Method and device for controlling the selection of a target vehicle for an adaptive cruise control system of a vehicle

Abstract

The present invention relates to a method and device for controlling the selection of a target vehicle for an adaptive cruise control ACC system of a vehicle (10). To this end, the crossing of a virtual line (2000) is detected. A counter is triggered on detection. The lateral speed of the vehicle (10), its heading (21), a difference between a first distance (between a front wheel of the vehicle 10 and a dividing line (1000)) and a second distance (between a rear wheel of the vehicle 10 and the line (1000)) and the counter are compared with threshold values in order to determine whether the target vehicle to be selected by the ACC system corresponds to a first vehicle (11) travelling in a first traffic lane (101) or a second vehicle (12) travelling in a second traffic lane (102).

Description

[0001] DESCRIPTION

[0002] Title: Method and device for controlling the selection of a target vehicle of an adaptive speed regulation system of a vehicle

[0003] Technical field

[0004] The present invention claims priority from French application 2201756 filed on 02 / 28 / 2022, the content of which (text, drawings and claims) is incorporated herein by reference. The present invention relates to methods and devices for controlling the selection of a target vehicle of an adaptive cruise control system of a vehicle, in particular a motor vehicle. The present invention also relates to a method and a device for controlling an adaptive cruise control system of a vehicle. The present invention also relates to a method and a device for controlling a vehicle, in particular an autonomous vehicle, incorporating an adaptive cruise control system of a vehicle.

[0005] Technological background

[0006] Some contemporary vehicles are equipped with functions or systems or driving assistance, called ADAS (from the English "Advanced Driver-Assistance System" or in French "Advanced Driving Assistance System").

[0007] Among these systems, the adaptive cruise control system, known as ACC (from the English "Adaptive Cruise Control") has as its primary function the automatic, adaptive regulation of the speed of vehicles equipped with it according to their environment. Such an ACC system determines one or more acceleration instructions according to a speed instruction and information relating to the environment of the vehicle, the acceleration instruction(s) being capable of regulating the speed of the vehicle adaptively, that is to say by taking into account the environment of the vehicle. This environmental information corresponds for example to the distance between the vehicle equipped with the ACC system and a vehicle traveling in front, to the speed (for example relative) of the vehicle traveling in front, to the acceleration (or deceleration) of the vehicle traveling in front and / or to a regulatory speed limit.Such a vehicle is called a target vehicle or target object of the ACC system. The acceleration setpoint(s) are, for example, determined from a control law based on estimates of the torque supplied by a powertrain (e.g., a thermal or electric motor) to one or more wheels of the vehicle and the current acceleration of the vehicle.

[0008] A vehicle's environmental information is obtained, for example, from sensors embedded in the vehicle, such as radars. This information is particularly important for a vehicle, for example to improve the vehicle's safety by taking into account the surrounding environment, particularly other vehicles.

[0009] When a vehicle equipped with such an ACC system is traveling on a road with several traffic lanes dedicated to the same direction of travel, and more particularly when the vehicle is traveling close to a dividing line separating two adjacent traffic lanes, the selection of the target vehicle may pose a problem. For example, the selection between a first vehicle traveling upstream on the current traffic lane of the vehicle and a second vehicle traveling upstream on the adjacent traffic lane may prove to be erroneous, or this selection may even oscillate between the first vehicle and the second vehicle

[0010] Such behavior can be dangerous for the vehicle and its passengers, or even very uncomfortable for the passenger(s) in the vehicle.

[0011] Summary of the present invention

[0012] An object of the present invention is to solve at least one of the problems of the technological background described above. Another object of the present invention is to improve the operation of an ACC system of a vehicle.

