EP1127344B1 - Aid for driving a motor vehicle driving and implementing system - Google Patents
Aid for driving a motor vehicle driving and implementing system Download PDFInfo
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- EP1127344B1 EP1127344B1 EP99950856A EP99950856A EP1127344B1 EP 1127344 B1 EP1127344 B1 EP 1127344B1 EP 99950856 A EP99950856 A EP 99950856A EP 99950856 A EP99950856 A EP 99950856A EP 1127344 B1 EP1127344 B1 EP 1127344B1
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- vehicle
- speed
- driver
- distance
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
Definitions
- the invention relates to a driving assistance method. of a motor vehicle, especially in a situation of restart in a queue of stopped vehicles, as well than an implementation system.
- ACC Adaptive Cruise Control
- the vehicle being equipped with a radar, intended to detect vehicles in front of him, if a slower vehicle is detected on the same lane circulation, the system automatically modulates the speed of the vehicle equipped to adapt its distance to target vehicle. For this, this information is sent to a control computer which controls the air intake throttle, gearbox and possibly the brakes in order to act on vehicle acceleration. The driver is informed at any time on the state of the system by through a dedicated interface.
- a current ACC system does not prevent the driver, whose vehicle is stationary in a file, as soon as the way is clear to restart, and which therefore does not optimally have these "times death. "
- the present invention aims to solve these drawbacks by proposing a driving assistance process which automatically detects shutdown situations equipped vehicle behind another vehicle, then then also automatically detects actions of the previous vehicle to authorize the restart by the driver.
- the determining a stop situation for the vehicle equipped, behind a target vehicle is obtained at from the zero speed state of the equipped vehicle, the relative distance and speed between the two vehicles following each other, and their duration immobilization.
- the determination of free lane information is obtained by detecting a movement of the vehicle target beyond a predetermined threshold, or by detection of both a relative speed and a relative acceleration of the target vehicle compared to the equipped vehicle immobilized above thresholds Predefined.
- a second object of the invention is a delivery system implementing said driving assistance method.
- the vehicle must be equipped with a system including a computer control electronics 5 receiving information a vehicle speed sensor 1, which allows detect the stopping or starting of the vehicle, and a rangefinder 2 which detects target vehicles located in front of the equipped vehicle and determines the position, relative speed and acceleration of vehicles targets in relation to the equipped vehicle following them.
- a computer control electronics 5 receiving information a vehicle speed sensor 1, which allows detect the stopping or starting of the vehicle, and a rangefinder 2 which detects target vehicles located in front of the equipped vehicle and determines the position, relative speed and acceleration of vehicles targets in relation to the equipped vehicle following them.
- the method according to the invention consists in determining all first, under certain conditions, if the vehicle thus equipped with the driving assistance system is stopped behind another vehicle, said system being activated.
- the rangefinder tracks the movements of the vehicle previous, so that the electronic calculator determines, according to certain distance conditions, relative speed and acceleration between the two vehicles, if the lane has returned free, authorizing a restart of the equipped vehicle.
- the process In the case of a free lane determination, the process signals this to the driver who can restart safely.
- the system can be turned on or off, from a selection interface 3 by the driver or automatically. It can also include a device 4 for immobilizing the pedal accelerator, as described in the request for French patent N ° 96 13944 in the name of RENAULT, ordered by the computer 5.
- This device immobilizes the pedal in a situation inactive, where the control unit for the admission of gas in the engine can be placed directly under the control of the control system of the assistance system driving, on board the vehicle.
- this device has a movable element connected to the pedal, which is moved by it between a first immobilization position of the pedal in its inactive situation, kept as long as the thrust of the driver on pedal stays below threshold preset effort, and a second focus position help system out of service where the pedal does not no particular resistance. This last position is joined as soon as said effort threshold is exceeded by the driver who can order again gas opening.
- such a device achieves a footrest function, creating a hard point in the accelerator pedal stroke, this function being of course disengageable.
- the process deactivates the hard point position for the accelerator pedal, let the driver have his foot whether or not placed on it. If the driver actually has the foot on the pedal in the footrest position when disengaging this function it will feel an effect under the foot signaling that the way is clear.
- FIG. 2 is an example of an execution flowchart different stages of the process according to the invention.
- the first step (a) concerns the activation of the system driving assistance.
- This activation can be done by the driver of the vehicle through a manual interface, for example a button, dedicated to this function. It can also be obtained at from the activation commands of a speed or distance control when the vehicle is equipped with it.
- the two functions of distance and speed regulation not active that beyond a speed threshold of 40km / h for example, it is considered that the method according to the invention constitutes extending their use for gears zero.
- step (a) system activation is automatic from vehicle operating conditions observed at the next step (c).
- initialization step (b) of the method consists in zeroing a counter, of which the role will be to count the time during which the equipped vehicle is stopped behind a vehicle.
- step (c) makes it possible to recognize whether the vehicle is stopped, by reading the wheel speed delivered by a sensor. If the vehicle is not stopped, the process returns to step (b) to reset the counter.
- step (d) detects the presence of a target in front of said vehicle, on its lane.
- the rangefinder delivers relative distance and speed information which are then compared respectively to two predetermined thresholds S d and S v .
