Control method and control device for controlling acceleration of a vehicle

Abstract

This invention relates to a control method and control apparatus for controlling the acceleration of a vehicle (10). For this purpose, the vehicle (10) detects the presence of another vehicle (11) traveling ahead of it at a distance (101) less than a threshold. A target acceleration value is determined based on the distance (101) and / or the inter-vehicle distance or inter-vehicle time (TIV) relative to the vehicle (11). An acceleration setpoint for an adaptive speed regulation system for the vehicle (10) is determined by weighting the target acceleration value with determined weighting coefficients. The determined weighting coefficients advantageously correspond to the maximum value between a first weighting coefficient and a second weighting coefficient, the first weighting coefficient varying with the distance between the vehicles (10, 11), and the second weighting coefficient varying with the speed difference between the vehicles (10, 11).

Description

Technical Field

[0001] This invention claims priority to French application 2100446, filed January 18, 2021, the contents of which (text, drawings, and claims) are incorporated herein by reference. The present invention relates to a method and apparatus for controlling the acceleration of a means of transport (particularly motorized transport). The invention also relates to a method and apparatus for controlling a means of transport, particularly to the control of an adaptive speed regulation system for a means of transport. Background Technology

[0002] Some modern vehicles are equipped with driver assistance functions or systems (called ADAS). In these systems, the primary function of an adaptive speed control system (ACC) is to adaptively and automatically adjust the vehicle's speed according to its environment. This ACC system determines one or more acceleration settings based on a speed setpoint and information related to the vehicle's environment, which adaptively (i.e., by taking the vehicle's environment into account) adjust the vehicle's speed. This environmental information corresponds, for example, to the distance between the vehicle equipped with the ACC and another vehicle traveling ahead, the speed of the vehicle traveling ahead (e.g., relative speed), the acceleration of the vehicle traveling ahead, and / or a prescribed speed limit. The one or more acceleration setpoints are determined, for example, based on a control law that is based on an estimate of the torque supplied by the powertrain (e.g., a thermal engine or an electric motor) to one or more wheels of the vehicle and an estimate of the current acceleration of the vehicle.

[0003] Environmental information about the vehicle is obtained, for example, from sensors (e.g., radar) mounted on the vehicle. This information is particularly important for the vehicle to improve its safety, for example, by taking into account the environment surrounding the vehicle (especially other vehicles).

[0004] Passenger comfort is another important factor, especially regarding the acceptability of driver assistance systems in transportation vehicles. For example, excessive acceleration or deceleration, particularly when acceleration is controlled by the ACC system, can be a cause of discomfort for passengers.

[0005] When another vehicle suddenly approaches a vehicle equipped with an ACC system (e.g., after overtaking, and when the other vehicle suddenly turns in front of the vehicle equipped with an ACC system without following a safe distance), the ACC system will detect that the other vehicle is too close in front and will generate a high target deceleration value, thereby causing the vehicle to slow down or brake suddenly. This is a source of discomfort for passengers and a potential safety risk. Summary of the Invention

[0006] The purpose of this invention is to improve the comfort of one or more passengers in a means of transport while ensuring a sufficient level of safety.

[0007] Another object of the present invention is to improve the safety of the means of transport by improving the understanding of the environment of the means of transport.

[0008] According to a first aspect, the present invention relates to a control method for controlling the acceleration of a means of transport, the method being implemented by at least one computer mounted in the means of transport and comprising the following steps:

[0009] - Detect another vehicle traveling in front of the vehicle in the traffic lane, the other vehicle being detected at a distance less than a threshold, the distance being determined based on data received from at least one object detection sensor mounted in the vehicle;

[0010] - A target acceleration value is determined based on information characterizing the distance, the target acceleration value being less than 0 and used in the adaptive speed regulation system of the vehicle;

[0011] - An acceleration setpoint for the adaptive speed adjustment system is determined by weighting the target acceleration value with weighting coefficients corresponding to the maximum value between a first weighting coefficient and a second weighting coefficient, the first weighting coefficient varying with information characterizing the distance, and the second weighting coefficient varying with the speed difference between the other vehicle and the vehicle.

