EP4281347A1 - Procédé et dispositif de contrôle d'un premier véhicule suivant un deuxième véhicule sur une portion de route comprenant un virage - Google Patents
Procédé et dispositif de contrôle d'un premier véhicule suivant un deuxième véhicule sur une portion de route comprenant un virageInfo
- Publication number
- EP4281347A1 EP4281347A1 EP21851810.8A EP21851810A EP4281347A1 EP 4281347 A1 EP4281347 A1 EP 4281347A1 EP 21851810 A EP21851810 A EP 21851810A EP 4281347 A1 EP4281347 A1 EP 4281347A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- road
- bend
- threshold value
- detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
Definitions
- the invention relates to methods and devices for controlling an adaptive cruise control system of a vehicle, in particular a motor vehicle.
- the invention also relates to a method and a device for controlling a first vehicle, in particular a first autonomous vehicle, following a second vehicle on a portion of road comprising a bend.
- ADAS Advanced Driver-Assistance System
- ACC Adaptive Cruise Control
- ACC Adaptive Cruise Control
- Such an ACC system determines one or more acceleration setpoints as a function of a speed setpoint and information relating to the environment of the vehicle, the acceleration setpoint(s) being capable of regulating the speed of the vehicle in an adaptive manner , that is to say taking into account the environment of the vehicle.
- This environmental information corresponds for example to the distance between the vehicle equipped with the ACC system and a vehicle traveling ahead, to the speed (for example relative) of the vehicle traveling ahead, to the acceleration of the vehicle traveling ahead and/or to a regulatory speed limit.
- the acceleration instruction(s) are for example determined from a control law based on estimates of the torque supplied by a powertrain (for example a thermal or electric motor) to one or more wheels of the vehicle and of the current acceleration of the vehicle.
- the environment information of a vehicle is for example obtained from sensors on board the vehicle, such as radars for example. This information is particularly important for a vehicle, for example to improve the safety of the vehicle by taking into account the environment which surrounds it, in particular other vehicles.
- the comfort of a vehicle's passengers is another important factor, particularly for the acceptance of vehicle driver assistance systems.
- excessive acceleration or deceleration is a cause of discomfort for the passengers of a vehicle, especially when the acceleration is controlled by an ACC system.
- the compromise between passenger comfort and safety is sometimes difficult to find.
- An object of the present invention is to improve the comfort of the passenger(s) of a vehicle while guaranteeing a sufficient level of safety.
- the invention relates to a method for controlling an adaptive cruise control system of a first vehicle following a second vehicle on a portion of road comprising a bend, the method comprising the following steps:
- the regulation comprising an acceleration setpoint for the first vehicle so as to reduce the inter-vehicle distance, the acceleration setpoint respecting the maximum speed on the inside of the bend, the inter-vehicle distance respecting a minimum safety distance, so that the adaptive cruise control system keeps the first vehicle following the second vehicle.
- the first datum comprises:
- the first detection comprises:
- the maximum speed is determined from the curvature.
- the second detection is carried out on the basis of a second datum representative of the portion of road comprising a second piece of information representative of a lateral deviation of the second vehicle on the portion of road.
- the second detection comprises a fifth comparison of the lateral deviation with a fifth threshold value, the second vehicle being detected as having entered the bend when the lateral deviation is greater than the fifth threshold value.
- the second vehicle enters the bend at a determined instant, called t, the first detection being carried out at an earlier instant, called t-1, at instant t, the second detection being carried out at instant determined t.
- the invention relates to a device for controlling an adaptive cruise control system, the device comprising a memory associated with at least one processor configured for the implementation of the steps of the method according to the first aspect of the 'invention.
- the invention relates to a vehicle, for example of the automotive type, comprising the device as described above according to the second aspect of the invention.
- 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.
- the invention relates to a computer-readable recording medium on which is recorded a computer program comprising instructions for carrying out the steps of the method according to the first aspect of the invention.
- the recording medium can be any entity or device capable of storing the program.
- 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.
- 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.
- 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.
- FIG. 1 schematically illustrates a first vehicle following a second vehicle on a portion of road comprising a bend, according to a particular embodiment of the present invention
- FIG. 2 schematically illustrates a device configured to control an adaptive cruise control system of a vehicle of FIG. 1, according to an exemplary embodiment of the present invention.
