WO2022200696A1 - System for driving in autonomous mode upstream of a change in the maximum allowed speed - Google Patents
System for driving in autonomous mode upstream of a change in the maximum allowed speed Download PDFInfo
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- WO2022200696A1 WO2022200696A1 PCT/FR2022/050220 FR2022050220W WO2022200696A1 WO 2022200696 A1 WO2022200696 A1 WO 2022200696A1 FR 2022050220 W FR2022050220 W FR 2022050220W WO 2022200696 A1 WO2022200696 A1 WO 2022200696A1
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- speed
- motor vehicle
- change
- maximum
- road
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- 238000011144 upstream manufacturing Methods 0.000 title claims description 17
- 238000004590 computer program Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
- B60W30/143—Speed control
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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
- 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
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- 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
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
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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
- B60W2554/802—Longitudinal 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
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
Definitions
- the present invention claims the priority of French application 2102879 filed on March 23, 2021, the content of which (text, drawings and claims) is incorporated herein by reference.
- the present invention relates to autonomous vehicles, and more particularly to autonomous driving systems.
- an autonomous driving system is required to comply with the rules of the Highway Code, including in particular speed limits.
- the autonomous driving system is configured to determine the maximum authorized speed applicable to the current position of the motor vehicle and to adapt its speed so that it does not exceed the maximum authorized speed.
- the autonomous driving system detects this change and consequently regulates the speed of the motor vehicle from this position.
- a change in the maximum authorized speed may be signaled by a new speed limit applicable from this position or by the end of a speed limit applicable upstream of this position.
- the autonomous driving system adapts the speed of the motor vehicle so as to scrupulously respect the speed limit applicable to the current position of the motor vehicle both upstream and downstream of the position of the change of the maximum authorized speed and independently that this change either to a higher or lower maximum permitted speed.
- An object of the present invention is to avoid the risk of collision immediately upstream of a change in the maximum authorized speed on a road.
- Another object of the present invention is to adapt the speed of a motor vehicle in autonomous driving approaching a change in a regulatory speed limit to take account of the behavior of surrounding motor vehicles.
- an autonomous driving system allowing driving in autonomous mode of a first motor vehicle on a road comprising at least a first traffic lane having a traffic direction and comprising a change of a maximum speed authorized on this road from a first maximum speed authorized upstream, with respect to said direction of travel, of a predefined position of this road, to a second maximum speed authorized downstream, with respect to said direction of circulation, from said predefined position, the second maximum authorized speed being greater than the first maximum authorized speed, this system comprising
- At least a first sensor capable of detecting, when the first motor vehicle is on the road upstream of said predefined position, said change in the maximum authorized speed
- At least one second sensor capable of measuring a first distance between the first motor vehicle and a second surrounding motor vehicle following said first motor vehicle on said at least one first lane;
- At least one third sensor capable of determining that a lane change is impossible for the first motor vehicle
- a computer configured to generate a setpoint speed for the first motor vehicle, this setpoint speed being lower than a predefined threshold speed
- the predefined threshold speed is, when said change in the maximum authorized speed is detected, the first distance measured is less than a first predefined safety distance, a lane change is impossible for the first motor vehicle, greater than the first maximum authorized speed.
- the threshold speed is lower than the second authorized maximum speed
- said at least one third sensor is further able to determine that a lane change is possible for the first motor vehicle, the computer being configured to generate, when the first motor vehicle is on the road upstream of said position predefined; the predefined threshold speed is greater than the first authorized maximum speed, a lane change instruction;
- system further comprises at least one fourth sensor capable of measuring a second distance between the first motor vehicle and a surrounding third motor vehicle preceding said first motor vehicle on said at least one first lane, the setpoint speed generated being defined so that the second measured distance is greater than a second predefined safety distance;
- the first sensor is an image sensor configured to detect a change in the maximum authorized speed signaled by a road sign
- the first sensor comprises a vehicle communication module configured to receive information concerning a change in the maximum authorized speed
- the information received comprises the first authorized maximum speed, the second authorized maximum speed, location data of said position;
- the first sensor comprises a geolocation and navigation module; - the system further comprises a first actuator capable of acting on the speed of the motor vehicle to reach the setpoint speed generated by the computer.
- FIG.1 schematically illustrates a motor vehicle integrating an autonomous driving system according to various embodiments
- FIG.2 schematically illustrates a context of use of an autonomous driving system according to various embodiments.
- a motor vehicle 1 capable of implementing an autonomous driving mode is displayed.
- This motor vehicle 1 is, in fact, equipped with an autonomous driving system 10 allowing driving in autonomous mode of this motor vehicle 1 on a road 20.
- the road 20 comprises at least one lane 21 -23 of traffic having a direction 24 of traffic.
- This route 20 includes a position 25 at which there is a change in the maximum authorized speed.
- route 20 includes a change in the maximum authorized speed from a first maximum authorized speed V1 upstream, relative to said direction 24 of traffic, from position 25 of this route 20, to a second maximum authorized speed V2 in downstream, with respect to said direction 24 of circulation, of position 25.
- the speeds V1 is a change in the maximum authorized speed from a first maximum authorized speed V1 upstream, relative to said direction 24 of traffic, from position 25 of this route 20, to a second maximum authorized speed V2 in downstream, with respect to said direction 24 of circulation, of position 25.
- V2 maximum authorized on either side of position 25 of route 20 are different.
- the second maximum authorized speed V2 is greater than the first maximum authorized speed V1.
- Position 25 marks, in one embodiment, a change in the maximum authorized speed (or applicable speed limits) between two sections of road 20, two different traffic areas connected by road 20, or between two different types of route 20 (national road, departmental road, or highway for example).
- This change in the maximum authorized speed may be signaled by a traffic sign placed at position 25, or by a traffic sign accompanied by a distance sign and placed upstream, with respect to the direction of travel 24, from position 25 by a predefined distance.
- information concerning this change in the maximum authorized speed can be broadcast to users of the road 20 by a road infrastructure covering this road 20 or provided by a geolocation and navigation module on board the vehicle 1 automobile. This information includes a first and a second maximum authorized speed V1, V2 and location data for the position 25 of the road 20 marking this change in the maximum authorized speed on this road 20 (end of a speed limit or the start a new speed limit).
- the autonomous driving system 10 comprises at least one sensor 13a-13i able to detect, when the motor vehicle 1 is on the road 20 upstream of the position 25, the change in the maximum authorized speed. More generally, the autonomous driving system 10 comprises one or more sensors 13a-13i capable of determining, when the motor vehicle 1 is approaching position 25, the second maximum authorized speed V2 applicable from this position 25 to the place of the first authorized maximum speed V1 still applicable up to this position 25 of the road 20. These sensors 13a-13i make it possible to detect in advance the start of a new speed limit or the end of the speed limit. current speed at a position 25 of the road 20 in front of the motor vehicle 1.
- the sensors 13a-13i allow the detection of an imminent increase in the maximum speed authorized on the road. 20.
- Sensors 13a-13i used by the autonomous driving system 10 for detecting a change in speed speed limit comprise, for example, an image sensor (in particular, a front camera) configured to detect a change in the maximum speed limit indicated by a road sign, a vehicle communication module (of the vehicle-with-all better known by the English name "Vehicle-to-Everything", Vehicle-to-Vehicle, Vehicle-to-Dispositif, Vehicle-to-lnfrastructure, or Vehicle-to-Network for example) configured to receive information concerning a change of the maximum authorized speed on route 20, and/or a geolocation and navigation module (a geolocation sensor of the GPS, GLONASS type, or equivalent provided with cartographic data concerning route 20).