[0012] According to a variant, the information characterizing the distance corresponds to a time between transport vehicles called TIV, and the first weighting coefficient is inversely proportional to the TIV over a range of TIV values, which are between minimizing and maximizing the TIV values.

[0013] According to another variation, the first weighting coefficient varies with the TIV value according to a linearly decreasing function over the interval of the TIV value.

[0014] According to the additional variation, the second weighting coefficient is inversely proportional to the speed difference over a range of speed difference values, which are between minimizing and maximizing the speed difference values.

[0015] According to a further variation, the second weighting coefficient varies with the speed difference over the range of the speed difference values ​​according to a linearly decreasing function.

[0016] According to the supplementary variation, the first weighting coefficient is between 0.3 and 1, and the second weighting coefficient is between 0.3 and 1.

[0017] According to another variation, the method further includes a control step for controlling the adaptive speed regulation system based on the acceleration setpoint.

[0018] According to a second aspect, the present invention relates to a control device for controlling the acceleration of a means of transport, the device including a memory associated with at least one processor configured to implement steps of the method according to the first aspect of the invention.

[0019] According to a third aspect, the present invention relates to a motorized type of transport vehicle, which includes the means according to the second aspect of the invention as described above.

[0020] According to a fourth aspect, the present invention relates to a computer program comprising instructions adapted to perform the steps of the method according to the first aspect of the invention when the computer program is executed by at least one processor.

[0021] This computer program can use any programming language and presents itself in the form of source code, object code, or intermediate code between source code and object code, such as in a partially compiled form or any other desired form.

[0022] According to a fifth aspect, the present invention relates to a computer-readable recording medium having a computer program recorded thereon, the computer program including instructions for performing the steps of the method according to a first aspect of the invention.

[0023] On one hand, the recording medium can be any entity or device capable of storing the program. For example, the medium may include storage components (e.g., ROM memory, CD-ROM, or microelectronic circuit type ROM memory, or magnetic recording components or hard disk).

[0024] On the other hand, the recording medium can also be a transmissible medium (e.g., electrical or optical signals), which can be guided via electrical or optical cables through conventional radio or Hertz radio, or via a self-guided laser beam, or by other means. The computer program according to the invention can be downloaded, particularly via an Internet-type network.

[0025] Alternatively, the recording medium may be an integrated circuit in which the computer program is incorporated, the integrated circuit being adapted to perform the method in question or to be used in the performance of the method in question. Attached Figure Description

[0026] By reading the detailed description and accompanying drawings of the non-limiting embodiments of the present invention below ( Figures 1 to 5 Other features and advantages of the invention will become clearer from the accompanying drawings:

[0027] - Figure 1 A vehicle following another vehicle is illustrated schematically according to a particular embodiment of the present invention;

[0028] - Figure 2 A graph representing a first weighting coefficient according to a particular embodiment of the present invention is shown, the first weighting coefficient being based on... Figure 1 The time between the different modes of transport varies;

[0029] - Figure 3 A graph representing a second weighting coefficient according to a particular embodiment of the present invention is shown, the second weighting coefficient being based on... Figure 1 It varies depending on the speed difference between the means of transport;

[0030] - Figure 4 An apparatus according to a particular embodiment of the present invention is schematically illustrated, the apparatus being configured for control. Figure 1 The acceleration of the means of transport.

[0031] - Figure 5 A control method according to a particular embodiment of the present invention is shown. Figure 1 A flowchart of the different steps in the method of controlling the acceleration of a means of transport. Detailed Implementation

[0032] The following text will now combine Figures 1 to 5 A control method and control device for controlling the acceleration of a means of transport are described. In the following description, the same elements are identified by the same reference numerals.

