FR3098175B1 - Method for determining a curve passage speed for a motor vehicle implementing a speed regulation function - Google Patents

Method for determining a curve passage speed for a motor vehicle implementing a speed regulation function Download PDF

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Publication number
FR3098175B1
FR3098175B1 FR1907248A FR1907248A FR3098175B1 FR 3098175 B1 FR3098175 B1 FR 3098175B1 FR 1907248 A FR1907248 A FR 1907248A FR 1907248 A FR1907248 A FR 1907248A FR 3098175 B1 FR3098175 B1 FR 3098175B1
Authority
FR
France
Prior art keywords
road
speed
intersection
determining
motor vehicle
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
FR1907248A
Other languages
French (fr)
Other versions
FR3098175A1 (en
Inventor
Vincent Deschamps
Jean Baptiste Braconnier
Jean-Sébastien Gonsette
Yoshito Kondo
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.)
PSA Automobiles SA
Aisin AW Co Ltd
Original Assignee
PSA Automobiles SA
Aisin AW Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by PSA Automobiles SA, Aisin AW Co Ltd filed Critical PSA Automobiles SA
Priority to FR1907248A priority Critical patent/FR3098175B1/en
Publication of FR3098175A1 publication Critical patent/FR3098175A1/en
Application granted granted Critical
Publication of FR3098175B1 publication Critical patent/FR3098175B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • 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
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0066—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to vehicle path curvature
    • 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
    • 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
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • 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
    • 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
    • B60W30/18154—Approaching an intersection
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

L’invention concerne un procédé de détermination de la vitesse maximale de passage d’un véhicule automobile à une intersection entre une première route et une deuxième route, le procédé comportant les étapes de  : - recueillir des informations sur la topographie routière au niveau de l’intersection, ces informations comprenant l’angle (α) formé par les deux routes ; - déterminer un rayon de courbure (R) correspondant au rayon de courbure de la trajectoire suivie par le milieu de l’essieu arrière du véhicule au passage de l’intersection, la trajectoire étant, avant l’intersection, confondue avec la ligne médiane de la voie de circulation de la première route, et, après l’intersection, confondue avec la ligne médiane de la voie de circulation de la deuxième route, le rayon de courbure (R) étant fonction de l’angle (α) entre les deux routes ; - déterminer une vitesse maximale de passage, qui est fonction du rayon de courbure (R). Figure pour l’abrégé : Fig. 2The invention relates to a method for determining the maximum speed of passage of a motor vehicle at an intersection between a first road and a second road, the method comprising the steps of: - collecting information on the road topography at the level of the road. 'intersection, this information comprising the angle (α) formed by the two roads; - determine a radius of curvature (R) corresponding to the radius of curvature of the path followed by the middle of the rear axle of the vehicle when passing the intersection, the path being, before the intersection, coincident with the center line of the traffic lane of the first road, and, after the intersection, coincides with the center line of the traffic lane of the second road, the radius of curvature (R) being a function of the angle (α) between the two roads; - determine a maximum passage speed, which is a function of the radius of curvature (R). Figure for the abstract: Fig. 2

FR1907248A 2019-07-01 2019-07-01 Method for determining a curve passage speed for a motor vehicle implementing a speed regulation function Active FR3098175B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1907248A FR3098175B1 (en) 2019-07-01 2019-07-01 Method for determining a curve passage speed for a motor vehicle implementing a speed regulation function

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1907248A FR3098175B1 (en) 2019-07-01 2019-07-01 Method for determining a curve passage speed for a motor vehicle implementing a speed regulation function
FR1907248 2019-07-01

Publications (2)

Publication Number Publication Date
FR3098175A1 FR3098175A1 (en) 2021-01-08
FR3098175B1 true FR3098175B1 (en) 2021-06-04

Family

ID=68581914

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1907248A Active FR3098175B1 (en) 2019-07-01 2019-07-01 Method for determining a curve passage speed for a motor vehicle implementing a speed regulation function

Country Status (1)

Country Link
FR (1) FR3098175B1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3118926B1 (en) * 2021-01-21 2022-12-09 Psa Automobiles Sa Method and device for controlling a first vehicle following a second vehicle on a portion of road comprising a bend
FR3143516A1 (en) * 2022-12-19 2024-06-21 Psa Automobiles Sa Device for monitoring the operation of a longitudinal regulation system of a motor vehicle

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6826479B2 (en) * 2002-06-03 2004-11-30 Visteon Global Technologies, Inc. Method and apparatus for target vehicle identification in automatic cruise control and collision avoidance systems
DE102009045286A1 (en) * 2009-10-02 2011-04-21 Robert Bosch Gmbh Method for imaging the environment of a vehicle
DE102014210485A1 (en) * 2014-06-03 2015-12-03 Robert Bosch Gmbh Method and device for monitoring a system of a vehicle providing an at least partially automated driving function
DE102015213181B3 (en) * 2015-07-14 2017-01-19 Bayerische Motoren Werke Aktiengesellschaft Longitudinal driver assistance system in a motor vehicle
CN107963077B (en) * 2017-10-26 2020-02-21 东软集团股份有限公司 Control method, device and system for vehicle to pass through intersection

Also Published As

Publication number Publication date
FR3098175A1 (en) 2021-01-08

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