- These sensors are, in one embodiment, arranged at the front or on the roof of the motor vehicle 1 .
- communication from the infrastructure to a sensor 13a-13i on board the motor vehicle 1 makes it possible to indicate to it, when it is upstream of the position 25 less than a predefined distance, the second maximum authorized speed V2 and the position 25 from which this new speed limit is applicable.
- the autonomous driving system 10 further comprises at least one sensor 13 a- 13 i able to measure the distance (or inter distance) between the motor vehicle 1 and a surrounding motor vehicle 2 following this motor vehicle 1 on the same lane 21 of traffic.
- sensors 13a-13i make it possible to detect the passage of this distance below a predefined safety distance.
- Sensors 13a-13i used by the autonomous driving system 10 to measure this distance include, for example, a vehicle communication module, ultrasonic sensors, radars, and/or lidars. These sensors are, in one embodiment, arranged at the rear or on the roof of the motor vehicle 1.
- the autonomous driving system 10 comprises at least one sensor 13a-13i capable of determining whether a lane change is possible or impossible for the motor vehicle 1.
- These sensors 13a-13i make it possible, in fact, to detect whether there is at least one traffic lane 22-23 adjacent to the current traffic lane 21 of the motor vehicle 1 and, if this is the case (i.e. .d. a multi-lane road 20), to determine whether a change of lane of the motor vehicle 1 to one of the adjacent traffic lanes 22-23 is possible or not.
- these sensors 13a-13i are able to determine that a lane change (in particular, a folding maneuver) is impossible for the motor vehicle 1.
- a lane change may, in fact, be impossible for the motor vehicle 1 when the road 20 comprises a single traffic lane (a single-lane road 20) or in the presence of a surrounding motor vehicle 3-6 on the lane 22 -23 of adjacent traffic preventing the motor vehicle 1 to make a safe lane change to this lane 22-23 of adjacent traffic.
- the sensors 13a-13i are able to determine that neither a secure lane change to the lane 22 of right traffic nor a secure lane change to the left traffic lane 23 is possible for the motor vehicle 1.
- Sensors 13a-13i used by the autonomous driving system 10 to determine that a lane change is impossible for the motor vehicle 1 include radars, lidars, a vehicle communication module, and/or a sensor of picture. These sensors are, in one embodiment, arranged on the side faces, at the rear and/or on the roof of the motor vehicle 1 .
- the autonomous driving system 10 further comprises at least one sensor 13a-13i capable of measuring the distance between the motor vehicle 1 and a surrounding motor vehicle 7 preceding this motor vehicle 1 on the same lane 21 of traffic.
- sensors 13a-13i make it possible to detect the passage of this distance below a predefined safety distance.
- Sensors 13a-13i used by the autonomous driving system 10 to measure this distance comprise, for example, a module of vehicular communication, ultrasonic sensors, radars, and/or lidars. These sensors are, in one embodiment, arranged at the front or on the roof of the motor vehicle 1 .
- the autonomous driving system 10 includes a computer 11 configured to interpret the data provided by the sensors 13a-13i and generate a set speed for the motor vehicle 1 below a predefined threshold speed.
- the generation of a setpoint speed by the computer 11 satisfies a constraint according to which this setpoint speed must be lower than the predefined threshold speed.
- This threshold speed is, by default, chosen equal to the maximum speed authorized at the current position of the motor vehicle 1 .
- the threshold speed is chosen to be greater than the first authorized maximum speed V1.
- the computer 11 changes, under these conditions, the value of the threshold speed.
- the threshold speed is chosen to be 3%, 5% or 10% higher than the first authorized maximum speed V1.
- the motor vehicle 1 can thus have, upstream of the position 25 of the road 20, a speed greater than the first authorized maximum speed V1.
- a set speed greater than the first maximum authorized speed V1 advantageously makes it possible to avoid a risky situation created by the surrounding motor vehicle 2 following the motor vehicle 1.
- the threshold speed is, in one embodiment, lower than the second maximum authorized speed V2. The motor vehicle 1 thus anticipates the second maximum authorized speed V2 without exceeding it.
- the setpoint speed generated is defined so that the distance between these two motor vehicles 1, 7 is greater than a distance of predefined security.
- Such a configuration of the computer 11 advantageously improves the autonomous driving mode of the motor vehicle 1 when approaching a gear change and without the possibility of falling back or overtaking, thanks to an understanding of the driving context and the behavior of surrounding motor vehicles 2-7.
- this configuration of the computer 11 aims to provide an automatic safety maneuver to secure the occupants of the motor vehicle 1 and those of the surrounding motor vehicles 2-7 in predefined extreme situations (for example, a inter-distance between vehicles 1 -2 automobiles less than 20%, 10% or 5% of a predefined safety distance).
- a request to resume driving can be sent to the driver of motor vehicle 1 before modifying the value of the threshold speed.
- the computer 11 increases the value of the threshold speed.
- this configuration of the computer 11 is offered as an option that the user can, under his sole and entire responsibility, activate.
- the autonomous driving system 10 comprises at least a first actuator 12a able to act on the speed (i.e. on the accelerator and/or on the braking system) of the motor vehicle 1 to reach the speed setpoint generated by the computer 11 .
- the autonomous driving system 10 further comprises at least one second actuator 12b capable of acting on the direction of the motor vehicle 1 in order to control its trajectory, in particular to make a lane change.
- the computer 11 is configured to generate a lane change instruction (to the left lane or to the right lane) as soon as it is determined by the sensors 13a-13 i that a lane change has become possible for motor vehicle 1.
- the automobile vehicle 1 can thus carry out a folding maneuver (in particular, depending on the type of driving on the left or on the right) and reduce its speed below the first authorized maximum speed V1 as long as it has not yet reached the position 25 of the road 20. More generally, when it is determined by the sensors 13a-13i that a lane change is possible for the motor vehicle 1, a lane change instruction is issued by the computer 11 in order to bring the speed of motor vehicle 1 below the first maximum authorized speed V1 upstream of position 25 of road 20.
- the surrounding motor vehicles 2-7 when approaching a change in the applicable speed limit (recognized by communication with the infrastructure, by visual capture of road signs and / or by geolocation and navigation), the surrounding motor vehicles 2-7 increase their speed beyond the first maximum authorized speed V1 before arriving at position 25 of the road 20 of the change in the maximum authorized speed, then the motor vehicle 1 adapts its speed so as not to have dangerous driving behavior. As long as it is not possible for it to perform a lane change manoeuvre, the motor vehicle 1 follows the speed of the surrounding motor vehicles 2-7.
- the computer 11 is a software application or, more generally, a computer program product installed on a computer processing unit of the autonomous driving system 10.
- the autonomous driving system 10 described above makes it possible to reduce the risk of accidents and therefore provides a gain in safety for road users.
- This autonomous driving system 10 also makes it possible to avoid risky situations following an increase in the speed of the surrounding motor vehicles in anticipation of an increase in the maximum authorized speed.
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Abstract
System allowing a vehicle (1) to be driven in autonomous mode on a road (20) comprising a change in a maximum allowed speed from a first maximum allowed speed (V1) to a second maximum allowed speed (V2) higher than the first, this system comprising - a plurality of sensors able to - detect said change in the maximum allowed speed; - measure a distance between the vehicle (1) and another vehicle (2) following it; - determine that a lane change is not possible for the vehicle; - a computer configured to generate a setpoint speed lower than a predefined threshold speed; - the predefined threshold speed being, when - said change in the maximum allowed speed is detected, - the measured distance is shorter than a predefined distance, - a lane change is not possible, higher than the first maximum allowed speed (V1).