[0033] According to a non-limiting particular embodiment of the invention, a vehicle detects the presence of another vehicle traveling ahead of it in a traffic lane at a distance less than a threshold (e.g., less than a distance corresponding to a safety distance or a minimum distance to be maintained between two following vehicles in a traffic lane). This distance is determined, for example, by a computer of the following vehicle's onboard system based on data received from one or more object detection sensors (equipped on the following vehicle). The computer (e.g., a computer responsible for controlling the following vehicle's ACC system) determines a target acceleration value, for example, based on the determined distance and / or the inter-vehicle distance or inter-vehicle time (TIV) relative to the vehicle traveling ahead of the following vehicle in the traffic lane. The target acceleration value A(t) advantageously corresponds to negative acceleration (A(t) < 0), which forces the following vehicle to slow down so that the vehicle traveling ahead of it moves away. The computer then determines an acceleration setpoint for the ACC system by weighting the target acceleration value with determined weighting coefficients. The determined weighting coefficients advantageously correspond to the maximum value between a first weighting coefficient and a second weighting coefficient, the first weighting coefficient varying with the distance between the vehicles and the second weighting coefficient varying with the speed difference between the vehicles.

[0034] This method allows for the weighting of the target acceleration to simultaneously take into account both the distance and speed difference between the vehicles. Thus, for example, when the speed difference is high, the system considers the fact that the vehicle ahead will rapidly move away from the vehicle equipped with the ACC system. The acceleration setpoint (or, according to an embodiment, the deceleration setpoint) is attenuated relative to the target acceleration value to reduce the deceleration and improve passenger comfort, while ensuring passenger safety as the vehicle ahead moves away, thereby increasing the distance between the two vehicles.

[0035] Figure 1 The illustration schematically depicts a vehicle 10 following another vehicle 11 in a road environment 1, according to a non-limiting particular embodiment of the present invention.

[0036] Figure 1 A vehicle 10 (e.g., a motorized vehicle) is shown, which is equipped with one or more sensors configured to detect the presence of objects in the environment 1 of the vehicle 10. According to other examples, the vehicle 10 corresponds to a car, bus, truck, utility vehicle, or motorcycle (that is, a land-based type of motorized vehicle).

[0037] Vehicle 10 corresponds to a vehicle operating under full driver supervision or operating in autonomous or semi-autonomous mode. The vehicle operates according to an autonomy level equal to 0 or according to an autonomy level from 1 to 5 (e.g., according to a classification established by U.S. federal agencies), which has established five autonomy levels from 1 to 5. Level 0 corresponds to a vehicle with no autonomy, where the driver is under full driver supervision; Level 1 corresponds to a vehicle with a minimum autonomy level, where the driver is under driver supervision and has minimal assistance from an ADAS system; and Level 5 corresponds to a fully autonomous vehicle.

[0038] according to Figure 1 For example, vehicle 10 follows vehicle 11 at a predetermined distance, which may vary over time (depending on the dynamic performance of vehicles 10 and 11), with vehicle 11 traveling in the same direction and lane as vehicle 10. Vehicle 11 corresponds, for example, to a vehicle that suddenly or rapidly approaches vehicle 10 at a distance less than a threshold, following vehicle 10. This threshold corresponds, for example, to a vehicle-to-vehicle distance setting or a vehicle-to-vehicle time setting (e.g., equal to 1 second or 2 seconds in the case of distance expressed via a vehicle-to-vehicle time called TIV) via an ACC system installed in vehicle 10.

[0039] According to the implementation variant, the vehicle 11 travels behind or to the side of the vehicle 10 (that is, in a lane parallel to the lane taken by the vehicle 10, for example when the vehicle 10 overtakes the vehicle 11 or when the vehicle 11 overtakes the vehicle 10).