- the method therefore compares the relative distance between the equipped vehicle and the target vehicle detected to a maximum threshold S d , of the order of 6 meters for example, below which the system is sure not to take account of erroneous obstacles such as a roundabout or a parked vehicle behind which the equipped vehicle parks.
- the method relates only to driving in line.
- the method also compares the speed relative to a maximum threshold S v , to ensure that the target vehicle is itself stopped, or even reverses slightly.
- step (e) When a stop situation is detected in step (d), step (e) counts the time spent at a stop behind a target vehicle itself immobilized. This count is obtained by incrementing the counter, which will be compared in the next step (f) with a minimum time value T min , which can be configured and adapted, to be observed in order to determine an actual stopping situation behind a vehicle. This minimum time is of the order of 1.5 seconds, necessary to activate the assistance offered by the process.
- Step (g) relates to the determination of a stop situation, as soon as the stop conditions in line behind a target vehicle have been met since a duration defined in step (f). So the vehicle is immobilized, until the computer restarts.
- Step (h) therefore consists in measuring the distance between these two vehicles and in comparing it with a minimum distance threshold S D , of the order of 8 meters for example.
- This minimum distance threshold S D can be calibrated according to the driving style of the driver of the vehicle thus equipped and the state of road traffic.
- step (i) of determining "free lane” information for the equipped vehicle proceeds to step (i) of determining "free lane" information for the equipped vehicle.
- the driver is warned that the lane is free, and can safely restart, in particular by a man / machine interface, such as a sound signal, light information or tactile information perceptible to the driver at level of its steering wheel.
- a man / machine interface such as a sound signal, light information or tactile information perceptible to the driver at level of its steering wheel.
- the method performs in step (j) two comparisons, one of the relative speed of the two vehicles and the other of the acceleration of the target vehicle by compared to the equipped vehicle. First of all, it checks whether the relative speed is greater than a minimum calibrated threshold S V , of the order of 1.5 m / s, corresponding to the distance from the target car at a speed greater than S V.
- step (i) it checks whether the relative acceleration is greater than a calibrated minimum threshold S A , of the order of 2.6 m / s 2 , so that the driver reacts without delay to the restart of the vehicle in front, depending of its starting acceleration. If these two comparisons are positive, the method proceeds to step (i) already described previously and then signals to step (k).
- step (g) corresponds to activation a disengageable hard point immobilizing the pedal accelerator in the high position, when the stop conditions in line behind a vehicle are respected for a sufficient time, defined in step (F).
- This hard point position allows the driver to rest your foot on the pedal without consequence on the control of the air intake in the engine.
- step (i) of determining information of free traffic lane in front of the equipped vehicle stopped the process deactivates the point hard in the accelerator pedal stroke. This automatic disengagement of the hard point allows to warn the driver he can push his vehicle, since its lane is clear.
- the method according to the invention thus makes it possible to assist the driver in traffic jam, in traffic road, by signaling to him that the way becomes clear again to restart without needing to monitor endlessly the road scene.
- the invention can be incorporated into it without additional cost or additional specific means.
- the invention also makes it possible to perform a function driver's footrest, at point hard disengaged from the accelerator pedal. She applies to any type of vehicle, automobile or industrial, utility, bus or truck.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Controls For Constant Speed Travelling (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Description
L'invention concerne un procédé d'aide à la conduite d'un véhicule automobile, notamment en situation de redémarrage dans une file de véhicules à l'arrêt, ainsi qu'un système de mise en oeuvre.The invention relates to a driving assistance method. of a motor vehicle, especially in a situation of restart in a queue of stopped vehicles, as well than an implementation system.
En situation de trafic routier dense, dans un bouchon par exemple, l'automobiliste est amené à s'arrêter et à redémarrer de manière répétitive. Pendant les phases d'arrêt du véhicule, qui peuvent parfois être assez longues, le conducteur peut souhaiter utiliser le temps disponible pour régler ou interroger son système de navigation, consulter un plan pour trouver un autre itinéraire, autrement dit quitter des yeux le véhicule qui le précède dans la file. Ne pouvant prévoir l'instant où ce dernier redémarre, le conducteur est contraint de le surveiller très souvent pour redémarrer le plus vite possible derrière lui, afin de ne pas mécontenter les conducteurs des véhicules qui le suivent et attendent à leur tour de pouvoir avancer.In a situation of heavy road traffic, in a traffic jam for example, the motorist has to stop and restart repeatedly. During the phases vehicle stop, which can sometimes be quite long, driver may wish to use time available to adjust or query its system navigation, consult a map to find another route, in other words take your eyes off the vehicle preceding it in the queue. Unable to predict the moment it restarts, the driver is forced to monitor it very often to restart as quickly as possible behind him, so as not to displease drivers of vehicles who follow in turn and wait to be able to move forward.
Il existe actuellement un système ACC (Adaptative Cruise Control) embarqué sur véhicule qui surveille le véhicule cible précédent, dans le but de garder automatiquement une distance de sécurité entre lui et cette cible. Au dessus d'une vitesse minimale, fixée à environ 40 km/h, le conducteur a la possibilité de sélectionner une vitesse de croisière, par l'intermédiaire d'une commande manuelle au volant. La vitesse du véhicule se stabilise alors sur cette consigne. There is currently an ACC system (Adaptive Cruise Control) on board a vehicle that monitors the previous target vehicle, in order to keep automatically a safe distance between him and this target. Above a minimum speed, fixed at about 40 km / h, the driver can select a cruising speed, by via a manual steering wheel control. The vehicle speed then stabilizes on this setpoint.
