions, determining by means of the computer from the criticality level a display signal representative of the criticality level of the path and/or the speed according to the climatic conditions, transmitting the display signal of the criticality level of the path and/or the speed according to the climatic conditions, to the head-up display device 3, displaying a virtual image representative of the vehicle's path 5 and a warning 6 relating to the criticality level of the path and/or the speed according to the climatic conditions by means of the head-up display device 3.

The method may further comprise at least the following steps: measuring data relating to a recommended route according to the geography of lane 2 from a navigation module, transmitting to a communication module in communication with the navigation module through fourth means of transmission, the data relating to a recommended route, transmitting in real time from the communication module to the computer the data relating to a recommended route, determining from the data relating to a recommended path, using the computer, a display signal representative of the recommended route, transmitting the display signal representative of the recommended route to the head-up display device 3, - displaying a virtual image representative of the vehicle's path 5 and the recommended route of the vehicle 1 by means of the head-up display device 3.

The method may further comprise at least the following steps: measuring data relating to a vehicle departure from lane 2 from at least one detection sensor of lane 2, - transmitting to a communication module in communication with said at least one detection sensor of lane 2, through fifth transmission means, data relating to a departure of vehicle 1 from lane 2, transmitting in real time from the communication module to the computer the data relating to a departure of vehicle 1 from lane 2, - determining from the data relating to a departure of vehicle 1 from lane 2, using the computer, a display signal representative of a departure of vehicle 1 from lane 2, transmitting the display signal representative of the recommended path to the head-up display device 3, displaying a virtual image representative of the vehicle's path 5 and a warning 6 relating to a lane departure of the vehicle by means of the head-up display device 3.

The method may further comprise at least the following steps: measuring data relating to the correction of the path of the vehicle 1 from at least one correction module of the path of vehicle 1 , transmitting to the communication module, in communication with said correction module of the path of vehicle 1 , through sixth transmission means, the data relating to the correction of the path of vehicle 1 , transmitting in real time from the communication module to the computer the data relating to the correction of the path of vehicle 1 , determining from the data relating to the correction of the path of vehicle 1 , using the computer, a display signal representative of the correction of the path of vehicle 1 , transmitting the display signal representative of the correction of the path of vehicle 1 to the head-up display device 3, displaying a virtual image representative of the vehicle's path 5 and a warning 6 relating to the correction of the vehicle's path by means of the head-up display device 3.

Advantageously, the method which has just been described can be implemented by the driving assistance device as described above.

Of course, the invention is not limited to the embodiments described and shown in the accompanying drawings. Modifications are possible, in particular from the point of view of the constitution of the various elements or by substitution of technical equivalents, without departing thereby from the scope of protection of the invention.