[0040] The transport vehicle 10 is equipped with one or more of the following sensors:

[0041] - A millimeter-wave radar, which is mounted on the vehicle 10, for example at the front, at the rear, or at each front / rear corner of the vehicle. Each radar is suitable for emitting electromagnetic waves and receiving these waves from one or more objects (e.g., according to...). Figure 1 For example, the echo reflected by a vehicle 11 located in front of the vehicle 10 is intended to detect obstacles and the distance of said obstacles relative to the vehicle 10; and / or

[0042] - One or more LIDARs (Light Detection and Ranging in English, or Détection et estimation de la distance par la lumière in French), the LIDAR sensor corresponding to a photoelectric system, the photoelectric system consisting of a laser emitter device, a receiver device, and a photodetector, the receiver device including a light collector (which collects the portion of light radiation emitted by the emitter and reflected by any object located in the path of the light emitted by the emitter), the photodetector converting the collected light into an electrical signal; the LIDAR sensor thus enables it to detect the presence of an object (e.g., vehicle 11) located in the emitted light beam and to measure the distance between the sensor and each detected object; and / or

[0043] - One or more cameras (associated or unassociated with a depth sensor) (which acquire one or more images of the environment surrounding the vehicle 10 (which is within the field of view of one or more cameras).

[0044] The data obtained from these sensors varies depending on the type of sensor. When the sensor involves radar or LiDAR, the data corresponds, for example, to distance data between a point of a detected object and the sensor. Each detected object is thus represented by a point cloud (each point corresponding to a point of an object that receives and at least partially reflects radiation emitted by the sensor), the point cloud representing (e.g., seen by the sensor and ultimately by the vehicle 10 carrying the sensor) the envelope (or a portion of the envelope) of the detected object. When the sensor involves a video camera, the data corresponds to data associated with each pixel of one or more acquired images (e.g., grayscale values ​​encoded with, for example, 8, 10, 12 or more bits for each color channel (e.g., RGB, "Red, Green, Blue" or "Rouge, vert, bleu" in French)). This data makes it possible, for example, to determine the successive positions taken by an object moving in environment 1 (e.g., vehicle 11), and to derive one or more dynamic parameters (e.g., velocity and / or acceleration) of the moving object.

[0045] Data acquired by one or more onboard sensors is supplied, for example, to one or more driver assistance systems (referred to as ADAS, or "Système d'aideàla conduite avancé") mounted in the vehicle 10. This ADAS system is configured to assist (or even replace) the driver of the vehicle 10 in controlling the vehicle's route.

[0046] According to the example, the vehicle 10 is equipped with an ADAS system, which corresponds to an automatic speed regulation system (referred to as an ACC system). When the ACC system is activated, its purpose is to implement a set acceleration (referred to as A). 设定 (t)), wherein the set acceleration varies over time 't' and is able to maintain or reach the adjusted speed and / or maintain the inter-vehicle distance DIV (in meters, or in the case of TIV) determined relative to a vehicle 11 upstream of vehicle 10 (i.e., relative to another vehicle 11 traveling in the same direction ahead of vehicle 10 in the same lane). Data obtained from one or more sensors mounted in vehicle 10 enables the ACC system of vehicle 10 to establish an acceleration target value A over time 't'. 目标 (t). The target acceleration A 目标 (t) becomes the acceleration setpoint A 设定 (t), or modified to provide the acceleration setpoint A 设定 (t), as will be mentioned below. The ACC system or the computer of the system, for example, transmits the determined acceleration setpoint A to one or more computers used to monitor the operation of the powertrain of the vehicle 10. 设定 (t), so that the computer determines, in particular, the torque setpoint to be generated by the powertrain to follow the acceleration setpoint A. 设定 (t) and adjust the speed of the transport vehicle 10.

[0047] According to another example, the vehicle 10 is equipped with a (e.g., rear-mounted) collision detection system (also referred to as a pre-collision system) for the vehicle 10 (e.g., as a supplement to the ACC system). Such a system corresponds, for example, to a system for detecting the arrival of a following vehicle (with a collision risk from the rear of the vehicle 10), or to any safety system (for detecting approach hazards to the vehicle 10 and / or for implementing loaded safety components after such detection). Detection of the collision risk is achieved, for example, by predicting the dynamic performance of the vehicle arriving from the rear, and, for example, by inducing the execution of one or more guidance commands (e.g., speed increase commands and / or deflection commands to the left or right of the vehicle 10).