- FIG. 3 illustrates a flowchart of the different steps of a method for controlling an adaptive cruise control system of a vehicle of FIG. 1, according to a particular embodiment of the present invention. Description of embodiments
- FIGS. 1 to 3 A method and a device for controlling a vehicle speed control system will now be described in the following with reference to FIGS. 1 to 3. The same elements are identified with the same reference signs throughout. along the following description.
- a method for controlling an adaptive regulation system, or ACC system, of a first vehicle following a second vehicle, the ACC system targeting the second vehicle and adapting the behavior of the first vehicle so as to follow the second vehicle in a safe manner comprises a first detection, by the first vehicle, of a bend based on a first datum representative of the portion of road on which the first vehicle and the second vehicle are circulating.
- the turn is for example detected by a computer of the on-board system of the first vehicle (or following vehicle) from data received from one or more object detection sensors fitted to the first vehicle.
- the bend corresponds to any non-straight section of the portion of road and in which the ACC system of the first vehicle is likely to lose the targeting of the second vehicle, for example a lane departure or a natural curvature of the portion of road.
- the computer for example the computer in charge of controlling the ACC system of the first vehicle, determines a maximum speed of the first vehicle on the inside of the bend, for example as a function of the characteristics of the bend, of the portion of road or of other conditions, including weather.
- the first vehicle then detects the entry of the second vehicle into the bend, that is to say a movement of the second vehicle which can lead to a loss of targeting.
- the entry of the second vehicle into the bend is detected by measuring its lateral deviation on the portion of road, that is to say a transverse offset with respect to the direction of movement of the first vehicle.
- the lateral deviation is measured with respect to an orthogonal reference defined by the first vehicle on the basis of data received from the object detection sensor(s) fitted to the first vehicle.
- the computer in charge of the ACC system regulates the speed of the first vehicle by taking account of an acceleration setpoint for the first vehicle so as to reduce the inter-vehicle distance or DIV (interchangeable with the inter-vehicle time or TIV) while respecting the maximum speed determined above and a minimum safety distance (or a minimum safety time), for example fixed according to local regulations or determined by the computer of the first vehicle.
- the computer determines an acceleration setpoint (which may correspond to a negative acceleration) for the ACC system having the objective of minimizing the inter-vehicle distance (or maximizing the speed of the first vehicle) and constrained by the maximum speed in the bend and the minimum safety distance.
- Such a method makes it possible to reduce as much as possible the DIV on the inside of the bend to ensure that the targeting of the second vehicle by the ACC system is maintained, so as to avoid the limitations of the ACC system in bends while ensuring the safety of the passengers.
- the DIV is adapted to the curvature of the road in an anticipatory manner by accelerating the first vehicle as soon as the second vehicle enters a bend. Maintaining targeting ensures the comfort and safety of passengers by maintaining consistent behavior of the ACC system without untimely change or loss of target and therefore regulation.
- FIG. 1 schematically illustrates a first vehicle 10 following a second vehicle 11 in a road environment 1, according to a particular and non-limiting embodiment of the present invention.
- FIG. 1 illustrates a first vehicle 10, for example a motor vehicle, carrying one or more sensors configured to detect the presence of objects in the environment 1 of the first vehicle 10.
- the first vehicle 10 corresponds to a car, a bus, a truck, a commercial vehicle or a motorcycle, that is to say to a vehicle of the motorized land vehicle type.
- the first vehicle 10 corresponds to a vehicle circulating under the total supervision of a driver or circulating in an autonomous or semi-autonomous mode.
- the first vehicle 10 circulates according to a level of autonomy equal to 0 or according to a level of autonomy ranging from 1 to 5 for example, according to the scale defined by the American federal agency which has established 5 levels of autonomy ranging from 1 to 5, level 0 corresponding to a vehicle with no autonomy, whose driving is under the total driver supervision, level 1 corresponding to a vehicle with a minimum level of autonomy, whose driving is under the supervision of the driver with minimal assistance from an ADAS system, and level 5 corresponding to a completely autonomous vehicle.
- the first vehicle 10 follows a second vehicle 11, at a determined distance which can vary over time (depending on the dynamic behavior of the first vehicle 10 and of the second vehicle 11), the second vehicle 11 traveling on the same traffic lane of a portion of road 1000 in the same direction as the first vehicle 10, the portion of road 1000 comprising a bend 1001 .