[0013] According to a first aspect, the present invention relates to a method for controlling the selection of a target vehicle of an adaptive cruise control system, called ACC system, of a vehicle, the vehicle traveling on a first traffic lane of a road comprising several traffic lanes in the same direction of travel, the road further comprising a second lane adjacent to the first traffic lane along one side of the first traffic lane, the first traffic lane and the second traffic lane being separated by a dividing line, the method comprising the following steps:

[0014] - detection of the vehicle crossing a virtual line defined in the first traffic lane at a determined distance from the dividing line;

[0015] - triggering a counter upon detection of crossing the virtual line;

[0016] - determination, upon detection of the crossing of the virtual line, of first information representative of the lateral speed of the vehicle, of second information representative of the heading of the vehicle and of third information representative of a difference between the absolute value of a first distance and the absolute value of a second distance, the first distance corresponding to a distance between the separation line and a front wheel of the vehicle on the side of the separation line and the second distance corresponding to a distance between the separation line and a rear wheel of the vehicle on the side of the separation line;

[0017] - comparison of the first information with a first determined threshold value, of the second information with a second determined threshold value, of the third information with a third determined threshold value and of the counter with a fourth determined threshold value;

[0018] - selecting a first vehicle or a second vehicle as the target vehicle of the ACC system based on at least one result of the comparison, the first vehicle traveling upstream of the vehicle in the first traffic lane and the second vehicle traveling upstream of the vehicle in the second traffic lane.

[0019] Conditioning the selection of a target vehicle on parameters representative of the vehicle's behavior in relation to the dividing line between two adjacent traffic lanes makes it possible to determine with greater reliability which vehicle should be considered the target vehicle of the ACC system.

[0020] Improving target vehicle selection helps improve ACC system operation and increase the safety of the vehicle and its passengers.

[0021] According to a variant, the second vehicle is selected when a first set of conditions is met at a time instant for which the counter is less than the fourth threshold value, the first set of conditions comprising the following conditions:

[0022] - the lateral speed of the vehicle is greater than the first threshold value; and

[0023] - the vehicle heading is greater than the second determined threshold value and the heading is negative when the side corresponds to the left side and the heading is positive when the side corresponds to the right side; and

[0024] - the difference between the absolute value of the first distance and the absolute value of the second distance is greater than the third determined threshold value.

[0025] According to another variant, the first vehicle is selected when the first set of conditions is not met while the counter is below the fourth determined threshold value.

[0026] According to a further variant, the first vehicle is selected when, in addition to a second set of conditions, the counter reaches the fourth determined threshold value, the second set of conditions comprising the following conditions:

[0027] - the lateral speed of the vehicle is lower than the first threshold value determined; and

[0028] - the vehicle heading is lower than the second determined threshold value; and

[0029] - the difference between the absolute value of the first distance and the absolute value of the second distance is less than the third determined threshold value.

[0030] According to a further variant, a lateral speed of the vehicle is determined from a longitudinal speed of the vehicle and the heading of the vehicle. According to an additional variant, the method further comprises a step of detecting the dividing line from image data of the road, the virtual line being defined by applying the determined distance to the detected dividing line.

[0031] According to a second aspect, the present invention relates to a device for controlling the selection of a target vehicle of an adaptive cruise control system, called ACC system, of a vehicle, the device comprising a memory associated with a processor configured for implementing the steps of the method according to the first aspect of the present invention.

[0032] According to a third aspect, the present invention relates to a vehicle, for example of the automobile type, comprising a device as described above according to the second aspect of the present invention.

[0033] According to a fourth aspect, the present invention relates to a computer program which comprises instructions adapted for executing the steps of the method according to the first aspect of the present invention, in particular when the computer program is executed by at least one processor.

[0034] Such a computer program may use any programming language, and may be in the form of source code, object code, or intermediate code between source code and object code, such as in a partially compiled form, or in any other desirable form.

[0035] According to a fifth aspect, the present invention relates to a computer-readable recording medium on which is recorded a computer program comprising instructions for carrying out the steps of the method according to the first aspect of the present invention.

[0036] On the one hand, the recording medium may be any entity or device capable of storing the program. For example, the medium may comprise a storage means, such as a ROM memory, a CD-ROM or a ROM memory of the microelectronic circuit type, or a magnetic recording means or a hard disk. On the other hand, this recording medium may also be a transmissible medium such as an electrical or optical signal, such a signal being able to be conveyed via an electrical or optical cable, by conventional or hertzian radio or by self-directed laser beam or by other means. The computer program according to the present invention may in particular be downloaded from a network of the Internet type.