Le véhicule étant équipé d'un radar, destiné à détecter les véhicules qui sont situés devant lui, si un véhicule plus lent est détecté sur la même voie de circulation, le système module automatiquement la vitesse du véhicule équipé pour adapter sa distance au véhicule cible. Pour cela, ces informations sont envoyées à un calculateur de commande qui contrôle le papillon d'admission de l'air, la boíte de vitesse et éventuellement les freins dans le but d'agir sur l'accélération du véhicule. Le conducteur est renseigné à tout instant sur l'état du système par l'intermédiaire d'une interface dédiée.The vehicle being equipped with a radar, intended to detect vehicles in front of him, if a slower vehicle is detected on the same lane circulation, the system automatically modulates the speed of the vehicle equipped to adapt its distance to target vehicle. For this, this information is sent to a control computer which controls the air intake throttle, gearbox and possibly the brakes in order to act on vehicle acceleration. The driver is informed at any time on the state of the system by through a dedicated interface.
L'inconvénient d'un tel système ACC réside dans le fait qu'il n'est opérationnel qu'au-delà d'une vitesse limite, 40 km/h environ, pour des raisons de contraintes techniques. De plus, son utilisation est limitée à un type de réseau routier, les autoroutes, où les rayons de courbure des virages sont supérieurs à 500 mètres. En effet, parmi les différentes cibles détectées par le radar à l'avant du véhicule, le système doit choisir uniquement celles qui sont situées sur la voie de circulation du véhicule. Cela nécessite par conséquent de faire une prédiction de la trajectoire du véhicule. Les limites actuelles des capteurs utilisés, c'est-à-dire les gyromètres ou les capteurs d'angle volant par exemple, empêchent l'utilisation d'un système ACC sur un autre type de route.The downside of such an ACC system is that that it is only operational above a speed limit, about 40 km / h, for reasons of Technical constraints. In addition, its use is limited to one type of road network, highways, where the radii of curvature of turns are greater than 500 meters. Indeed, among the different targets detected by the radar at the front of the vehicle, the system should choose only those that are located on the vehicle lane. This requires therefore to make a prediction of the vehicle trajectory. The current limits of sensors used, i.e. gyrometers or steering wheel angle sensors for example, prevent using an ACC system on another type of road.
Ainsi, un système ACC actuel ne permet pas de prévenir le conducteur, dont le véhicule est à l'arrêt dans une file, dès que la voie est libre pour redémarrer, et qui ne dispose donc pas de manière optimale de ces "temps mort".Thus, a current ACC system does not prevent the driver, whose vehicle is stationary in a file, as soon as the way is clear to restart, and which therefore does not optimally have these "times death. "
La présente invention vise à résoudre ces inconvénients en proposant un procédé d'aide à la conduite qui détecte automatiquement les situations d'arrêt du véhicule équipé derrière un autre véhicule, puis détecte ensuite, également de manière automatique, les actions du véhicule précédent pour autoriser le redémarrage par le conducteur.The present invention aims to solve these drawbacks by proposing a driving assistance process which automatically detects shutdown situations equipped vehicle behind another vehicle, then then also automatically detects actions of the previous vehicle to authorize the restart by the driver.
A cet effet, un premier objet de l'invention est un procédé d'aide à la conduite d'un véhicule automobile équipé d'un système comprenant un calculateur de commande électronique, recevant des informations délivrées par un capteur de vitesse du véhicule, par un télémètre détectant des véhicules cibles situés à l'avant du véhicule, et destiné à effectuer les étapes du procédé, caractérisé en ce qu'il comprend les étapes suivantes :
- détermination d'une situation d'arrêt pour le véhicule équipé, derrière un véhicule cible ;
- détermination d'une information de "voie libre" devant le véhicule équipé arrêté ;
- signalisation au conducteur de l'information de "voie libre".
- determination of a stop situation for the equipped vehicle, behind a target vehicle;
- determination of "free lane" information in front of the stopped equipped vehicle;
- signaling to the driver of "clear lane" information.
Selon une autre caractéristique de l'invention, la détermination d'une situation d'arrêt pour le véhicule équipé, derrière un véhicule cible, est obtenue à partir de l'état de vitesse nulle du véhicule équipé, de la distance et de la vitesse relatives entre les deux véhicules qui se suivent, et de leur durée d'immobilisation. According to another characteristic of the invention, the determining a stop situation for the vehicle equipped, behind a target vehicle, is obtained at from the zero speed state of the equipped vehicle, the relative distance and speed between the two vehicles following each other, and their duration immobilization.
Selon une autre caractéristique de l'invention, la détermination d'une information de voie libre est obtenue par détection d'un déplacement du véhicule cible au-delà d'un seuil prédéterminé, ou bien par détection à la fois d'une vitesse relative et d'une accélération relative du véhicule cible par rapport au véhicule équipé immobilisé supérieures à des seuils prédéfinis.According to another characteristic of the invention, the determination of free lane information is obtained by detecting a movement of the vehicle target beyond a predetermined threshold, or by detection of both a relative speed and a relative acceleration of the target vehicle compared to the equipped vehicle immobilized above thresholds Predefined.