- the first vehicle 10 embeds, for example, one or more of the following sensors:
- each radar being adapted to emit electromagnetic waves and to receive the echoes of these waves returned by one or more objects (for example the second vehicle 11 located in front of the first vehicle 10 according to the example of FIG. 1), with the aim of detect obstacles and their distances vis-à-vis the first vehicle 10; and or
- a LIDAR sensor corresponding to an optoelectronic system composed of a laser transmitter device, 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 collected light into an electrical signal;
- a LIDAR sensor thus makes it possible to detect the presence of objects (for example the second vehicle 11) located in the emitted light beam and to measure the distance between the sensor and each object detected; and or
- the data obtained from this or these sensors varies according to the type of sensor.
- the data correspond for example to distance data between points of the detected object and the sensor.
- Each detected object is thus represented by a cloud of points (each point corresponding to a point of the object receiving the radiation emitted by the sensor and reflecting at least part of this radiation), the cloud of points representing the envelope (or a part of the envelope) of the detected object as seen by the sensor and ultimately by the first vehicle 10 carrying the sensor.
- the data correspond to data associated with each pixel of the acquired image or images, for example gray level values coded on for example 8, 10, 12 or more bits for each color channel, for example RGB (from English “Red, Green, Blue” or in French “Rouge, vert, blue”).
- RGB from English “Red, Green, Blue” or in French “Rouge, vert, blue”.
- the data acquired by the on-board sensor(s) feeds, for example, one or more driver assistance systems, known as ADAS (from the English “Advanced Driver-Assistance System” or in French “Advanced Driver Assistance System” ) embedded in the first vehicle 10.
- ADAS driver assistance systems
- Such an ADAS system is configured to assist, or even replace, the driver of the first vehicle 10 to control the first vehicle 10 on its route.
- the first vehicle 10 embeds an ADAS system corresponding to an automatic speed regulation system, called the ACC system.
- the ACC system When the ACC system is activated, the ACC system aims to achieve a setpoint acceleration, called A CO nsign(t), which varies over time 't' and which makes it possible to maintain or reach a regulation speed and/or or to maintain a determined safety distance vis-à-vis the second vehicle 11 upstream of the first vehicle 10, that is to say from a second vehicle 11 traveling in front of the first vehicle 10 in the same direction of travel on the same traffic way.
- a CO nsign(t) a setpoint acceleration
- the data obtained from the sensor(s) on board the first vehicle 10 allow the ACC system of the first vehicle 10 to establish the values of the setpoint accelerations A CO nsigne(t) during the time 't'.
- the ACC system or a computer of this system transmits, for example, the acceleration setpoints Aset(t) that it has determined to the computer(s) supervising the operation of a powertrain of the first vehicle 10, in particular so that this(these) last(s) determine(s) the torque setpoints to be generated by the powertrain to comply with the acceleration setpoints A CO nsigne(t) and regulate the speed of the first vehicle 10.
- the first vehicle 10 embeds, for example in addition to the ACC system, a collision detection system, for example from behind, of the first vehicle 10, also called a pre-collision system.
- a collision detection system for example from behind, of the first vehicle 10, also called a pre-collision system.
- a collision detection system for example from behind, of the first vehicle 10
- a pre-collision system corresponds for example to a system detecting the arrival of a (third) following vehicle presenting a risk of collision from the rear of the first vehicle 10, or to any safety system detecting an imminent danger for the first vehicle 10 and/or implementing the on-board security means following such detection.
- the detection of a risk of collision is for example obtained by predicting the dynamic behavior of a (third) vehicle arriving from behind, and leads for example to the execution of one or more guidance instructions such as an instruction speed increase and/or a shift instruction to the left or right of the first vehicle 10.
- the first vehicle 10 embeds, for example in addition to the ACC system and/or the collision detection system, a lane change assistance system.
- the decision for a lane change is for example based on the prediction of the second vehicle 11, for example when the latter is located on the lane on which the first vehicle 10 wishes to deport.
- a process for controlling an ACC system of a first vehicle is advantageously implemented by the first vehicle 10, that is to say by a computer or a combination of computers of the on-board system of the first vehicle 10, which one(s) is responsible for controlling the ACC system.
- the first vehicle 10 detects the presence of the bend 1001, for example from a first datum representative of the portion of road 1000, received from one or more on-board sensors.
- the first datum comprises:
- the first representative datum is processed by a computer of the first vehicle 10, for example the computer of the ADAS system, to detect the bend 1001 .