[0037] Alternatively, the recording medium may be an integrated circuit in which the computer program is incorporated, the integrated circuit being adapted to perform or to be used in performing the method in question.

[0038] Brief description of the figures

[0039] Other characteristics and advantages of the present invention will emerge from the description of the particular and non-limiting exemplary embodiments of the present invention below, with reference to the appended figures 1 to 6, in which:

[0040] [Fig. 1] schematically illustrates a portion of road on which a vehicle equipped with an ACC system is traveling, according to a particular and non-limiting exemplary embodiment of the present invention;

[0041] [Fig. 2] schematically illustrates a first trajectory of the vehicle of Figure 1 on the portion of road of Figure 1, according to a particular and non-limiting exemplary embodiment of the present invention;

[0042] [Fig. 3] schematically illustrates a second trajectory of the vehicle of Figure 1 on the portion of road of Figure 1, according to a particular and non-limiting exemplary embodiment of the present invention;

[0043] [Fig. 4] illustrates a flowchart of the different steps of a process for selecting a target vehicle of the ACC system of the vehicle of FIG. 1, according to a particular and non-limiting exemplary embodiment of the present invention.

[0044] [Fig. 5] schematically illustrates a device configured to control the selection of a target vehicle of the ACC system of the vehicle of FIG. 1, according to a particular and non-limiting exemplary embodiment of the present invention; [Fig. 6] illustrates a flowchart of the different steps of a method for controlling the selection of a target vehicle of the ACC system of the vehicle of FIG. 1, according to a particular and non-limiting exemplary embodiment of the present invention.

[0045] Description of examples of implementation

[0046] A method and device for controlling the selection of a target vehicle of an ACC system of a vehicle will now be described in the following with reference to Figures 1 to 6. The same elements are identified with the same reference signs throughout the description which follows.

[0047] According to a particular and non-limiting example of embodiment of the present invention, the selection of a target vehicle of an ACC system by the vehicle carrying the ACC system comprises the detection of the crossing of a virtual line by the vehicle. Such a virtual line is defined on a first traffic lane on which the vehicle is traveling relative to a dividing line between the first traffic lane and a second traffic lane adjacent to the first lane. A counter is triggered upon detection of this virtual line, for example to measure or count the time elapsed since crossing.Upon detection of the crossing, the vehicle further determines first information representative of the lateral speed of the vehicle, second information representative of the heading of the vehicle and third information representative of a difference between the absolute value of a first distance and the absolute value of a second distance. Such a first distance corresponds to the distance between the separation line and a front wheel of the vehicle on the side of the separation line and the second distance corresponds to a distance between the separation line and a rear wheel of the vehicle on the side of the separation line.This first information, second information, third information and the counter are respectively compared to first, second, third and fourth threshold values ​​to determine whether the target vehicle to be selected by the ACC system corresponds to a first vehicle traveling on the first traffic lane in front of the vehicle or to a second vehicle traveling on the second traffic lane in front of the vehicle. Conditioning the selection of a target vehicle on the basis of parameters representative of the behavior of the vehicle with respect to the dividing line between two adjacent traffic lanes makes it possible to determine with greater reliability which vehicle should be considered as the target vehicle of the ACC system.

[0048] Improving target vehicle selection helps improve ACC system operation and increase the safety of the vehicle and its passengers.

[0049] Figure 1 schematically illustrates a portion of road 100 on which a vehicle 10 is traveling having an ACC system, according to a particular and non-limiting exemplary embodiment of the present invention.

[0050] Figure 1 illustrates a vehicle 10, for example a motor vehicle, traveling on a portion of road 100. According to other examples, the vehicle 10 corresponds to a coach, a bus, a truck, a utility vehicle or a motorcycle, that is to say a vehicle of the motorized land vehicle type.