Description
Description Description
Titre de l’invention : Système de conduite en mode autonome en amont d’un changement de la vitesse maximale autorisée Title of the invention: Driving system in autonomous mode upstream of a change in the maximum authorized speed
[0001] La présente invention revendique la priorité de la demande française 2102879 déposée le 23.03.2021 dont le contenu (texte, dessins et revendications) est ici incorporé par référence. La présente invention a trait aux véhicules autonomes, et plus particulièrement aux systèmes de conduite autonome. The present invention claims the priority of French application 2102879 filed on March 23, 2021, the content of which (text, drawings and claims) is incorporated herein by reference. The present invention relates to autonomous vehicles, and more particularly to autonomous driving systems.
[0002] Tout comme un conducteur humain, un système de conduite autonome est tenu de respecter les règles du code de la route, dont notamment les limitations de vitesse. A cet égard, le système de conduite autonome est configuré pour déterminer la vitesse maximale autorisée applicable à la position courante du véhicule automobile et adapter sa vitesse de sorte qu'il ne dépasse pas la vitesse maximale autorisée. Lorsque cette vitesse maximale autorisée change à une position donnée de la route, le système de conduite autonome détecte ce changement et régule, en conséquence, la vitesse du véhicule automobile à partir de cette position. Un changement de la vitesse maximale autorisée peut être signalé par une nouvelle limitation de vitesse applicable à partir de cette position ou par la fin d'une limitation de vitesse applicable en amont de cette position. Le système de conduite autonome adapte la vitesse du véhicule automobile de façon à respecter scrupuleusement la limitation de vitesse applicable à la position courante du véhicule automobile aussi bien en amont qu'en aval de la position du changement de la vitesse maximale autorisée et indépendamment que ce changement soit vers une vitesse maximale autorisée supérieure ou inférieure. [0002] Just like a human driver, an autonomous driving system is required to comply with the rules of the Highway Code, including in particular speed limits. In this regard, the autonomous driving system is configured to determine the maximum authorized speed applicable to the current position of the motor vehicle and to adapt its speed so that it does not exceed the maximum authorized speed. When this maximum authorized speed changes at a given position of the road, the autonomous driving system detects this change and consequently regulates the speed of the motor vehicle from this position. A change in the maximum authorized speed may be signaled by a new speed limit applicable from this position or by the end of a speed limit applicable upstream of this position. The autonomous driving system adapts the speed of the motor vehicle so as to scrupulously respect the speed limit applicable to the current position of the motor vehicle both upstream and downstream of the position of the change of the maximum authorized speed and independently that this change either to a higher or lower maximum permitted speed.
[0003] Cependant, lorsque la nouvelle vitesse maximale autorisée est supérieure à la précédente, des conducteurs anticipent souvent ce changement et accélèrent à l'approche de la position de la route marquant ce changement de la vitesse maximale autorisée, c.à.d. avant qu'ils n'arrivent à hauteur de cette position de la route. [0003] However, when the new maximum authorized speed is greater than the previous one, drivers often anticipate this change and accelerate when approaching the position of the road marking this change in the maximum authorized speed, ie. before they come up to that road position.
[0004] Par conséquent, une anticipation par les conducteurs d’un changement d'une limitation de vitesse, d'une part, et le respect
strict et scrupuleux par les systèmes de conduite autonome des limitations de vitesse, d'autre part, sont susceptibles d’engendrer des situations à risque pour l'ensemble des usagers de la route. [0004] Consequently, anticipation by drivers of a change in a speed limit, on the one hand, and compliance Strict and scrupulous speed limits by autonomous driving systems, on the other hand, are likely to create risky situations for all road users.
[0005] Un objet de la présente invention est d'éviter les risques de collision immédiatement en amont d'un changement de la vitesse maximale autorisée sur une route. An object of the present invention is to avoid the risk of collision immediately upstream of a change in the maximum authorized speed on a road.
[0006] Un autre objet de la présente invention est d'adapter la vitesse d'un véhicule automobile en conduite autonome à l'approche d'un changement d'une limitation de vitesse réglementaire pour tenir compte du comportement des véhicules automobiles environnants. Another object of the present invention is to adapt the speed of a motor vehicle in autonomous driving approaching a change in a regulatory speed limit to take account of the behavior of surrounding motor vehicles.
[0007] A cet effet, il est proposé, en premier lieu, un système de conduite autonome permettant une conduite en mode autonome d'un premier véhicule automobile sur une route comportant au moins une première voie de circulation ayant un sens de circulation et comprenant un changement d'une vitesse maximale autorisée sur cette route d'une première vitesse maximale autorisée en amont, par rapport audit sens de circulation, d'une position prédéfinie de cette route, à une deuxième vitesse maximale autorisée en aval, par rapport audit sens de circulation, de ladite position prédéfinie, la deuxième vitesse maximale autorisée étant supérieure à la première vitesse maximale autorisée, ce système comprenant [0007] To this end, it is proposed, firstly, an autonomous driving system allowing driving in autonomous mode of a first motor vehicle on a road comprising at least a first traffic lane having a traffic direction and comprising a change of a maximum speed authorized on this road from a first maximum speed authorized upstream, with respect to said direction of travel, of a predefined position of this road, to a second maximum speed authorized downstream, with respect to said direction of circulation, from said predefined position, the second maximum authorized speed being greater than the first maximum authorized speed, this system comprising
- au moins un premier capteur apte à détecter, lorsque le premier véhicule automobile est sur la route en amont de ladite position prédéfinie, ledit changement de la vitesse maximale autorisée;- At least a first sensor capable of detecting, when the first motor vehicle is on the road upstream of said predefined position, said change in the maximum authorized speed;
- au moins un deuxième capteur apte à mesurer une première distance entre le premier véhicule automobile et un deuxième véhicule automobile environnant suivant ledit premier véhicule automobile sur ladite au moins une première voie de circulation ;- At least one second sensor capable of measuring a first distance between the first motor vehicle and a second surrounding motor vehicle following said first motor vehicle on said at least one first lane;
- au moins un troisième capteur apte à déterminer qu'un changement de voie est impossible pour le premier véhicule automobile; - At least one third sensor capable of determining that a lane change is impossible for the first motor vehicle;
- un calculateur configuré pour générer une vitesse de consigne pour le premier véhicule automobile, cette vitesse de consigne étant inférieure à une vitesse seuil prédéfinie; - a computer configured to generate a setpoint speed for the first motor vehicle, this setpoint speed being lower than a predefined threshold speed;
- la vitesse seuil prédéfinie est, lorsque
ledit changement de la vitesse maximale autorisée est détecté, la première distance mesurée est inférieure à une première distance de sécurité prédéfinie, un changement de voie est impossible pour le premier véhicule automobile, supérieure à la première vitesse maximale autorisée. - the predefined threshold speed is, when said change in the maximum authorized speed is detected, the first distance measured is less than a first predefined safety distance, a lane change is impossible for the first motor vehicle, greater than the first maximum authorized speed.