- the computer processes the first representative datum so as to obtain a measurement or an estimate of the curvature, of the yaw and of the lateral deviation.
- the measurement or estimate is for example established from an orthogonal reference defined by the first vehicle 10 or any other reference facilitating the calculations, the lateral deviation of the second vehicle 11 corresponding in this example to its displacement in a direction orthogonal to the direction of the first vehicle 10.
- the computer performs from these measurements a plurality of operations making it possible to detect the bend 1001 , among which:
- the threshold values are fixed, for example recorded in a memory of the computer of the ADAS system and calibrated in an appropriate manner to the targeting capacities of the ADAS system or, according to another example, variable according to a plurality of parameters.
- the first vehicle 10 generates or selects for example a set of threshold values according to a plurality of additional information, for example the speed of the first vehicle 10 or of the second vehicle 11, a speed limit associated with the portion of road 1000 or even a lane width associated with the portion of road 1000.
- the first vehicle 10 generates in another example a set of interdependent threshold values, for example a second threshold value linked to the first threshold value so that the bend 1001 is detected when the measurement of the yaw of the second vehicle 11 exceeds a value proportional to that of the curvature of the road portion 1000.
- a set of interdependent threshold values for example a second threshold value linked to the first threshold value so that the bend 1001 is detected when the measurement of the yaw of the second vehicle 11 exceeds a value proportional to that of the curvature of the road portion 1000.
- the first datum includes measurements of other parameters of the road portion 1000 making it possible to determine the threshold values, for example a measurement of the lane width associated with the road portion 1000.
- the first datum comprises other information making it possible to assist the operation of the ACC system and by extension of the method for controlling the ACC system, for example making it possible to measure the DIV obtained from a radar or from a LIDAR and corresponding to the distance between on the one hand the front of the first vehicle 10 or the position of the radar or LIDAR and the rear of the second vehicle 11 reflecting the waves emitted by the radar or LIDAR, or information from other sensors, for example information representative of meteorological conditions coming from external sensors of the first vehicle 10 indicating an external temperature susceptible to the formation of frost or low luminosity limiting visibility and/or information on the activation of one or more several organs or components of the first vehicle 10, for example lights lighting, wipers, fog lights or front or rear de-icing system.
- a maximum speed inside turn 1001 is determined.
- the maximum speed corresponds for example to a regulatory speed defined by the local legislation and associated with the turn 1001 or else to a safe speed depending on the physical characteristics of the first vehicle 10 and/or on external conditions.
- the maximum speed is determined from the curvature measured during the first operation, so that a tight 1001 turn is associated with a lower maximum speed.
- the ADAS system computer uses in this variant one or more pieces of information included in the first datum to establish the maximum speed, for example the information representative of meteorological conditions described above, the maximum speed being reduced according to the presence of frost and/or or fog and/or rain.
- the first vehicle 10 detects the entry of the second vehicle 11 into the bend 1001 from a measurement of a lateral deviation of the second vehicle 11 on the road portion 1000.
- the first vehicle 10 receives a second datum representative of the portion of road 1000, for example coming from the external sensors described above and comprising a second piece of information representative of a lateral deviation of the second vehicle 11 on the portion of road 1000.
- the second datum is then processed by the computer of the ADAS system of the first vehicle 10 so as to extract a measurement of the lateral deviation and detect or not the entry of the second vehicle 11 into the bend 1001 .
- the measurement of the lateral deviation is compared with a fifth threshold value, the computer detecting the entry of the second vehicle 11 into the bend 1001 when the lateral deviation is greater than the fifth threshold value.
- the fifth threshold value is for example equal to or linked to the third or to the fourth threshold value and generated at the same time as the other threshold values described above.
- the fifth threshold value is independent and generated specifically to compare the measurement of the lateral deviation resulting from of the second representative datum, so as to better reflect conditions which may vary from one instant to the next.
- the second vehicle 11 enters the bend 1001 at a determined instant, called t, the first vehicle 10 detecting the bend 1001 at an earlier instant, called t-1, and detecting the entry of the second vehicle 11 into the turn 1001 at the determined instant t.
- the first datum is for example a datum coming from all the sensors of the first vehicle 10 at the previous instant t-1 and the second datum comes from this same set of sensors at the determined instant t.