[0051] Vehicle 10 corresponds to a vehicle traveling under the full supervision of a driver or traveling in an autonomous or semi-autonomous mode. Vehicle 10 travels according to a level of autonomy equal to 0 or according to a level of autonomy ranging from 1 to 5 for example, according to the scale defined by the American federal agency which has established 5 levels of autonomy ranging from 1 to 5, level 0 corresponding to a vehicle having no autonomy, the driving of which is under the full supervision of the driver, level 1 corresponding to a vehicle with a minimal level of autonomy, the driving of which is under the supervision of the driver with minimal assistance from an ADAS system, and level 5 corresponding to a completely autonomous vehicle.

[0052] The 5 levels of autonomy of the classification of the federal agency responsible for road safety are:

[0053] - level 0: no automation, the vehicle driver has full control over the main functions of the vehicle (engine, accelerator, steering, brakes);

[0054] - level 1: driver assistance, automation is active for certain vehicle functions, the driver retaining overall control over the vehicle's driving; cruise control is part of this level, as are other aids such as TABS (anti-lock braking system) or ESP (programmed electro-stabilizer);

[0055] - level 2: automation of combined functions, the control of at least two main functions is combined in the automation to replace the driver in certain situations; for example, adaptive cruise control combined with lane centering allows a vehicle to be classified as level 2, as does automatic parking assistance (from the English “Park assist”);

[0056] - level 3: limited autonomous driving, the driver can cede complete control of the vehicle to the automated system which will then be in charge of critical safety functions; autonomous driving can however only take place in certain specific environmental and traffic conditions (only on motorways for example);

[0057] - level 4: fully autonomous driving under certain conditions, the vehicle is designed to ensure all critical safety functions on its own over a complete journey; the driver provides a destination or navigation instructions but is not required to make himself available to take back control of the vehicle;

[0058] - level 5: completely autonomous driving without driver assistance in all circumstances.

[0059] According to a particular embodiment, the vehicle 10 travels in a semi-autonomous or autonomous mode, that is to say with a level of autonomy greater than or equal to 2 according to the classification above.

[0060] According to the example of Figure 1, the vehicle 10 travels on a first traffic lane 101. The portion of road 100 further comprises a second traffic lane 102 adjacent to the first traffic lane 101. The first traffic lane 101 and the second traffic lane 102 are in the same direction of travel.

[0061] According to the particular example of Figure 1, the second traffic lane is arranged to the left of the first traffic lane 101. Of course, the invention is not limited to such an example but extends to a case where the second traffic lane 102 is to the right of the first lane 101, or to a case where the first lane 101 is surrounded on each side by an adjacent lane.

[0062] The concepts of right and left are defined according to the direction of travel of the vehicle 10.

[0063] A first vehicle 11 also travels on the first traffic lane 101, upstream of the vehicle 10, that is to say in front of the vehicle 10 in the direction of travel of the vehicle 10. A second vehicle 12 also travels on the second traffic lane 102, upstream of the vehicle 10, that is to say in front of the vehicle 10 in the direction of travel of the vehicle 10.

[0064] The first traffic lane 101 and the second traffic lane 102 are delimited or separated by a road marking line 1000 (called a separation line). Such a separation line 1000 corresponds, for example, to a dotted line indicating that crossing this line by a vehicle, for example the vehicle 10, is authorized.

[0065] The vehicle 10 advantageously incorporates one or more driving assistance systems, called ADAS (from the English “Advanced Driver-Assistance System” or in French “Système d'aide à la conduite supérieur”). For example, the vehicle 10 incorporates an automatic speed regulation system, called ACC system. When the ACC system is activated, the ACC system aims to achieve a set acceleration which varies over time 't' and which makes it possible to maintain a determined safety distance from a target vehicle selected by the ACC system traveling upstream of the vehicle 10. The detection of the target vehicle is obtained from data received from one or more object detection sensors embedded in the vehicle 10.