[0008] Diverses caractéristiques supplémentaires peuvent être prévues, seules ou en combinaison : [0008] Various additional characteristics may be provided, alone or in combination:
- la vitesse seuil est inférieure à la deuxième vitesse maximale autorisée ; - the threshold speed is lower than the second authorized maximum speed;
- ledit au moins un troisième capteur est, en outre, apte à déterminer qu'un changement de voie est possible pour le premier véhicule automobile, le calculateur étant configuré pour générer, lorsque le premier véhicule automobile est sur la route en amont de ladite position prédéfinie; la vitesse seuil prédéfinie est supérieure à la première vitesse maximale autorisée, une consigne de changement de voie ; - said at least one third sensor is further able to determine that a lane change is possible for the first motor vehicle, the computer being configured to generate, when the first motor vehicle is on the road upstream of said position predefined; the predefined threshold speed is greater than the first authorized maximum speed, a lane change instruction;
- le système comprend, en outre, au moins un quatrième capteur apte à mesurer une deuxième distance entre le premier véhicule automobile et un troisième véhicule automobile environnant précédant ledit premier véhicule automobile sur ladite au moins une première voie de circulation, la vitesse de consigne générée étant définie de sorte que la deuxième distance mesurée soit supérieure à une deuxième distance de sécurité prédéfinie ; - the system further comprises at least one fourth sensor capable of measuring a second distance between the first motor vehicle and a surrounding third motor vehicle preceding said first motor vehicle on said at least one first lane, the setpoint speed generated being defined so that the second measured distance is greater than a second predefined safety distance;
- le premier capteur est un capteur d'image configuré pour détecter un changement de la vitesse maximale autorisée signalée par un panneau de signalisation routière ; - the first sensor is an image sensor configured to detect a change in the maximum authorized speed signaled by a road sign;
- le premier capteur comprend un module de communication véhiculaire configuré pour recevoir des informations concernant un changement de la vitesse maximale autorisée ; - the first sensor comprises a vehicle communication module configured to receive information concerning a change in the maximum authorized speed;
- les informations reçues comprennent la première vitesse maximale autorisée, la deuxième vitesse maximale autorisée, des données de localisation de ladite position ; - the information received comprises the first authorized maximum speed, the second authorized maximum speed, location data of said position;
- le premier capteur comprend un module de géolocalisation et de navigation ;
- le système comprend, en outre, un premier actionneur apte à agir sur la vitesse du véhicule automobile pour atteindre la vitesse de consigne générée par le calculateur. - the first sensor comprises a geolocation and navigation module; - the system further comprises a first actuator capable of acting on the speed of the motor vehicle to reach the setpoint speed generated by the computer.
[0009] Il est proposé, en deuxième lieu, un véhicule automobile comprenant le système de conduite autonome présenté ci-dessus. [0009] It is proposed, secondly, a motor vehicle comprising the autonomous driving system presented above.
[0010] D'autres caractéristiques et avantages de l'invention apparaîtront plus clairement et de manière concrète à la lecture de la description ci-après de modes de réalisation, laquelle est faite en référence aux dessins annexés dans lesquels : Other characteristics and advantages of the invention will appear more clearly and concretely on reading the following description of embodiments, which is made with reference to the accompanying drawings in which:
[0011] la figure [ Fig .1 ] illustre schématiquement un véhicule automobile intégrant un système de conduite autonome selon divers modes de réalisation; Figure [Fig.1] schematically illustrates a motor vehicle integrating an autonomous driving system according to various embodiments;
[0012] La figure [Fig.2] illustre schématiquement un contexte d'utilisation d'un système de conduite autonome selon divers modes de réalisation. The figure [Fig.2] schematically illustrates a context of use of an autonomous driving system according to various embodiments.
[0013] En se référant aux figures annexées, il est affiché un véhicule 1 automobile apte à mettre en oeuvre un mode de conduite autonome. Ce véhicule 1 automobile est, en effet, équipé d'un système 10 de conduite autonome permettant une conduite en mode autonome de ce véhicule 1 automobile sur une route 20. [0013] Referring to the appended figures, a motor vehicle 1 capable of implementing an autonomous driving mode is displayed. This motor vehicle 1 is, in fact, equipped with an autonomous driving system 10 allowing driving in autonomous mode of this motor vehicle 1 on a road 20.
[0014] La route 20 comporte au moins une voie 21 -23 de circulation ayant un sens 24 de circulation. Cette route 20 comprend une position 25 au niveau de laquelle il y a un changement de la vitesse maximale autorisée. Autrement dit, la route 20 comprend un changement de la vitesse maximale autorisée d'une première vitesse V1 maximale autorisée en amont, par rapport audit sens 24 de circulation, de la position 25 de cette route 20, à une deuxième vitesse V2 maximale autorisée en aval, par rapport audit sens 24 de circulation, de la position 25. Les vitesses V1 ,The road 20 comprises at least one lane 21 -23 of traffic having a direction 24 of traffic. This route 20 includes a position 25 at which there is a change in the maximum authorized speed. In other words, route 20 includes a change in the maximum authorized speed from a first maximum authorized speed V1 upstream, relative to said direction 24 of traffic, from position 25 of this route 20, to a second maximum authorized speed V2 in downstream, with respect to said direction 24 of circulation, of position 25. The speeds V1,
V2 maximales autorisées de part et d'autre de la position 25 de la route 20 sont différentes. Dans un mode de réalisation, la deuxième vitesse V2 maximale autorisée est supérieure à la première vitesse V1 maximale autorisée. V2 maximum authorized on either side of position 25 of route 20 are different. In one embodiment, the second maximum authorized speed V2 is greater than the first maximum authorized speed V1.
[0015] La position 25 marque, dans un mode de réalisation, un changement de la vitesse maximale autorisée (ou des limitations de vitesse applicables) entre deux tronçons de la route 20, deux zones de circulation différentes reliées par la route 20, ou entre
deux types différents de la route 20 (route nationale, route départementale, ou autoroute par exemple). Ce changement de la vitesse maximale autorisée peut être signalé par un panneau de signalisation disposé à la position 25, ou par un panneau de signalisation accompagné d'un panonceau de distance et disposé en amont, par rapport au sens 24 de circulation, de la position 25 d'une distance prédéfinie. En alternative ou en combinaison, des informations concernant ce changement de la vitesse maximale autorisée peuvent être diffusées à destination des usagers de la route 20 par une infrastructure routière couvrant cette route 20 ou fournies par un module de géolocalisation et de navigation embarqué dans le véhicule 1 automobile. Ces informations comprennent une première et une deuxième vitesse V1 , V2 maximale autorisée et des données de localisation de la position 25 de la route 20 marquant ce changement de la vitesse maximale autorisée sur cette route 20 (fin d'une limitation de vitesse ou le début d'une nouvelle limitation de vitesse). [0015] Position 25 marks, in one embodiment, a change in the maximum authorized speed (or applicable speed limits) between two sections of road 20, two different traffic areas connected by road 20, or between two different types of route 20 (national road, departmental road, or highway for example). This change in the maximum authorized speed may be signaled by a traffic sign placed at position 25, or by a traffic sign accompanied by a distance sign and placed upstream, with respect to the direction of travel 24, from position 25 by a predefined distance. As an alternative or in combination, information concerning this change in the maximum authorized speed can be broadcast to users of the road 20 by a road infrastructure covering this road 20 or provided by a geolocation and navigation module on board the vehicle 1 automobile. This information includes a first and a second maximum authorized speed V1, V2 and location data for the position 25 of the road 20 marking this change in the maximum authorized speed on this road 20 (end of a speed limit or the start a new speed limit).
[0016] Le système 10 de conduite autonome comprend au moins un capteur 13a- 13 i apte à détecter, lorsque le véhicule 1 automobile est sur la route 20 en amont de la position 25, le changement de la vitesse maximale autorisée. Plus généralement, le système 10 de conduite autonome comprend un ou plusieurs capteurs 13a-13i aptes à déterminer, lorsque le véhicule 1 automobile est à l'approche de la position 25, la deuxième vitesse V2 maximale autorisée applicable à partir de cette position 25 au lieu de la première vitesse V1 maximale autorisée encore applicable jusqu'à cette position 25 de la route 20. Ces capteurs 13a- 13 i permettent de détecter à l'avance le début d'une nouvelle limitation de vitesse ou la fin de la limitation de vitesse courante à une position 25 de la route 20 devant le véhicule 1 automobile. The autonomous driving system 10 comprises at least one sensor 13a-13i able to detect, when the motor vehicle 1 is on the road 20 upstream of the position 25, the change in the maximum authorized speed. More generally, the autonomous driving system 10 comprises one or more sensors 13a-13i capable of determining, when the motor vehicle 1 is approaching position 25, the second maximum authorized speed V2 applicable from this position 25 to the place of the first authorized maximum speed V1 still applicable up to this position 25 of the road 20. These sensors 13a-13i make it possible to detect in advance the start of a new speed limit or the end of the speed limit. current speed at a position 25 of the road 20 in front of the motor vehicle 1.