- the detection of the bend 1001 at the previous instant t-1 causes the determined maximum speed to be stored in memory and, for example, the measured curvature of the bend 1001 or other parameters already calculated, these parameters being able to be reused at the instant determined t, in particular so as to establish the fifth threshold value.
- This design thus makes it possible to keep in memory the presence of the bend 1001 detected and to limit the calculations necessary for the first vehicle 10 at the determined instant t as well as between the previous instant t-1 and the determined instant t.
- the speed of the first vehicle 10 is regulated by one or more ADAS systems of the first vehicle 10, for example the ACC system, according to a acceleration setpoint A CO nsign(t) established so as to reduce the DIV while respecting the maximum speed determined above and a minimum safety DIV, for example a regulatory DIV or a DIV corresponding to a minimum TIV and a target speed, for example the speed of the second vehicle 11.
- a minimum safety DIV for example a regulatory DIV or a DIV corresponding to a minimum TIV and a target speed, for example the speed of the second vehicle 11.
- the ACC system determining the acceleration setpoint A CO nsigne(t) takes into account, when the second vehicle 11 enters the bend 1001 , a setpoint DIV corresponding to the minimum safety DIV , as well as a speed constraint defined by the maximum speed.
- the setpoint DIV is variable and determined as a function of the curvature of the road portion 1000 and of the targeting capabilities of the ACC system, for example the maximum acceptable lateral deviation to keep the second vehicle 11 on target. This new speed regulation thus allows the first vehicle 10 to approach the second vehicle 11 if necessary as soon as it enters a bend 1001, so as to ensure the continuity of the targeting of the second vehicle 11 and therefore of the operation of the ACC system of the first vehicle. 10, thus ensuring the comfort and safety of the passengers of the first vehicle 10.
- FIG. 2 schematically illustrates a device 2 configured to control an adaptive cruise control system, for example the ACC system of the first vehicle 10, according to a particular and non-limiting example embodiment of the present invention.
- the device 2 corresponds for example to a device on board the first vehicle 10, for example an ADAS system computer.
- the device 2 is for example configured to receive data from on-board sensors of the first vehicle 10, to estimate one or more measurements from such data and to determine torque setpoints to be generated by a powertrain.
- the device 2 is for example configured for the implementation of the operations described with regard to FIG. 1 and/or the steps of the method described with regard to FIG. 3.
- Examples of such a device 2 comprise, without being limited thereto , on-board electronic equipment such as a vehicle's on-board computer, an electronic computer such as an ECU ("Electronic Control Unit"), a smart phone, a tablet, a laptop computer.
- ECU Electronic Control Unit
- the elements of device 2, individually or in combination, can be integrated in a single integrated circuit, in several integrated circuits and/or in discrete components.
- the device 2 can be made in the form of electronic circuits or software (or computer) modules or else a combination of electronic circuits and software modules.
- the device 2 is coupled in communication with other similar devices or systems and/or with communication devices, for example a TCU (from the English “Telematic Control Unit” or in French “Unotti Telematics Control”), for example via a communication bus or through dedicated input/output ports.
- the device 2 comprises one (or more) processor(s) 20 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 2.
- the processor 20 can include integrated memory, an input/output interface, and various circuits known to those skilled in the art.
- the device 2 further comprises at least one memory 21 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.
- EEPROM electrically erasable programmable read-only memory
- ROM read-only memory
- PROM electrically erasable programmable read-only memory
- RAM random access memory
- DRAM dynamic random access memory
- SRAM static random access memory
- 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 21 .
- the device 2 comprises a block 22 of interface elements for communicating with external devices, for example a remote server or the “cloud” 100, other nodes of the ad hoc network .
- Block 22 interface elements include one or more of the following interfaces:
- radiofrequency 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);
- Data are for example loaded to the device 2 via the interface of block 22 using a Wi-Fi® network such as according to IEEE 802.11, an ITS G5 network based on IEEE 802.11 p 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.
- a Wi-Fi® network such as according to IEEE 802.11, an ITS G5 network based on IEEE 802.11 p 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.
- the device 2 comprises a communication interface 23 which makes it possible to establish communication with other devices (such as other computers of the on-board system) via a communication channel.
- the communication interface 23 corresponds for example to a transmitter configured to transmit and receive information and/or data via the communication channel 230.