Selon une autre caractéristique de l'invention, le véhicule étant équipé d'un système d'aide à la conduite comprenant un dispositif d'immobilisation de la pédale d'accélérateur dans une position inactive, le procédé d'aide à la conduite comprend les étapes suivantes :
- détermination d'une situation d'arrêt pour le véhicule équipé, derrière un véhicule cible ;
- activation d'un point dur débrayable sur la pédale d'accélérateur ;
- détermination d'une information de "voie libre" devant le véhicule équipé arrêté ;
- désactivation dudit point dur sur la pédale d'accélérateur ;
- signalisation au conducteur de ladite information de "voie libre".
- determination of a stop situation for the equipped vehicle, behind a target vehicle;
- activation of a disengageable hard point on the accelerator pedal;
- determination of "free lane" information in front of the stopped equipped vehicle;
- deactivation of said hard point on the accelerator pedal;
- signaling to the driver of said "clear lane" information.
Un second objet de l'invention est un système de mise en oeuvre dudit procédé d'aide à la conduite.A second object of the invention is a delivery system implementing said driving assistance method.
D'autres caractéristiques et avantages de l'invention apparaítront à la lecture de la description d'un exemple de mise en oeuvre du procédé d'aide à la conduite selon l'invention, illustrée par les figures suivantes qui sont :
- la figure 1 : un schéma de principe d'un système d'aide à la conduite, lors des phases de redémarrage, selon l'invention ;
- la figure 2 : un organigramme des différentes étapes remplies par le procédé d'aide à la conduite selon l'invention.
- Figure 1: a block diagram of a driving assistance system, during restart phases, according to the invention;
- FIG. 2: a flowchart of the different stages fulfilled by the driving assistance method according to the invention.
Selon l'invention et comme le représente
schématiquement la figure 1, le véhicule doit être
équipé d'un système comprenant un calculateur
électronique de commande 5 recevant des informations
d'un capteur 1 de vitesse véhicule, qui permet de
détecter l'arrêt ou le démarrage du véhicule, et d'un
télémètre 2 qui détecte des véhicules cibles situés en
avant du véhicule équipé et détermine la position, la
vitesse et l'accélération relatives des véhicules
cibles par rapport au véhicule équipé qui les suit.According to the invention and as shown
schematically in Figure 1, the vehicle must be
equipped with a system including a computer
control electronics 5 receiving information
a vehicle speed sensor 1, which allows
detect the stopping or starting of the vehicle, and a
Le procédé selon l'invention consiste à déterminer tout d'abord, selon certaines conditions, si le véhicule ainsi équipé du système d'aide à la conduite est arrêté derrière un autre véhicule, ledit système étant activé.The method according to the invention consists in determining all first, under certain conditions, if the vehicle thus equipped with the driving assistance system is stopped behind another vehicle, said system being activated.
Puis le télémètre piste les déplacements du véhicule précédent, pour que le calculateur électronique détermine, selon certaines conditions de distance, de vitesse et d'accélération relatives entre les deux véhicules, si la voie de circulation est redevenue libre, autorisant un redémarrage du véhicule équipé.Then the rangefinder tracks the movements of the vehicle previous, so that the electronic calculator determines, according to certain distance conditions, relative speed and acceleration between the two vehicles, if the lane has returned free, authorizing a restart of the equipped vehicle.
Dans le cas d'une détermination de voie libre, le procédé le signale au conducteur qui peut ainsi redémarrer en toute sécurité. In the case of a free lane determination, the process signals this to the driver who can restart safely.
Le système peut être mis en service ou hors service, à
partir d'une interface de sélection 3 par le conducteur
ou automatiquement. Il peut comprendre de plus un
dispositif 4 d'immobilisation de la pédale
d'accélérateur, tel que décrit dans la demande de
brevet français N° 96 13944 au nom de RENAULT, commandé
par le calculateur 5.The system can be turned on or off,
from a
Ce dispositif immobilise la pédale dans une situation inactive, où l'organe de commande de l'admission des gaz dans le moteur peut être placé directement sous le contrôle du calculateur de commande du système d'aide à la conduite, embarqué à bord du véhicule. Pour cela, ce dispositif comporte un élément mobile relié à la pédale, qui est déplacé par celle-ci entre une première position d'immobilisation de la pédale dans sa situation inactive, conservée tant que la poussée du conducteur sur la pédale reste inférieure à un seuil d'effort préétabli, et une seconde position de mise hors service du système d'aide où la pédale ne présente pas de résistance particulière. Cette dernière position est rejointe dès que ledit seuil d'effort est dépassé par le conducteur qui peut à nouveau commander l'ouverture des gaz.This device immobilizes the pedal in a situation inactive, where the control unit for the admission of gas in the engine can be placed directly under the control of the control system of the assistance system driving, on board the vehicle. For this, this device has a movable element connected to the pedal, which is moved by it between a first immobilization position of the pedal in its inactive situation, kept as long as the thrust of the driver on pedal stays below threshold preset effort, and a second focus position help system out of service where the pedal does not no particular resistance. This last position is joined as soon as said effort threshold is exceeded by the driver who can order again gas opening.
Dans un système d'aide à la conduite par régulation de vitesse ou de distance, un tel dispositif réalise une fonction de repose pied, en créant un point dur dans la course de la pédale d'accélérateur, cette fonction étant bien sûr débrayable.In a driving assistance system by regulation of speed or distance, such a device achieves a footrest function, creating a hard point in the accelerator pedal stroke, this function being of course disengageable.