[0017] En comparant la limitation de vitesse courante à la limitation de vitesse prochaine applicable à partir de la position 25 de la route 20, les capteurs 13a-13 i permettent la détection d'une augmentation imminente de la vitesse maximale autorisée sur la route 20. [0017] By comparing the current speed limit to the next speed limit applicable from position 25 of the road 20, the sensors 13a-13i allow the detection of an imminent increase in the maximum speed authorized on the road. 20.
[0018] Des capteurs 13a-13 i utilisés par le système 10 de conduite autonome pour la détection d'un changement de la vitesse
maximale autorisée comprennent, par exemple, un capteur d'image (notamment, une caméra frontale) configuré pour détecter un changement de la vitesse maximale autorisée signalée par un panneau de signalisation routière, un module de communication véhiculaire (de type véhicule-avec-tout plus connu sous le nom anglais « Vehicle-to-Everything » , Véhicule-à- Véhicule, Véhicule-à-Dispositif, Véhicule-à-lnfrastructure, ou Véhicule-à-Réseau par exemple) configuré pour recevoir des informations concernant un changement de la vitesse maximale autorisée sur la route 20, et/ou un module de géolocalisation et de navigation (un capteur de géolocalisation de type GPS, GLONASS, ou équivalent pourvu de données cartographiques concernant la route 20). Ces capteurs sont, dans un mode de réalisation, disposés à l'avant ou sur le toit du véhicule 1 automobile. [0018] Sensors 13a-13i used by the autonomous driving system 10 for detecting a change in speed speed limit comprise, for example, an image sensor (in particular, a front camera) configured to detect a change in the maximum speed limit indicated by a road sign, a vehicle communication module (of the vehicle-with-all better known by the English name "Vehicle-to-Everything", Vehicle-to-Vehicle, Vehicle-to-Dispositif, Vehicle-to-lnfrastructure, or Vehicle-to-Network for example) configured to receive information concerning a change of the maximum authorized speed on route 20, and/or a geolocation and navigation module (a geolocation sensor of the GPS, GLONASS type, or equivalent provided with cartographic data concerning route 20). These sensors are, in one embodiment, arranged at the front or on the roof of the motor vehicle 1 .
[0019] Dans un mode de réalisation, une communication de l’infrastructure à un capteur 13a-13i embarqué dans le véhicule 1 automobile (Infrastructure-à-Véhicule ou I2V) permet de lui indiquer, lorsqu'il est en amont de la position 25 à moins d'une distance prédéfinie, la deuxième vitesse V2 maximale autorisée et la position 25 à partir de laquelle cette nouvelle limitation de vitesse est applicable. [0019] In one embodiment, communication from the infrastructure to a sensor 13a-13i on board the motor vehicle 1 (Infrastructure-to-Vehicle or I2V) makes it possible to indicate to it, when it is upstream of the position 25 less than a predefined distance, the second maximum authorized speed V2 and the position 25 from which this new speed limit is applicable.
[0020] Le système 10 de conduite autonome comprend, en outre, au moins un capteur 13 a- 13 i apte à mesurer la distance (ou inter distance) entre le véhicule 1 automobile et un véhicule 2 automobile environnant suivant ce véhicule 1 automobile sur la même voie 21 de circulation. Ces capteurs 13a-13i permettent de détecter le passage de cette distance en dessous d'une distance de sécurité prédéfinie. Des capteurs 13a- 13 i utilisés par le système 10 de conduite autonome pour mesurer cette distance comprennent, par exemple, un module de communication véhiculaire, des capteurs à ultrasons, des radars, et/ou des lidars. Ces capteurs sont, dans un mode de réalisation, disposés à l'arrière ou sur le toit du véhicule 1 automobile. The autonomous driving system 10 further comprises at least one sensor 13 a- 13 i able to measure the distance (or inter distance) between the motor vehicle 1 and a surrounding motor vehicle 2 following this motor vehicle 1 on the same lane 21 of traffic. These sensors 13a-13i make it possible to detect the passage of this distance below a predefined safety distance. Sensors 13a-13i used by the autonomous driving system 10 to measure this distance include, for example, a vehicle communication module, ultrasonic sensors, radars, and/or lidars. These sensors are, in one embodiment, arranged at the rear or on the roof of the motor vehicle 1.
[0021] Par ailleurs, le système 10 de conduite autonome comprend au moins un capteur 13a-13 i apte à déterminer si un changement de voie est possible ou impossible pour le véhicule 1 automobile.
Ces capteurs 13a- 13 i permettent, en effet, de détecter s'il existe au moins une voie 22-23 de circulation adjacente à la voie 21 de circulation courante du véhicule 1 automobile et, si c'est le cas (c.à.d. une route 20 à plusieurs voies), de déterminer si un changement de voie du véhicule 1 automobile vers une des voies 22-23 de circulation adjacentes est possible ou non. En particulier, ces capteurs 13a- 13 i sont aptes à déterminer qu'un changement de voie (notamment, une manoeuvre de rabattement) est impossible pour le véhicule 1 automobile. Un changement de voie peut, en effet, être impossible pour le véhicule 1 automobile lorsque la route 20 comprend une seule voie de circulation (une route 20 mono-voie) ou en présence d'un véhicule 3-6 automobile environnant sur la voie 22-23 de circulation adjacente empêchant le véhicule 1 automobile d'effectuer un changement de voie sécurisé vers cette voie 22-23 de circulation adjacente. En présence de deux voies 22-23 de circulation adjacentes de part et d'autre de la voie 21 de circulation courante du véhicule 1 automobile, les capteurs 13a- 13i sont aptes à déterminer que ni un changement de voie sécurisé vers la voie 22 de circulation droite ni un changement de voie sécurisé vers la voie 23 de circulation gauche n'est possible pour le véhicule 1 automobile. Furthermore, the autonomous driving system 10 comprises at least one sensor 13a-13i capable of determining whether a lane change is possible or impossible for the motor vehicle 1. These sensors 13a-13i make it possible, in fact, to detect whether there is at least one traffic lane 22-23 adjacent to the current traffic lane 21 of the motor vehicle 1 and, if this is the case (i.e. .d. a multi-lane road 20), to determine whether a change of lane of the motor vehicle 1 to one of the adjacent traffic lanes 22-23 is possible or not. In particular, these sensors 13a-13i are able to determine that a lane change (in particular, a folding maneuver) is impossible for the motor vehicle 1. A lane change may, in fact, be impossible for the motor vehicle 1 when the road 20 comprises a single traffic lane (a single-lane road 20) or in the presence of a surrounding motor vehicle 3-6 on the lane 22 -23 of adjacent traffic preventing the motor vehicle 1 to make a safe lane change to this lane 22-23 of adjacent traffic. In the presence of two adjacent traffic lanes 22-23 on either side of the current traffic lane 21 of the motor vehicle 1, the sensors 13a-13i are able to determine that neither a secure lane change to the lane 22 of right traffic nor a secure lane change to the left traffic lane 23 is possible for the motor vehicle 1.