- the communication interface 23 corresponds for example to a CAN-type wired network (from the English "Controller Area Network” or in French “Réseau de Contrôlivities”), CAN FD (from the English "Controller Area Network Flexible Data-Rate” or in French “Réseau de Contrôliv à Flow de Data Flexible”) , FlexRay (standardized by ISO 17458) or Ethernet (standardized by ISO/IEC 802-3).
- the device 2 can provide output signals to one or more external devices, such as an augmented reality system, a display screen, one or more loudspeakers and/or other peripherals respectively via output interfaces not shown.
- external devices such as an augmented reality system, a display screen, one or more loudspeakers and/or other peripherals respectively via output interfaces not shown.
- FIG. 3 illustrates a flowchart of the different steps of a method for controlling an adaptive cruise control system of a first vehicle following a second vehicle, for example the ACC system of the first vehicle 10, according to a particular embodiment and non-limiting of the present invention.
- the method is for example implemented by a device on board the first vehicle 10 of Figure 1 or by the device 2 of Figure 2.
- a bend is detected from a first datum representative of a portion of road, the first datum coming from a plurality of sensors of the first vehicle.
- a maximum speed associated with the first vehicle and with the bend is determined, for example from information contained in the first representative datum and making it possible to characterize the bend.
- a third step 33 the entry of the second vehicle into the bend is detected from a measurement of a lateral deviation of the second vehicle on the portion of road, for example from a second datum representative of the portion of road.
- a fourth step 34 triggered when the third step 33 validates the entry of the second vehicle into the bend the speed of the first vehicle is regulated so as to reduce an inter-vehicle distance while respecting the speed maximum determined in step 32 and a minimum safe inter-vehicle distance (or inter-vehicle time).
- variants and examples of the operations described in relation to figure 1 apply to the steps of the method of figure 3.
- the invention is not limited to the embodiments described above but extends to a method for controlling ADAS systems, as well as to the device configured for the implementation of such a method.
- the invention also relates to a vehicle, for example an automobile or more generally a land motor vehicle, comprising the device 2 of FIG. 2.
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR2100555A FR3118926B1 (fr) | 2021-01-21 | 2021-01-21 | Procédé et dispositif de contrôle d’un premier véhicule suivant un deuxième véhicule sur une portion de route comprenant un virage |
PCT/FR2021/052235 WO2022157433A1 (fr) | 2021-01-21 | 2021-12-08 | Procédé et dispositif de contrôle d'un premier véhicule suivant un deuxième véhicule sur une portion de route comprenant un virage |
Publications (1)
Publication Number | Publication Date |
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EP4281347A1 true EP4281347A1 (fr) | 2023-11-29 |
Family
ID=75438986
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP21851810.8A Pending EP4281347A1 (fr) | 2021-01-21 | 2021-12-08 | Procédé et dispositif de contrôle d'un premier véhicule suivant un deuxième véhicule sur une portion de route comprenant un virage |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP4281347A1 (fr) |
FR (1) | FR3118926B1 (fr) |
WO (1) | WO2022157433A1 (fr) |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2100555A1 (fr) | 1970-06-24 | 1972-03-24 | Wilde Anne | |
GB9606384D0 (en) * | 1996-03-26 | 1996-06-05 | Jaguar Cars | Cruise control systems |
DE10254424A1 (de) * | 2002-11-21 | 2004-06-03 | Lucas Automotive Gmbh | System zur Beeinflussung der Geschwindigkeit eines Kraftfahrzeuges |
SE528567C2 (sv) * | 2005-12-13 | 2006-12-19 | Scania Cv Abp | Datagenereringssystem |
GB2500426B (en) * | 2012-03-22 | 2014-09-10 | Jaguar Land Rover Ltd | Autonomous cruise control |
FR3098175B1 (fr) * | 2019-07-01 | 2021-06-04 | Psa Automobiles Sa | Procédé de détermination d’une vitesse de passage en courbe pour un véhicule automobile mettant en œuvre une fonction de régulation de vitesse |
-
2021
- 2021-01-21 FR FR2100555A patent/FR3118926B1/fr active Active
- 2021-12-08 EP EP21851810.8A patent/EP4281347A1/fr active Pending
- 2021-12-08 WO PCT/FR2021/052235 patent/WO2022157433A1/fr unknown
Also Published As
Publication number | Publication date |
---|---|
FR3118926B1 (fr) | 2022-12-09 |
FR3118926A1 (fr) | 2022-07-22 |
WO2022157433A1 (fr) | 2022-07-28 |
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