[0048] According to another example, vehicle 10 is equipped with a lane change assist system (e.g., as a supplement to the ACC system and / or the collision detection system). The decision to change lanes is based, for example, on a prediction of vehicle 11, such as when the vehicle is in the lane that vehicle 10 wishes to move to.

[0049] The control process for controlling the acceleration of a means of transport (e.g., a means of transport 10 following means of transport 11) is advantageously implemented by means of transport 10 (that is, by means of a computer-equipped computer or a combination of computers of means of transport 10, such as one or more computers responsible for controlling the ACC system). For this purpose, one or more acceleration setpoints are determined via the operations or steps described below.

[0050] In the first operation, vehicle 10 detects the presence of vehicle 11 ahead of it, for example, based on data received from one or more radars and / or LIDARs. Vehicle 10 determines, for example, information characterizing the distance 101 separating vehicle 10 and vehicle 11, based on data capable of detecting the presence of vehicle 11. This information corresponds, for example, to a distance (expressed in meters) called inter-vehicle distance (DIV) or a distance (expressed in seconds) called inter-vehicle time (TIV), which takes into account both distance (in meters) and the speed of vehicle 10 (and optionally, the speed of vehicle 11).

[0051] The distance 101 separating vehicle 10 and vehicle 11 corresponds, for example, to the distance between the front of vehicle 10 or the location of one or more sensors (e.g., via one or more radars integrated into the front bumper of vehicle 10) and the rear of vehicle 11 (e.g., the portion of vehicle 11 used to reflect waves emitted by one or more radars of vehicle 10). This DIV or TIV distance 101 is less than a threshold value, which corresponds, for example, to a set distance of the ACC system of vehicle 10, denoted as DIV. 设定 or TIV 设定 And, for example, the parameters are set by the driver of the vehicle 10 (such settings are recorded in the memory of the ACC system) or by the driver of the vehicle 10 via a human-machine interface (referred to as IHM).

[0052] According to another variation, the threshold corresponds to the distance required for the vehicle 10 to stop (by actuating the vehicle's braking system). This stopping distance is determined, for example, based on the speed of the vehicle 10, while optionally taking into account weather conditions (e.g., dry or wet weather) and / or information about the adhesion between the vehicle 10 and the road surface on which the vehicle 10 travels.

[0053] According to another variation, the threshold corresponds to a determinate parameter value, which is, for example, related to DIV. 设定 or TIV 设定 It can be pre-defined independently by the driver of the vehicle or input by the driver (or passenger) via IHM.

[0054] When the distance 101 is less than the threshold, it means that the vehicle 10 is considered to be too close to the vehicle 11, which is a safety issue because there is a risk of collision with the vehicle 11.

[0055] In the second operation, the target acceleration value is determined based on the distance 101. Since the distance 101 is less than the threshold, the target acceleration value is therefore negative. The purpose of the ACC system used to determine this target acceleration value is particularly to maintain a safe distance (e.g., TIV) between vehicles 10 and 11. 设定 The target acceleration value (in milliseconds). -2 (Expressed in units) For example, calculations based on the following information:

[0056] - Information characterizing the distance 101; and

[0057] - The distance to be followed set value (e.g., TIV) between the vehicle 10 and the vehicle traveling in front of it. 设定 ).

[0058] In the third operation, the computer determines an acceleration setpoint for the ACC system of the vehicle 10 based on the target acceleration value. The computer determines this acceleration setpoint by taking into account the target acceleration value, distance 101, and the speed difference (DV) between vehicles 10 and 11. This speed difference advantageously corresponds to the speed V of vehicle 11 at the time in which distance 101 is measured or determined. 11 (Examples are expressed in m / s or km / h) and the speed V of the transport vehicle 10. 10 The difference between (expressed in m / s or km / h). This speed difference is obtained through the following equation:

[0059] DV = V 11 –V 10

[0060] Therefore, the acceleration setpoint is obtained by weighting the target acceleration value with determined weighting coefficients. These weighting coefficients advantageously correspond to the maximum value between a first weighting coefficient (referred to as kTIV) and a second weighting coefficient (referred to as kDV), the first weighting coefficient varying with information characterizing the distance (e.g., the TIV), and the second weighting coefficient varying with the speed difference DV between the vehicle 11 and the vehicle 10.