[0022] Des capteurs 13a-13 i utilisés par le système 10 de conduite autonome pour déterminer qu'un changement de voie est impossible pour le véhicule 1 automobile comprennent des radars, des lidars, un module de communication véhiculaire, et/ou un capteur d'image. Ces capteurs sont, dans un mode de réalisation, disposés sur les faces latérales, à l'arrière et/ou sur le toit du véhicule 1 automobile. [0022] Sensors 13a-13i used by the autonomous driving system 10 to determine that a lane change is impossible for the motor vehicle 1 include radars, lidars, a vehicle communication module, and/or a sensor of picture. These sensors are, in one embodiment, arranged on the side faces, at the rear and/or on the roof of the motor vehicle 1 .
[0023] Dans un autre mode de réalisation, le système 10 de conduite autonome comprend, en outre, au moins un capteur 13a-13i apte à mesurer la distance entre le véhicule 1 automobile et un véhicule 7 automobile environnant précédant ce véhicule 1 automobile sur la même voie 21 de circulation. Ces capteurs 13a- 13 i permettent de détecter le passage de cette distance en dessous d'une distance de sécurité prédéfinie. Des capteurs 13a- 13 i utilisés par le système 10 de conduite autonome pour mesurer cette distance comprennent, par exemple, un module de
communication véhiculaire, des capteurs à ultrasons, des radars, et/ou des lidars. Ces capteurs sont, dans un mode de réalisation, disposés à l'avant ou sur le toit du véhicule 1 automobile. In another embodiment, the autonomous driving system 10 further comprises at least one sensor 13a-13i capable of measuring the distance between the motor vehicle 1 and a surrounding motor vehicle 7 preceding this motor vehicle 1 on the same lane 21 of traffic. These sensors 13a-13i make it possible to detect the passage of this distance below a predefined safety distance. Sensors 13a-13i used by the autonomous driving system 10 to measure this distance comprise, for example, a module of vehicular communication, ultrasonic sensors, radars, and/or lidars. These sensors are, in one embodiment, arranged at the front or on the roof of the motor vehicle 1 .
[0024] Le système 10 de conduite autonome comprend un calculateur 11 configuré pour interpréter les données fournies par les capteurs 13a- 13 i et générer une vitesse de consigne pour le véhicule 1 automobile inférieure à une vitesse seuil prédéfinie. La génération d'une vitesse de consigne par le calculateur 11 satisfait une contrainte selon laquelle cette vitesse de consigne doit être inférieure à la vitesse seuil prédéfinie. Cette vitesse seuil est, par défaut, choisie égale à la vitesse maximale autorisée à la position courante du véhicule 1 automobile. The autonomous driving system 10 includes a computer 11 configured to interpret the data provided by the sensors 13a-13i and generate a set speed for the motor vehicle 1 below a predefined threshold speed. The generation of a setpoint speed by the computer 11 satisfies a constraint according to which this setpoint speed must be lower than the predefined threshold speed. This threshold speed is, by default, chosen equal to the maximum speed authorized at the current position of the motor vehicle 1 .
[0025] Dans un mode de réalisation, lorsqu’il est détecté par les capteurs 13a- 13 i [0025] In one embodiment, when it is detected by the sensors 13a-13i
- un changement imminent de la vitesse maximale autorisée,- an imminent change in the maximum authorized speed,
- une distance entre le véhicule 1 automobile et le véhicule 2 automobile environnant le suivant inférieure à une distance de sécurité prédéfinie, et - a distance between the motor vehicle 1 and the motor vehicle 2 surrounding the next one less than a predefined safety distance, and
- un changement de voie impossible pour le véhicule 1 automobile, la vitesse seuil est choisie supérieure à la première vitesse V1 maximale autorisée. Autrement dit, le calculateur 11 change, dans ces conditions, la valeur de la vitesse seuil. Par exemple, la vitesse seuil est choisie 3%, 5% ou 10% supérieure à la première vitesse V1 maximale autorisée. Le véhicule 1 automobile peut ainsi avoir, en amont de la position 25 de la route 20, une vitesse supérieure à la première vitesse V1 maximale autorisée. - A lane change impossible for the motor vehicle 1, the threshold speed is chosen to be greater than the first authorized maximum speed V1. In other words, the computer 11 changes, under these conditions, the value of the threshold speed. For example, the threshold speed is chosen to be 3%, 5% or 10% higher than the first authorized maximum speed V1. The motor vehicle 1 can thus have, upstream of the position 25 of the road 20, a speed greater than the first authorized maximum speed V1.
[0026] Dans ces conditions, une vitesse de consigne supérieure à la première vitesse V1 maximale autorisée permet, avantageusement, d'éviter une situation à risque créée par le véhicule 2 automobile environnant suivant le véhicule 1 automobile. En augmentant sa vitesse, en demeurant dans sa voie 21 de circulation, et en respectant une distance de sécurité avec le véhicule 2 automobile environnant le suivant, le véhicule 1 automobile évite une collision avec le véhicule 2 automobile environnant le suivant.
[0027] La vitesse seuil est, dans un mode de réalisation, inférieure à la deuxième vitesse V2 maximale autorisée. Le véhicule 1 automobile anticipe ainsi la deuxième vitesse V2 maximale autorisée sans la dépasser. Under these conditions, a set speed greater than the first maximum authorized speed V1 advantageously makes it possible to avoid a risky situation created by the surrounding motor vehicle 2 following the motor vehicle 1. By increasing its speed, remaining in its traffic lane 21, and respecting a safety distance with the motor vehicle 2 surrounding the following one, the motor vehicle 1 avoids a collision with the motor vehicle 2 surrounding the following one. The threshold speed is, in one embodiment, lower than the second maximum authorized speed V2. The motor vehicle 1 thus anticipates the second maximum authorized speed V2 without exceeding it.
[0028] En présence d'un véhicule 7 automobile environnant précédant le véhicule 1 automobile sur la voie 21 de circulation, la vitesse de consigne générée est définie de sorte que la distance entre ces deux véhicules 1 , 7 automobiles soit supérieure à une distance de sécurité prédéfinie. In the presence of a surrounding motor vehicle 7 preceding the motor vehicle 1 on the traffic lane 21, the setpoint speed generated is defined so that the distance between these two motor vehicles 1, 7 is greater than a distance of predefined security.
[0029] Une telle configuration du calculateur 11 améliore, avantageusement, le mode de conduite autonome du véhicule 1 automobile à l’approche d'un changement de vitesse et sans possibilité de rabattement ou de dépassement, grâce à une compréhension du contexte de conduite et du comportement des véhicules 2-7 automobiles environnants. [0029] Such a configuration of the computer 11 advantageously improves the autonomous driving mode of the motor vehicle 1 when approaching a gear change and without the possibility of falling back or overtaking, thanks to an understanding of the driving context and the behavior of surrounding motor vehicles 2-7.