Dans ce mode de mise en oeuvre, lorsque le procédé a déterminé une situation d'arrêt pour le véhicule équipé, dans une file de véhicules, il met en activation la fonction de point dur débrayable dans la course de la pédale d'accélérateur, afin de l'immobiliser.In this embodiment, when the process has determined a stop situation for the vehicle equipped, in a line of vehicles, it activation of the disengageable hard point function in the accelerator pedal travel, to immobilize.
Puis, dans le cas d'une détection de voie libre, le procédé désactive la position de point dur pour la pédale d'accélérateur, que le conducteur ait le pied posé ou non dessus. Si le conducteur a effectivement le pied sur la pédale en position repose pied au moment du débrayage de cette fonction, il va ressentir un effet sous le pied lui signalant que la voie est libre.Then, in the case of a free lane detection, the process deactivates the hard point position for the accelerator pedal, let the driver have his foot whether or not placed on it. If the driver actually has the foot on the pedal in the footrest position when disengaging this function it will feel an effect under the foot signaling that the way is clear.
La figure 2 est un exemple d'organigramme d'exécution des différentes étapes du procédé selon l'invention.Figure 2 is an example of an execution flowchart different stages of the process according to the invention.
La première étape (a) concerne l'activation du système d'aide à la conduite. Cette activation peut être faite par le conducteur du véhicule par l'intermédiaire d'une interface manuelle, par exemple un bouton, dédiée à cette fonction. Elle peut également être obtenue à partir des commandes d'activation d'un système de régulation de vitesse ou de distance quand le véhicule en est équipé. Dans ce cas, les deux fonctions de régulation de distance et de vitesse n'étant actives qu'au-delà d'un seuil de vitesse de 40km/h par exemple, on considère que le procédé selon l'invention constitue le prolongement de leur utilisation pour les vitesses nulles.The first step (a) concerns the activation of the system driving assistance. This activation can be done by the driver of the vehicle through a manual interface, for example a button, dedicated to this function. It can also be obtained at from the activation commands of a speed or distance control when the vehicle is equipped with it. In this case, the two functions of distance and speed regulation not active that beyond a speed threshold of 40km / h for example, it is considered that the method according to the invention constitutes extending their use for gears zero.
Selon une autre variante de réalisation de l'étape (a), l'activation du système est automatique à partir de conditions de fonctionnement du véhicule observées à l'étape (c) suivante.According to another alternative embodiment of step (a), system activation is automatic from vehicle operating conditions observed at the next step (c).
Le système étant activé, l'étape (b) d'initialisation du procédé consiste à mettre à zéro un compteur, dont le rôle sera de décompter le temps durant lequel le véhicule équipé est arrêté derrière un véhicule.With the system activated, initialization step (b) of the method consists in zeroing a counter, of which the role will be to count the time during which the equipped vehicle is stopped behind a vehicle.
L'étape suivante (c) permet de reconnaítre si le véhicule est en situation d'arrêt, par lecture de la vitesse des roues délivrée par un capteur. Si le véhicule n'est pas arrêté, le procédé retourne à l'étape (b) de mise à zéro du compteur.The next step (c) makes it possible to recognize whether the vehicle is stopped, by reading the wheel speed delivered by a sensor. If the vehicle is not stopped, the process returns to step (b) to reset the counter.
Si le véhicule équipé est effectivement immobilisé, l'étape (d) suivante détecte la présence d'une cible devant ledit véhicule, sur sa voie de circulation. Pour cela, le télémètre délivre des informations de distance et de vitesse relatives qui sont alors comparées respectivement à deux seuils prédéterminés Sd et Sv.If the equipped vehicle is effectively immobilized, the following step (d) detects the presence of a target in front of said vehicle, on its lane. For this, the rangefinder delivers relative distance and speed information which are then compared respectively to two predetermined thresholds S d and S v .
Le procédé compare donc la distance relative entre le véhicule équipé et le véhicule cible détecté à un seuil maximal Sd, de l'ordre de 6 mètres par exemple, en-dessous duquel le système est sûr de ne pas prendre en compte des obstacles erronés tels qu'un rond-point ou un véhicule en stationnement derrière lequel se gare le véhicule équipé. Le procédé concerne uniquement la conduite en file. Le procédé compare également la vitesse relative à un seuil maximal Sv, pour s'assurer que le véhicule cible est lui-même arrêté, voire recule légèrement.The method therefore compares the relative distance between the equipped vehicle and the target vehicle detected to a maximum threshold S d , of the order of 6 meters for example, below which the system is sure not to take account of erroneous obstacles such as a roundabout or a parked vehicle behind which the equipped vehicle parks. The method relates only to driving in line. The method also compares the speed relative to a maximum threshold S v , to ensure that the target vehicle is itself stopped, or even reverses slightly.
Ces deux conditions étant remplies, on considère qu'il y a détection d'une situation d'arrêt derrière un véhicule en file.These two conditions being fulfilled, it is considered that it a stop situation is detected behind a vehicle in line.
Si tel n'est pas le cas, le procédé retourne à l'étape (b) de remise à zéro du compteur. If not, the process returns to step (b) reset the counter.