[0061] Acceleration setpoint A at time 't' 设定 (t) is obtained through the following equation:

[0062] A 设定 (t) = max(kTIV, kDV) * A 目标 (t)

[0063] The first weighting coefficient kTIV (respectively, kDIV) advantageously varies according to the TIV (respectively, DIV) value via a monotonically decreasing function, at least over the interval of the TIV (respectively, DIV) value, which is referred to as TIV. min The minimum value of (DIVmin) is respectively called TIV. max Between the maximum values ​​of (DIVmax, respectively). A graph of this function is shown in... Figure 2 superior.

[0064] Knowing the TIV, the first weighting coefficient kTIV is obtained, for example, from the equation defining the function. According to a variation, the first weighting coefficient kTIV is obtained from a correspondence table called a LUT (Look-Up Table), in which the kTIV value is associated with each TIV value in a set of defined values.

[0065] The second weighting coefficient kDV advantageously varies according to the speed difference DV value, at least within the interval DV of the speed difference value, according to a monotonically decreasing function. min The minimum value is called DV. max Between the maximum values. The graph of this function is shown in... Figure 3 superior.

[0066] Knowing the DV, the second weighting coefficient kDV is obtained, for example, from the equation defining the function. According to a variation, the second weighting coefficient kDV is obtained from a correspondence table called a LUT (Look-Up Table), in which the kDV value is associated with each DV value in a set of defined values.

[0067] This solution weights the target acceleration value, thereby reducing the magnitude of the deceleration when conditions permit (i.e., when the safety conditions are met), particularly by taking into account the speed difference. Thus, the greater the speed difference and the greater the distance (TIV or DIV), the smaller the target deceleration calculated by the ACC system. This, in particular, reduces the magnitude of the deceleration when vehicle 11 is traveling faster than vehicle 10 and moving further away from vehicle 10 over time, providing a sense of safety, especially for passengers of vehicle 10, even if the ACC system requires more time to return to the distance setpoint TIV. 设定 Place.

[0068] Figure 2 The evolution of the first weighting coefficient kTIV according to a non-limiting particular embodiment of the present invention is shown.

[0069] Figure 2 Curve 21 is shown, which illustrates the value taken by the first weighting coefficient kTIV, varying according to the value taken by the TIV. Curve 21 includes, for example, three parts:

[0070] - Part One, wherein the TIV value is less than or equal to the minimum value TIV min When (e.g., equal to 0.4s), kTIV takes the first value kTIV. max (For example, it is equal to 1);

[0071] - The second part, where kTIV corresponds to a linearly decreasing function of TIV, and kTIV at the first value kTIV max With the second value kTIV min (e.g., equal to 0.3), kTIV max With TIVmin Related and kTIV min With the maximum value TIV max (which, for example, equals 2s) is associated with; and

[0072] - Part Three, where, when TIV is greater than the maximum value TIV max At that time, kTIV takes the second value kTIV. min .

[0073] TIV min and TIV max The value, for example, is relative to the set value of the TIV (referred to as TIV). 设定 The values ​​of ) are determined or limited, such that the weighting of the target acceleration can be determined, for example, according to the type of the vehicle.

[0074] Figure 3 The evolution of the second weighting coefficient kDV according to a non-limiting particular embodiment of the present invention is shown, based on the speed difference DV between the means of transport 11 and the means of transport 10.