[0030] Il convient de noter que cette configuration du calculateur 11 vise à apporter une manoeuvre de sécurité automatique pour mettre en sécurité les occupants du véhicule 1 automobile et ceux des véhicules 2-7 automobiles environnants dans des situations extrêmes prédéfinies (par exemple, une inter-distance entre les véhicules 1 -2 automobiles inférieure à 20%, 10% ou 5% d’une distance de sécurité prédéfinie). En alternative, une demande de reprise en main de la conduite peut être émise à l’attention du conducteur du véhicule 1 automobile avant de modifier la valeur de la vitesse seuil. En l’absence d’action de la part du conducteur à la fin d’un décompte, le calculateur 11 augmente la valeur de la vitesse seuil. Dans un autre mode de réalisation, cette configuration du calculateur 11 est proposée en option que l’utilisateur peut, sous sa seule et entière responsabilité, activer. [0030] It should be noted that this configuration of the computer 11 aims to provide an automatic safety maneuver to secure the occupants of the motor vehicle 1 and those of the surrounding motor vehicles 2-7 in predefined extreme situations (for example, a inter-distance between vehicles 1 -2 automobiles less than 20%, 10% or 5% of a predefined safety distance). Alternatively, a request to resume driving can be sent to the driver of motor vehicle 1 before modifying the value of the threshold speed. In the absence of action on the part of the driver at the end of a countdown, the computer 11 increases the value of the threshold speed. In another embodiment, this configuration of the computer 11 is offered as an option that the user can, under his sole and entire responsibility, activate.
[0031] Le système 10 de conduite autonome comprend au moins un premier actionneur 12a apte à agir sur la vitesse (c.à.d. sur l'accélérateur et/ou sur le système de freinage) du véhicule 1 automobile pour atteindre la vitesse de consigne générée par le calculateur 11 . Le système 10 de conduite autonome comprend, en outre, au moins un deuxième actionneur 12b apte à agir sur la
direction du véhicule 1 automobile afin d'en contrôler sa trajectoire, notamment pour effectuer un changement de voie. The autonomous driving system 10 comprises at least a first actuator 12a able to act on the speed (i.e. on the accelerator and/or on the braking system) of the motor vehicle 1 to reach the speed setpoint generated by the computer 11 . The autonomous driving system 10 further comprises at least one second actuator 12b capable of acting on the direction of the motor vehicle 1 in order to control its trajectory, in particular to make a lane change.
[0032] Dans un mode de réalisation, le calculateur 11 est configuré pour générer une consigne de changement de voie (vers la voie de gauche ou vers la voie de droite) dès qu'il est déterminé par les capteurs 13a-13 i qu'un changement de voie est devenu possible pour le véhicule 1 automobile. Le véhicule 1 automobile peut, ainsi, effectuer une manoeuvre de rabattement (notamment, selon le type de conduite à gauche ou à droite) et réduire sa vitesse en dessous de la première vitesse V1 maximale autorisée tant qu'il n'a pas encore atteint la position 25 de la route 20. Plus généralement, lorsqu'il est déterminé par les capteurs 13a-13i qu'un changement de voie est possible pour le véhicule 1 automobile, une consigne de changement de voie est émise par le calculateur 11 afin de ramener la vitesse du véhicule 1 automobile en dessous de la première vitesse V1 maximale autorisée en amont de la position 25 de la route 20. In one embodiment, the computer 11 is configured to generate a lane change instruction (to the left lane or to the right lane) as soon as it is determined by the sensors 13a-13 i that a lane change has become possible for motor vehicle 1. The automobile vehicle 1 can thus carry out a folding maneuver (in particular, depending on the type of driving on the left or on the right) and reduce its speed below the first authorized maximum speed V1 as long as it has not yet reached the position 25 of the road 20. More generally, when it is determined by the sensors 13a-13i that a lane change is possible for the motor vehicle 1, a lane change instruction is issued by the computer 11 in order to bring the speed of motor vehicle 1 below the first maximum authorized speed V1 upstream of position 25 of road 20.
[0033] Tel qu'il est illustré par la figure 2, lorsqu'à l'approche d’un changement de la limitation de vitesse applicable (reconnu par une communication avec l’infrastructure, par capture visuelle de panneaux de signalisation routière et/ou par géolocalisation et navigation), les véhicules 2-7 automobiles environnants augmentent leur vitesse au-delà de la première vitesse V1 maximale autorisée avant d’arriver à hauteur de la position 25 de la route 20 du changement de la vitesse maximale autorisée, alors le véhicule 1 automobile adapte sa vitesse pour ne pas avoir un comportement de conduite dangereux. Tant qu'il ne lui est pas possible d'effectuer une manoeuvre de changement de voie, le véhicule 1 automobile suit la vitesse des véhicules 2-7 automobiles environnants. As illustrated in Figure 2, when approaching a change in the applicable speed limit (recognized by communication with the infrastructure, by visual capture of road signs and / or by geolocation and navigation), the surrounding motor vehicles 2-7 increase their speed beyond the first maximum authorized speed V1 before arriving at position 25 of the road 20 of the change in the maximum authorized speed, then the motor vehicle 1 adapts its speed so as not to have dangerous driving behavior. As long as it is not possible for it to perform a lane change manoeuvre, the motor vehicle 1 follows the speed of the surrounding motor vehicles 2-7.
[0034] Dans un mode de réalisation, le calculateur 11 est une application logicielle ou, plus généralement, un produit programme d’ordinateur installé sur une unité de traitement informatique du système 10 de conduite autonome. In one embodiment, the computer 11 is a software application or, more generally, a computer program product installed on a computer processing unit of the autonomous driving system 10.
[0035] Avantageusement, le système 10 de conduite autonome décrit ci-dessus permet de réduire les risques d’accident et apporte, de ce fait, un gain en sécurité pour les usagers de la route. Ce
système 10 de conduite autonome permet aussi d'éviter des situations à risque suite à une augmentation de la vitesse des véhicules automobiles environnants en anticipation d'une augmentation de la vitesse maximale autorisée.
[0035] Advantageously, the autonomous driving system 10 described above makes it possible to reduce the risk of accidents and therefore provides a gain in safety for road users. This autonomous driving system 10 also makes it possible to avoid risky situations following an increase in the speed of the surrounding motor vehicles in anticipation of an increase in the maximum authorized speed.
Claims
[Revendication 1] Système (10) de conduite autonome permettant une conduite en mode autonome d'un premier véhicule (1) automobile sur une route (20) comportant au moins une première voie (21) de circulation ayant un sens (24) de circulation et comprenant un changement d'une vitesse maximale autorisée sur cette route (20) d'une première vitesse (VI) maximale autorisée en amont, par rapport audit sens (24) de circulation, d'une position (25) prédéfinie de cette route (20), à une deuxième vitesse (V2) maximale autorisée en aval, par rapport audit sens (24) de circulation, de ladite position (25) prédéfinie, la deuxième vitesse (V2) maximale autorisée étant supérieure à la première vitesse (VI) maximale autorisée, ce système (10) comprenant [Claim 1] Autonomous driving system (10) allowing driving in autonomous mode of a first motor vehicle (1) on a road (20) comprising at least a first traffic lane (21) having a direction (24) of traffic and comprising a change of a maximum speed authorized on this road (20) of a first maximum speed (VI) authorized upstream, with respect to said direction (24) of traffic, of a predefined position (25) of this road (20), at a second maximum authorized speed (V2) downstream, relative to said direction (24) of travel, from said predefined position (25), the second maximum authorized speed (V2) being greater than the first speed ( VI) maximum authorized, this system (10) comprising
- au moins un premier capteur (13a- 13i) apte à détecter, lorsque le premier véhicule (1) automobile est sur la route (20) en amont de ladite position (25) prédéfinie, ledit changement de la vitesse maximale autorisée ; - At least one first sensor (13a-13i) capable of detecting, when the first motor vehicle (1) is on the road (20) upstream of said predefined position (25), said change in the maximum authorized speed;
- au moins un deuxième capteur (13a-13i) apte à mesurer une première distance entre le premier véhicule (1) automobile et un deuxième véhicule (2) automobile environnant suivant ledit premier véhicule (1) automobile sur ladite au moins une première voie (21) de circulation; - at least one second sensor (13a-13i) capable of measuring a first distance between the first motor vehicle (1) and a second surrounding motor vehicle (2) following said first motor vehicle (1) on said at least one first lane ( 21) traffic;
- au moins un troisième capteur (13a-13i) apte à déterminer qu'un changement de voie est impossible pour le premier véhicule (1) automobile ; - At least one third sensor (13a-13i) capable of determining that a lane change is impossible for the first motor vehicle (1);
- un calculateur (11) configuré pour générer une vitesse de consigne pour le premier véhicule (1) automobile, cette vitesse de consigne étant inférieure à une vitesse seuil prédéfinie ; ce système étant caractérisé en ce que la vitesse seuil prédéfinie est, lorsque - a computer (11) configured to generate a set speed for the first motor vehicle (1), this set speed being lower than a predefined threshold speed; this system being characterized in that the predefined threshold speed is, when
- ledit changement de la vitesse maximale autorisée est détecté,- said change in the maximum authorized speed is detected,
- la première distance mesurée est inférieure à une première distance de sécurité prédéfinie, - the first distance measured is less than a first predefined safety distance,
- un changement de voie est impossible pour le premier véhicule (1) automobile, supérieure à la première vitesse (VI) maximale autorisée. - A lane change is impossible for the first vehicle (1) automobile, higher than the first speed (VI) maximum authorized.
