FR3090543B1 - Procédé et système de guidage lors d’une manœuvre de changement de voie. - Google Patents

Procédé et système de guidage lors d’une manœuvre de changement de voie. Download PDF

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Publication number
FR3090543B1
FR3090543B1 FR1873369A FR1873369A FR3090543B1 FR 3090543 B1 FR3090543 B1 FR 3090543B1 FR 1873369 A FR1873369 A FR 1873369A FR 1873369 A FR1873369 A FR 1873369A FR 3090543 B1 FR3090543 B1 FR 3090543B1
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France
Prior art keywords
lane change
emergency
path
change maneuver
generating
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.)
Active
Application number
FR1873369A
Other languages
English (en)
Other versions
FR3090543A1 (fr
Inventor
Vicente Milanes
Bautista David Gonzalez
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Renault SAS
Original Assignee
Renault SAS
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Filing date
Publication date
Application filed by Renault SAS filed Critical Renault SAS
Priority to FR1873369A priority Critical patent/FR3090543B1/fr
Publication of FR3090543A1 publication Critical patent/FR3090543A1/fr
Application granted granted Critical
Publication of FR3090543B1 publication Critical patent/FR3090543B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • B60W30/18172—Preventing, or responsive to skidding of wheels
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/082—Selecting or switching between different modes of propelling
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0013—Planning or execution of driving tasks specially adapted for occupant comfort
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0021—Planning or execution of driving tasks specially adapted for travel time
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/007—Emergency override
    • 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
    • B60W2552/40—Coefficient of friction

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

Procédé et système de guidage lors d’une manœuvre de changement de voie L’invention porte sur un procédé (200) de génération d’une trajectoire d’un véhicule autonome lors d’une manœuvre de changement de voie sur une route comprenant la génération (203) d’une première trajectoire d’urgence de changement de voie, ladite première trajectoire d’urgence minimisant le temps et/ou la distance nécessaire pour changer de voie, tout en assurant la stabilité du véhicule sur la route ; et comprenant la génération (204) d’une deuxième trajectoire de changement de voie nécessitant, en fonction d’un mode de conduite prédéfini ou préalablement sélectionné, un temps ou une distance égal ou supérieur à la première trajectoire d’urgence pour changer de voie une deuxième étape. Figure pour l’abrégé : 2
FR1873369A 2018-12-19 2018-12-19 Procédé et système de guidage lors d’une manœuvre de changement de voie. Active FR3090543B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1873369A FR3090543B1 (fr) 2018-12-19 2018-12-19 Procédé et système de guidage lors d’une manœuvre de changement de voie.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1873369A FR3090543B1 (fr) 2018-12-19 2018-12-19 Procédé et système de guidage lors d’une manœuvre de changement de voie.

Publications (2)

Publication Number Publication Date
FR3090543A1 FR3090543A1 (fr) 2020-06-26
FR3090543B1 true FR3090543B1 (fr) 2021-07-16

Family

ID=66690531

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1873369A Active FR3090543B1 (fr) 2018-12-19 2018-12-19 Procédé et système de guidage lors d’une manœuvre de changement de voie.

Country Status (1)

Country Link
FR (1) FR3090543B1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3121411B1 (fr) * 2021-04-06 2023-10-27 Renault Sas Procédé de commande de trajectoire de changement de voie pour véhicule autonome.
FR3128927B1 (fr) * 2021-11-08 2024-02-16 Psa Automobiles Sa Procédé et dispositif de contrôle d’un véhicule
DE102022116267A1 (de) * 2022-06-29 2024-01-04 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Betreiben eines Spurwechselassistenzsystems eines Fahrzeugs mit Berücksichtigung einer Verkehrsdichte in einer Umgebung des Fahrzeugs, Spurwechselassistenzsystem sowie Fahrzeug

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012001405A1 (de) * 2012-01-26 2012-11-22 Daimler Ag Verfahren zur Durchführung eines Fahrspurwechsels und Vorrichtung zur Durchführung des Verfahrens
KR101439017B1 (ko) 2013-04-11 2014-10-30 현대자동차주식회사 차선 변경 제어 시스템
JP6323385B2 (ja) * 2015-04-20 2018-05-16 トヨタ自動車株式会社 車両走行制御装置
DE102015208770A1 (de) * 2015-05-12 2016-11-17 Robert Bosch Gmbh Kraftfahrzeug
KR102262579B1 (ko) * 2017-03-14 2021-06-09 현대자동차주식회사 차선 변경 장치, 그를 포함하는 시스템, 및 그 방법

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Publication number Publication date
FR3090543A1 (fr) 2020-06-26

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