[0066] The vehicle 10 for example has one or more of the following sensors:

[0067] - one or more millimeter wave radars arranged on the vehicle 10, for example at the front, at the rear, on each front / rear corner of the vehicle; each radar is adapted to emit electromagnetic waves and to receive the echoes of these waves returned by one or more objects (for example the first vehicle 11 and the second vehicle 12 located in front of the vehicle 10 according to the example of FIG. 1), for the purpose of detecting obstacles and their distances from the first vehicle 11 and / or the second vehicle 12; and / or

[0068] - one or more LIDAR(s) (from the English “Light Detection And Ranging”, or

[0069] “Light detection and distance estimation” in French), a LIDAR sensor corresponding to an optoelectronic system composed of a laser emitting device, a receiving device comprising a light collector (to collect the part of the light radiation emitted by the emitter and reflected by any object located in the path of the light rays emitted by the emitter) and a photodetector which transforms the collected light into an electrical signal; a LIDAR sensor thus makes it possible to detect the presence of objects (for example the first vehicle 11 and the second vehicle 12) located in the emitted light beam and to measure the distance between the sensor and each detected object; and / or

[0070] - one or more cameras (associated or not with a depth sensor) for the acquisition of one or more images of the environment around the vehicle 10 located in the field of vision of the camera(s).

[0071] The data obtained from this or these sensors vary depending on the type of sensor. When it is a radar or a LIDAR, the data correspond for example to distance data between points of the detected object and the sensor. Each detected object is thus represented by a point cloud (each point corresponding to a point of the object receiving the radiation emitted by the sensor and reflecting at least part of this radiation), the point cloud representing the envelope (or part of the envelope) of the detected object as seen by the sensor and ultimately by the vehicle 10 carrying the sensor. When it is a video camera, the data correspond to data associated with each pixel of the acquired image(s), for example gray level values ​​coded on for example 8, 10, 12 or more bits for each color channel, for example RGB (from the English “Red, Green, Blue” or in French “Rouge, vert, bleu”).These data make it possible, for example, to determine the successive positions taken by an object moving in the environment 1, for example the first vehicle 11 and the second vehicle 12, and to deduce therefrom one or more dynamic parameters of the moving object such as the speed and / or the acceleration. These data also make it possible to determine the lines on the ground such as the separation line 1000.

[0072] According to a particular embodiment, the vehicle 10 also has a road marking detection system. Such a system is for example coupled to a semi-automatic lane change system, called a SALC system (from the English “Semi-Automatic Lane Change”), or integrated into the SALC system. Such a road marking detection system receives data from one or more cameras on board the vehicle 10 and configured for the acquisition of images of the road lane taken by the vehicle 10, for example the portion of road located in front and / or on the sides of the vehicle 10. The road marking detection system is thus configured to detect the road markings 1000 in the environment of the vehicle 10.Image processing is applied to the images obtained from the camera(s) of the road marking detection system to determine the presence of lines on the ground and to classify these lines into different categories, for example to determine whether the lines on the ground correspond to edge lines or center lines for example. An example of image processing for detecting lines on the ground is for example described in document WO2017194890A1. The road marking detection system identifies, for example, lines in solid lines or dotted lines.

[0073] A process for controlling the selection of a target vehicle for the ACC system of a vehicle, for example the vehicle, is advantageously implemented by the vehicle 10, that is to say by a computer or a combination of computers of the on-board system of the vehicle 10, for example by the computer(s) responsible for controlling the ACC system.

[0074] The process is described below in relation to Figures 2, 3 and 4.

[0075] Figure 4 illustrates a flowchart of the different steps of the process of selecting a target vehicle of the ACC system, according to a particular and non-limiting exemplary embodiment of the present invention.

[0076] In a first operation 401, the ACC system of the vehicle 10 is activated, for example by the driver of the vehicle 10 via a control interface such as a control lever, a physical button, a virtual button of a graphical human-machine interface (HMI) displayed on a screen in the vehicle 10 or a voice HMI by pronouncing a voice command.

[0077] In a second operation 402, a virtual line is defined in the first traffic lane 101 at a determined distance from the separation line 1000.

[0078] Such a virtual line 2000 is illustrated in Figures 2 and 3 by a dotted line. This virtual line corresponds to a line not drawn on the ground but determined or defined by the vehicle 10. This virtual line follows the path of the separation line 1000, at a determined distance from the latter (for example at 0.5, 0.7, 0.8 or 1 m) in the first traffic lane 101.