[Revendication 2] Système selon la revendication précédente, caractérisé en ce que la vitesse seuil est inférieure à la deuxième vitesse (V2) maximale autorisée. [Claim 2] System according to the preceding claim, characterized in that the threshold speed is lower than the maximum authorized second speed (V2).
[Revendication 3] Système selon la revendication 1 ou 2, caractérisé en ce que ledit au moins un troisième capteur (13a-13i) est, en outre, apte à
déterminer qu'un changement de voie est possible pour le premier véhicule (1) automobile, le calculateur (11) étant configuré pour générer, lorsque [Claim 3] System according to Claim 1 or 2, characterized in that the said at least one third sensor (13a-13i) is, in addition, able to determining that a lane change is possible for the first motor vehicle (1), the computer (11) being configured to generate, when
- le premier véhicule (1) automobile est sur la route (20) en amont de ladite position (25) prédéfinie; - the first motor vehicle (1) is on the road (20) upstream of said predefined position (25);
- la vitesse seuil prédéfinie est supérieure à la première vitesse (VI) maximale autorisée, une consigne de changement de voie. - the predefined threshold speed is greater than the first maximum authorized speed (VI), a lane change instruction.
[Revendication 4] Système selon l'une quelconque des revendications précédentes, caractérisé en ce qu'il comprend, en outre, au moins un quatrième capteur (13a-13i) apte à mesurer une deuxième distance entre le premier véhicule (1) automobile et un troisième véhicule (7) automobile environnant précédant ledit premier véhicule (1) automobile sur ladite au moins une première voie (21) de circulation, la vitesse de consigne générée étant définie de sorte que la deuxième distance mesurée soit supérieure à une deuxième distance de sécurité prédéfinie. [Claim 4] System according to any one of the preceding claims, characterized in that it further comprises at least one fourth sensor (13a-13i) capable of measuring a second distance between the first motor vehicle (1) and a third surrounding motor vehicle (7) preceding said first motor vehicle (1) on said at least one first lane (21) of circulation, the setpoint speed generated being defined so that the second distance measured is greater than a second distance of predefined security.
[Revendication 5] Système selon l'une quelconque des revendications précédentes, caractérisé en ce que le premier capteur est un capteur d'image configuré pour détecter un changement de la vitesse maximale autorisée signalée par un panneau de signalisation routière. [Claim 5] System according to any one of the preceding claims, characterized in that the first sensor is an image sensor configured to detect a change in the maximum authorized speed signaled by a road sign.
[Revendication 6] Système selon l'une quelconque des revendications 1 à 4, caractérisé en ce que le premier capteur comprend un module de communication véhiculaire configuré pour recevoir des informations concernant un changement de la vitesse maximale autorisée. [Claim 6] System according to any one of Claims 1 to 4, characterized in that the first sensor comprises a vehicle communication module configured to receive information relating to a change in the maximum authorized speed.
[Revendication 7] Système selon la revendication précédente, caractérisé en ce que les informations reçues comprennent la première vitesse (VI) maximale autorisée, la deuxième vitesse (V2) maximale autorisée, des données de localisation de ladite position (25). [Claim 7] System according to the preceding claim, characterized in that the information received includes the first maximum authorized speed (VI), the second maximum authorized speed (V2), location data of said position (25).
[Revendication 8] Système selon l'une quelconque des revendications 1 à 4, caractérisé en ce que le premier capteur comprend un module de géolocalisation et de navigation. [Claim 8] System according to any one of Claims 1 to 4, characterized in that the first sensor comprises a geolocation and navigation module.
[Revendication 9] Système selon l'une quelconque des revendications précédentes, caractérisé en ce qu'il comprend, en outre, un premier actionneur (12a) apte à agir sur la vitesse du véhicule (1) automobile pour atteindre la vitesse de consigne générée par le calculateur (11). [Claim 9] System according to any one of the preceding claims, characterized in that it further comprises a first actuator (12a) capable of acting on the speed of the motor vehicle (1) to reach the setpoint speed generated by the computer (11).
[Revendication 10] Véhicule (1) automobile comprenant le système (10) de conduite autonome de l'une quelconque des revendications précédentes.
[Claim 10] Motor vehicle (1) comprising the autonomous driving system (10) of any one of the preceding claims.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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EP22707804.5A EP4313706A1 (en) | 2021-03-23 | 2022-02-04 | System for driving in autonomous mode upstream of a change in the maximum allowed speed |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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FR2102879 | 2021-03-23 | ||
FR2102879A FR3121109B1 (en) | 2021-03-23 | 2021-03-23 | Driving system in autonomous mode before a change in the maximum authorized speed |
Publications (1)
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WO2022200696A1 true WO2022200696A1 (en) | 2022-09-29 |
Family
ID=75690566
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/FR2022/050220 WO2022200696A1 (en) | 2021-03-23 | 2022-02-04 | System for driving in autonomous mode upstream of a change in the maximum allowed speed |
Country Status (3)
Country | Link |
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EP (1) | EP4313706A1 (en) |
FR (1) | FR3121109B1 (en) |
WO (1) | WO2022200696A1 (en) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2102879A5 (en) | 1970-08-27 | 1972-04-07 | Sifev | |
US20170144660A1 (en) * | 2014-08-07 | 2017-05-25 | Bayerische Motoren Werke Aktiengesellschaft | Driver Assistance System in a Motor Vehicle |
US20190092327A1 (en) * | 2017-09-27 | 2019-03-28 | Mazda Motor Corporation | Vehicle control device |
-
2021
- 2021-03-23 FR FR2102879A patent/FR3121109B1/en active Active
-
2022
- 2022-02-04 WO PCT/FR2022/050220 patent/WO2022200696A1/en active Application Filing
- 2022-02-04 EP EP22707804.5A patent/EP4313706A1/en active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2102879A5 (en) | 1970-08-27 | 1972-04-07 | Sifev | |
US20170144660A1 (en) * | 2014-08-07 | 2017-05-25 | Bayerische Motoren Werke Aktiengesellschaft | Driver Assistance System in a Motor Vehicle |
US20190092327A1 (en) * | 2017-09-27 | 2019-03-28 | Mazda Motor Corporation | Vehicle control device |
Also Published As
Publication number | Publication date |
---|---|
EP4313706A1 (en) | 2024-02-07 |
FR3121109A1 (en) | 2022-09-30 |
FR3121109B1 (en) | 2023-02-10 |
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