[0075] Figure 3 Curve 31 is shown, which illustrates the value taken by the second weighting coefficient kDV, varying according to the value taken by the velocity difference DV. Curve 31 includes, for example, three parts:

[0076] - Part One, wherein the value of DV is less than or equal to the minimum value DV min When the speed is, for example, equal to 0.5 km / h, kDV adopts the first value kDV. max (For example, it is equal to 1);

[0077] - The second part, where kDV corresponds to a linearly decreasing function of DV, and kDV at a first value kDV max With the second value kDV min (e.g., equal to 0.3), kDV max With DV min Related and kDV min With the maximum value DV max (which is, for example, equal to 10 km / h) is associated with; and - the third part, where, when DV is greater than the maximum value DV max At that time, kDV adopts the second value kDV min .

[0078] DV min and DV max The value can advantageously be determined, for example, according to the type of transport vehicle.

[0079] Figure 4An apparatus according to a non-limiting particular embodiment of the invention is schematically illustrated, the apparatus being configured to control the acceleration of a means of transport (e.g., transport 10). Apparatus 4 corresponds, for example, to a device (e.g., a computer) mounted in transport 10.

[0080] Device 4, for example, is configured for implementing the reference. Figure 1 , Figure 2 and Figure 3 The described operation and / or reference Figure 5 The steps of the described method. Examples of such a device 4 include, but are not limited to, devices equipped with electronic equipment (e.g., vehicle-mounted computers, electronic computers (e.g., UCE (“Unité de Commande Electronique”)), smartphones, tablets, laptops). Elements of device 4 may be integrated individually or in combination into a single integrated circuit, multiple integrated circuits, and / or distributed components. Device 4 may be implemented as an electronic circuit or software (or computer) module, or a combination of electronic circuits and software modules. According to various specific embodiments, device 4 may be connected to other devices or similar systems and / or communication devices (e.g., TCU (Telematic Control Unit)) via a communication bus or through a dedicated input / output port. Télématique”)) communication link.

[0081] The apparatus 4 includes one or more processors 40 configured to execute instructions for implementing steps of the method and / or executing instructions via one or more software loaded in the apparatus 4. The processor 40 may include integrated memory, input / output interfaces, and various circuitry known to those skilled in the art. The apparatus 4 also includes at least one memory 41, which may correspond to, for example, volatile memory and / or non-volatile memory and / or include memory storage devices (which may include volatile memory and / or non-volatile memory, such as EEPROM, ROM, PROM, RAM, DRAM, SRAM, flash memory, magnetic disk, or optical disk).

[0082] One or more computer codes of loaded software (which include instructions to be loaded and executed by the processor) are stored, for example, on memory 41.

[0083] According to a non-limiting particular embodiment, device 4 includes a panel 42 of interface elements for communicating with external devices (e.g., remote servers, the "cloud," or other means of transportation). The interface elements of panel 42 include one or more of the following interfaces:

[0084] - Radio frequency (RF) interface, for example, or LTE (English: "Long-Term Evolution", or French: "Evolution à long terme"), LTE-Advanced (or French: "LTE-avancé") types;

[0085] - USB interface (English: "Universal Serial Bus", or French: "Bus Universel en Série");

[0086] -HDMI interface (English: "High Definition Multimedia Interface", or French: "Interface Multimedia High Definition");

[0087] -LIN interface (English: "Local Interconnect Network", or French: "Réseauinterconnectélocal").

[0088] According to another particular embodiment, device 4 includes a communication interface 43 capable of establishing communication with other devices (e.g., other computers on the system) via a communication channel 430. Communication interface 43 corresponds, for example, to a transmitter configured to transmit and receive information and / or data via communication channel 430. Communication interface 43 corresponds, for example, to CAN (Controller Area Network). CANFD (English: "Controller Area Network Flexible Data-Rate", or French: "Réseau de Wired networks of the type “flexible”, FlexRay (standardized by ISO 17458), or Ethernet (standardized by ISO / IEC 802-3).

[0089] According to an additional specific embodiment, device 4 can provide output signals to one or more external devices (e.g., displays, one or more speakers and / or other peripheral devices) via output interfaces not shown.