Lorsqu'il y a détection d'une situation d'arrêt à l'étape (d), l'étape (e) comptabilise le temps passé à l'arrêt derrière un véhicule cible lui-même immobilisé. Ce décompte est obtenu par incrémentation du compteur, qui sera comparé à l'étape suivante (f) à une valeur de temps minimale Tmin, paramétrable et adaptative, à respecter pour déterminer une situation réelle d'arrêt derrière un véhicule. Ce temps minimal est de l'ordre de 1,5 seconde, nécessaire pour activer l'assistance proposée par le procédé.When a stop situation is detected in step (d), step (e) counts the time spent at a stop behind a target vehicle itself immobilized. This count is obtained by incrementing the counter, which will be compared in the next step (f) with a minimum time value T min , which can be configured and adapted, to be observed in order to determine an actual stopping situation behind a vehicle. This minimum time is of the order of 1.5 seconds, necessary to activate the assistance offered by the process.
L'étape (g) est relative à la détermination d'une situation d'arrêt, dès que les conditions d'arrêt en file derrière un véhicule cible sont respectées depuis une durée définie à l'étape (f). Ainsi, le véhicule est immobilisé, jusqu'à ce que le calculateur redémarre.Step (g) relates to the determination of a stop situation, as soon as the stop conditions in line behind a target vehicle have been met since a duration defined in step (f). So the vehicle is immobilized, until the computer restarts.
Pendant ce temps d'immobilisation, le procédé assure une surveillance du véhicule cible précédent, c'est-à-dire constate s'il s'est déplacé suffisamment vers l'avant pour permettre ou nécessiter un rapprochement du véhicule équipé. En effet, lorsque la distance entre ces deux véhicules est trop grande, cela peut gêner les autres véhicules suiveurs dans la file ou permettre l'insertion d'un nouveau véhicule entre eux. L'étape (h) consiste à cet effet à mesurer la distance entre ces deux véhicules et à la comparer à un seuil minimal de distance SD, de l'ordre de 8 mètres par exemple. Ce seuil minimal de distance SD peut être calibrable en fonction du mode de conduite du conducteur du véhicule ainsi équipé et de l'état du trafic routier.During this immobilization time, the method ensures monitoring of the previous target vehicle, that is to say notes whether it has moved sufficiently forward to allow or require the vehicle to be brought closer. In fact, when the distance between these two vehicles is too great, this can hinder the other following vehicles in the queue or allow the insertion of a new vehicle between them. Step (h) therefore consists in measuring the distance between these two vehicles and in comparing it with a minimum distance threshold S D , of the order of 8 meters for example. This minimum distance threshold S D can be calibrated according to the driving style of the driver of the vehicle thus equipped and the state of road traffic.
Si la distance mesurée est supérieure à ce seuil SD, le procédé passe à l'étape (i) de détermination d'une information de "voie libre" pour le véhicule équipé. If the measured distance is greater than this threshold S D , the method proceeds to step (i) of determining "free lane" information for the equipped vehicle.
A l'étape (k), le conducteur est prévenu que la voie est libre, et qu'il peut redémarrer en toute sécurité, notamment par une interface homme/machine, telle qu'un signal sonore, une information lumineuse ou une information tactile perceptible par le conducteur au niveau de son volant.At step (k), the driver is warned that the lane is free, and can safely restart, in particular by a man / machine interface, such as a sound signal, light information or tactile information perceptible to the driver at level of its steering wheel.
Par contre, si la distance mesurée est toujours inférieure au seuil SD, le procédé effectue à l'étape (j) deux comparaisons, l'une de la vitesse relative des deux véhicules et l'autre de l'accélération du véhicule cible par rapport au véhicule équipé. Il vérifie tout d'abord si la vitesse relative est supérieure à un seuil minimal SV calibrable, de l'ordre de 1,5 m/s, correspondant à l'éloignement de la voiture cible à une vitesse supérieure à SV.On the other hand, if the measured distance is always less than the threshold S D , the method performs in step (j) two comparisons, one of the relative speed of the two vehicles and the other of the acceleration of the target vehicle by compared to the equipped vehicle. First of all, it checks whether the relative speed is greater than a minimum calibrated threshold S V , of the order of 1.5 m / s, corresponding to the distance from the target car at a speed greater than S V.
De plus, il vérifie si l'accélération relative est supérieure à un seuil minimal SA calibrable, de l'ordre de 2,6 m/s2, pour que le conducteur réagisse sans tarder au redémarrage du véhicule qui le précède, en fonction de son accélération de départ. Si ces deux comparaisons sont positives, le procédé passe à l'étape (i) déjà décrite auparavant puis signale à l'étape (k).In addition, it checks whether the relative acceleration is greater than a calibrated minimum threshold S A , of the order of 2.6 m / s 2 , so that the driver reacts without delay to the restart of the vehicle in front, depending of its starting acceleration. If these two comparisons are positive, the method proceeds to step (i) already described previously and then signals to step (k).