[0090] Figure 5A flowchart illustrating different steps of a control method for controlling the acceleration of a means of transport (e.g., transport vehicle 10) according to a non-limiting particular embodiment of the present invention is shown. The method is, for example, performed by means of a device mounted in transport vehicle 10 or by… Figure 4 The device 4 is implemented.

[0091] In the first step 51, another vehicle (e.g., vehicle 11 traveling in front of the vehicle (e.g., vehicle 10) in the traffic lane) is detected by vehicle 10. The other vehicle is detected at a distance less than a threshold, the distance being determined based on data received from at least one object detection sensor mounted in vehicle 10.

[0092] In the second step 52, the target acceleration value is determined based on information characterizing the distance, the target acceleration value being less than 0 and used in the adaptive speed adjustment system of the vehicle 10.

[0093] In the third step 53, the acceleration setpoint for the adaptive speed adjustment system is determined or calculated by weighting the target acceleration value with weighting coefficients corresponding to the maximum value between a first weighting coefficient on one hand and a second weighting coefficient on the other hand, the first weighting coefficient varying with information characterizing the distance, and the second weighting coefficient varying with the speed difference between the other vehicle and the vehicle.

[0094] According to the implementation variant, combined with Figure 1 Variations and examples of the described operations applied to Figure 5 The steps of the method.

[0095] Of course, the present invention is not limited to the embodiments described above, but extends to a control method for controlling means of transport and an apparatus configured for implementing the method.

[0096] The present invention also relates to a means of transport (e.g., a motorized transport vehicle) or more generally, a motorized autonomous land transport vehicle (which includes...) Figure 4 Device 4).

Claims

1. A control method for controlling the acceleration of a transport vehicle (10), the control method being implemented by at least one computer (4) mounted in the transport vehicle (10) and comprising the following steps: - Detect (51) another vehicle (11) traveling in front of the vehicle (10) in the traffic lane, the other vehicle (11) being detected at a distance (101) less than a threshold, the distance (101) being determined based on data received from at least one object detection sensor mounted in the vehicle (10); - Determine (52) a target acceleration value based on information characterizing the distance (101), the target acceleration value being less than 0 and used for the adaptive speed regulation system of the vehicle (10); - An acceleration setpoint for the adaptive speed regulation system is determined by weighting the target acceleration value with weighting coefficients corresponding to the maximum value between a first weighting coefficient and a second weighting coefficient, the first weighting coefficient varying with the information characterizing the distance (101), and the second weighting coefficient varying with the speed difference between the other vehicle (11) and the vehicle (10). The information representing the distance (101) corresponds to the time between transport vehicles called TIV, and the first weighting coefficient is inversely proportional to the TIV in the range of TIV values, which is between minimizing and maximizing the TIV value.

2. The method of claim 1, wherein, The first weighting coefficient varies with the TIV value according to a linear decreasing function over the range of the TIV values.

3. The method of claim 1 or 2, wherein, The second weighting coefficient is inversely proportional to the speed difference over the range of speed difference values, which are between minimizing and maximizing the speed difference values.

4. The method of claim 3, wherein, The second weighting coefficient varies with the speed difference according to a linearly decreasing function over the range of the speed difference values.

5. The method of managing according to any one of claims 1, 2, and 4, wherein, The first weighting coefficient is between 0.3 and 1, and the second weighting coefficient is between 0.3 and 1.

6. The control method according to any one of claims 1, 2 and 4, further comprising a control step, the control step being used to control the adaptive speed regulation system according to the acceleration setpoint.

7. A control device (4) for controlling the acceleration of a transport vehicle (10), the control device (4) comprising a memory (41) associated with at least one processor (40), the at least one processor being configured to implement the steps of the control method according to any one of claims 1 to 6.

8. A means of transport (10) comprising the control device (4) according to claim 7.

9. A computer program product comprising instructions adapted to perform the steps of the control method according to any one of claims 1 to 6 when the computer program is executed by at least one processor.

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