Dans la variante de mise en oeuvre du procédé selon l'invention, à partir d'un système d'aide à la conduite comprenant un dispositif d'immobilisation de la pédale d'accélérateur, l'étape (g) correspond à l'activation d'un point dur débrayable immobilisant la pédale d'accélérateur en position haute, lorsque les conditions d'arrêt en file derrière un véhicule sont respectées depuis un temps suffisant, défini à l'étape (f). Cette position de point dur permet au conducteur de reposer son pied sur la pédale sans conséquence sur la commande de l'admission de l'air dans le moteur.In the variant implementation of the method according to the invention, from a driving assistance system comprising a device for immobilizing the pedal accelerator, step (g) corresponds to activation a disengageable hard point immobilizing the pedal accelerator in the high position, when the stop conditions in line behind a vehicle are respected for a sufficient time, defined in step (F). This hard point position allows the driver to rest your foot on the pedal without consequence on the control of the air intake in the engine.
Si le conducteur souhaite reprendre le contrôle de son véhicule, il lui suffit d'exercer une pression suffisante sur la pédale d'accélérateur pour débrayer le point dur et pour que cette pédale ne présente plus de résistance particulière.If the driver wishes to regain control of his vehicle, it just needs to apply pressure sufficient on the accelerator pedal to disengage the hard point and so that this pedal no longer presents of particular resistance.
A l'étape (i) de détermination d'une information de voie de circulation libre devant le véhicule équipé arrêté, le procédé réalise la désactivation du point dur dans la course de la pédale d'accélérateur. Ce débrayage automatique du point dur permet d'avertir le conducteur qu'il peut faire à nouveau avancer son véhicule, puisque sa voie de circulation est libre.In step (i) of determining information of free traffic lane in front of the equipped vehicle stopped, the process deactivates the point hard in the accelerator pedal stroke. This automatic disengagement of the hard point allows to warn the driver he can push his vehicle, since its lane is clear.
Le procédé selon l'invention permet ainsi d'assister le conducteur en situation de bouchon, dans le trafic routier, en lui signalant que la voie redevient libre pour redémarrer sans qu'il ait besoin de surveiller sans cesse la scène routière. Pour les véhicules équipés d'un système de régulation de distance ou de vitesse, comprenant obligatoirement un télémètre, radar par exemple, l'invention peut y être intégrée sans surcoût ni moyens spécifiques supplémentaires.The method according to the invention thus makes it possible to assist the driver in traffic jam, in traffic road, by signaling to him that the way becomes clear again to restart without needing to monitor endlessly the road scene. For vehicles equipped with a distance regulation system or speed, necessarily including a rangefinder, radar for example, the invention can be incorporated into it without additional cost or additional specific means.
L'invention permet également de réaliser une fonction de repose pied pour le conducteur, au niveau du point dur débrayable de la pédale d'accélérateur. Elle s'applique à tout type de véhicule, automobile ou industriel, utilitaire, autobus ou camion.The invention also makes it possible to perform a function driver's footrest, at point hard disengaged from the accelerator pedal. She applies to any type of vehicle, automobile or industrial, utility, bus or truck.
Claims (11)
- Method for aiding driving of an automotive vehicle equipped with a system comprising an electronic control processor, receiving data delivered by a vehicle speed sensor, by a telemeter detecting target vehicles situated in front of the vehicle, and intended to perform the steps of the method, characterised in that it comprises the following steps:determining a situation where the equipped vehicle is stopped behind a target vehicle;determining "lane free" data in front of the stopped equipped vehicle;signalling to the driver the "lane free" data.
- Method for aiding driving according to claim 1, characterised in that as the vehicle is equipped with a system for aiding driving comprising a device for immobilising the accelerator pedal in an inactive position, where the member for controlling air intake can be directly placed under the control of the electronic processor, the method for aiding driving comprising the following steps:determining a situation where the equipped vehicle is stopped behind a target vehicle;activating a disengagable friction point on the accelerator pedal;determining "lane free" data in front of the stopped equipped vehicle;deactivation of said friction point on the accelerator pedal;signalling to the driver the "lane free" data.
- Method for aiding driving according to one of claims 1 or 2, characterised in that determining a situation when the equipped vehicle is stopped behind a target vehicle is obtained from the following steps:(c). recognising stopping of the equipped vehicle by reading the speed of the wheels delivered by the sensor, and at zero value;(d) detecting a target vehicle in front of the equipped vehicle by the telemeter that delivers their relative distance and speed, then comparison of the relative distance to a maximum threshold (Sd) and comparison of the relative speed to a maximum threshold (Sv) below which the target vehicle is considered as stopped;(e) counting the time passed stopped behind the target vehicle which is itself stopped;(f) comparison of this time passed with a minimum duration (Tmin).
- Method for aiding driving according to one of claims 1 or 2, characterised in that determining lane free data in front of the equipped vehicle is obtained from the following steps:(h) measurement of the distance between the equipped vehicle and the target vehicle in front of it and comparison of this distance with a minimum threshold (SD) that can be calibrated, above which the intervening of a third vehicle is possible between the two in front;(i) determining lane free data if the distance measured between the two vehicles is greater than the threshold (SD) or if at the same time the relative speed and the relative acceleration of said two vehicles are greater than the respective thresholds (SV and SA);(j) where the distance measured between the two vehicles is less than said threshold (SD), comparison of their relative speed to a minimum threshold (Sv) that can be calibrated, corresponding to the distance away of the target vehicle at a speed greater than (Sv) and comparison of their relative acceleration to a minimum threshold (SA) that can be calibrated.
- Method for aiding driving according to one of claims 1 or 2, characterised in that step (k) of signalling the "lane free" data to the driver of the equipped vehicle is effected by a man/machine interface such as an audible signal, illuminated information or tactile information that the driver can perceive through the steering wheel.
- Method for aiding driving according to one of claims 1 or 2, characterised in that it is activated automatically according to vehicle operating criteria relating to its relative distance to a target vehicle, its speed and its acceleration.
- Method for aidings driving according to one of claims 1 or 2, characterised in that it is activated by the driver of the equipped vehicle by means of a manual interface dedicated to this function, such as a button.
- Method for aiding driving according to one of claims 1 or 2, characterised in that it is activated by activation commands from a system for control of speed and//or of distance when said vehicle is equipped therewith.
- System for aiding driving, fitted to an automotive vehicle, implementing the method according to one of claims 1 to 8, characterised in that it comprises an electronic control processor (5) receiving data from a vehicle speed sensor (1) and a telemeter (2) detecting the relative position, the speed and the acceleration of target vehicles with respect to the equipped vehicle that is following them.
- System for aiding driving according to claim 9, characterised in that it further comprises a device (4) for immobilising the accelerator pedal in an inactive position where the member for controlling air intake can be directly placed under the control of the electronic processor (5).
- System for aiding driving according to one of claims 8 or 9, characterised in that it further comprises a man/machine interface such as an audible signal, illuminated information or tactile information that the driver can perceive through his steering wheel.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9813825 | 1998-11-03 | ||
FR9813825A FR2785433B1 (en) | 1998-11-03 | 1998-11-03 | ASSISTANCE METHOD FOR DRIVING A MOTOR VEHICLE AND IMPLEMENTATION SYSTEM |
PCT/FR1999/002624 WO2000026885A1 (en) | 1998-11-03 | 1999-10-28 | Aid for driving a motor vehicle driving and implementing system |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1127344A1 EP1127344A1 (en) | 2001-08-29 |
EP1127344B1 true EP1127344B1 (en) | 2003-01-02 |
Family
ID=9532316
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP99950856A Expired - Lifetime EP1127344B1 (en) | 1998-11-03 | 1999-10-28 | Aid for driving a motor vehicle driving and implementing system |
Country Status (6)
Country | Link |
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EP (1) | EP1127344B1 (en) |
JP (1) | JP2002529834A (en) |
DE (1) | DE69904747T2 (en) |
ES (1) | ES2186416T3 (en) |
FR (1) | FR2785433B1 (en) |
WO (1) | WO2000026885A1 (en) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10344996A1 (en) * | 2003-09-27 | 2005-04-21 | Daimler Chrysler Ag | Electronic parking and movement control of a road vehicle has obstruction sensor input to motion control functions |
IL184260A0 (en) | 2007-06-27 | 2008-03-20 | On Track Innovations Ltd | Mobile telecommunications device having sim/antenna coil interface |
DE102007050953A1 (en) | 2007-10-23 | 2009-04-30 | Voxeljet Technology Gmbh | Device for the layered construction of models |
US8028923B2 (en) | 2007-11-14 | 2011-10-04 | Smartrac Ip B.V. | Electronic inlay structure and method of manufacture thereof |
DE102012024997A1 (en) * | 2012-12-19 | 2014-06-26 | Connaught Electronics Ltd. | A method of tracking a target object from a stoppage state, camera system and motor vehicle |
DE102017213208A1 (en) * | 2017-08-01 | 2019-02-07 | Bayerische Motoren Werke Aktiengesellschaft | Device for guiding a vehicle designed for at least partially automated driving |
CN113619608B (en) * | 2021-09-16 | 2023-01-24 | 东软睿驰汽车技术(大连)有限公司 | Vehicle driving method and device based on driving assistance system and electronic equipment |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2652931A2 (en) * | 1989-04-13 | 1991-04-12 | Tresse Jean Marie | ELECTRONIC ALARM CENTRAL ANTI-COLLISION AND DRIVING AID FOR MOTOR VEHICLES ROAD. |
DE4326529A1 (en) * | 1993-08-06 | 1995-02-09 | Bayerische Motoren Werke Ag | Method for avoiding collisions of motor vehicles |
DE19514654B4 (en) * | 1994-04-20 | 2009-07-09 | Denso Corporation, Kariya | Collision alarm system for a motor vehicle |
-
1998
- 1998-11-03 FR FR9813825A patent/FR2785433B1/en not_active Expired - Fee Related
-
1999
- 1999-10-28 EP EP99950856A patent/EP1127344B1/en not_active Expired - Lifetime
- 1999-10-28 JP JP2000580188A patent/JP2002529834A/en not_active Withdrawn
- 1999-10-28 ES ES99950856T patent/ES2186416T3/en not_active Expired - Lifetime
- 1999-10-28 DE DE69904747T patent/DE69904747T2/en not_active Expired - Lifetime
- 1999-10-28 WO PCT/FR1999/002624 patent/WO2000026885A1/en active IP Right Grant
Also Published As
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WO2000026885A1 (en) | 2000-05-11 |
DE69904747D1 (en) | 2003-02-06 |
ES2186416T3 (en) | 2003-05-01 |
JP2002529834A (en) | 2002-09-10 |
FR2785433B1 (en) | 2001-01-05 |
EP1127344A1 (en) | 2001-08-29 |
FR2785433A1 (en) | 2000-05-05 |
DE69904747T2 (en) | 2003-10-23 |
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