[0079] The determination of the virtual line 1000 comprises for example the detection of the separation line 1000, for example from image data of the road 100 received from one or more cameras on board the vehicle 10.

[0080] The dividing line 1000 is for example represented by a polynomial of degree 3 in the form P(x) = Co + Ci * x + C2 * x 2 + C3 * x 3 , with Co, Ci, C2 and C3 the coefficients of the polynomial.

[0081] The coefficients Co, Ci, C2 and C3 come from the on-board camera(s) of the vehicle 10 or from the road marking detection system using images from this or these cameras.

[0082] The coefficient Co represents, for example, a distance between the center of the vehicle 10 and each boundary considered. The coefficient Ci represents an angle between the trajectory of the vehicle 10 and a tangent to the traffic lane (the heading). The coefficient C2 represents a radius of curvature and the coefficient C3 represents a derivative of this radius of curvature.

[0083] Knowing the polynomial representing the separation line 1000 and the determined distance separating this line 1000 from the virtual line 2000 (such a distance corresponding for example to a parameter stored in a memory of the vehicle 10 accessible by the computer(s) implementing the process), the vehicle 10 is able to define this virtual line 2000. In a third operation 403, the vehicle 10 checks whether or not the virtual line 2000 is crossed by the vehicle 10.

[0084] Such a check is for example implemented at regular intervals, for example every 20, 50, 100, 200, 500 or 1000 ms.

[0085] The verification comprises for example a measurement or determination of the distance between the front wheel of the vehicle 10 located on the side of the separation line 1000, that is to say the left front wheel according to the example of FIG. 1, and the separation line 1000. According to a variant, the verification comprises for example a measurement of the distance between the front wheel of the vehicle 10 located on the side of the separation line 1000, that is to say the left front wheel according to the example of FIG. 1, and the virtual line 2000.

[0086] The distance is determined along the transverse axis Y of Route 100, which transverse axis Y is orthogonal to a longitudinal axis X of Route 100.

[0087] Determining this distance makes it possible to detect the crossing of the virtual line 2000. When the crossing of this virtual line 2000 by the vehicle 10 is detected, the process continues with the fourth operation.

[0088] Otherwise, the process loops back to the third 403 operation.

[0089] In a fourth operation 404, a counter is detected upon detection of the crossing of the virtual line 2000 by the vehicle 10. Such a counter corresponds for example to a time counter making it possible to calculate the time elapsed since the crossing of the virtual line 2000 by the vehicle 10.

[0090] In a fifth operation 405, for example triggered by the detection of the virtual line 2000 by the vehicle 10 or by the triggering of the counter, first information representative of lateral speed of the vehicle 10, second information representative of heading of the vehicle 10 and third information representative of a difference between the absolute value of a first distance and the absolute value of a second distance are determined. The first distance corresponding to a distance between the separation line 1000 and a front wheel of the vehicle 10 on the side of the separation line 1000 (i.e. the left front wheel according to the example of FIGS. 2 and 3) and the second distance corresponding to a distance between the separation line and a rear wheel of the vehicle on the side of the separation line (i.e. the left rear wheel according to the example of FIGS. 2 and 3).

[0091] Of course, in an example where the vehicle 10 is close to a dividing line drawn on the right side of the first traffic lane 101, the wheels of the vehicle 10 to be taken into consideration for the calculation of the first distance and the second distance would correspond to the right front wheel and the right rear wheel.

[0092] The first information, second information and third information are for example determined at regular intervals, for example every 20, 50, 100, 200 or 500 ms.

[0093] The lateral speed of vehicle 10 (along the Y axis) is for example determined from the longitudinal speed of vehicle 10 (along the X axis) and the heading of vehicle 10.

[0094] Thus, at a given instant, the lateral speed Viat is obtained according to the following formula:

[0095] Vlat = Viongi * sin(C1 ) with Viongi the longitudinal speed at the given instant and C1 the heading of vehicle 10 at the given instant.

[0096] In a set of sixth operations 406, 407, 408 and 409 (for example implemented in parallel or forming a single operation), the first information is compared 406 with a first determined threshold value, the second information is compared 407 with a second determined threshold value, the third information is compared 408 with a third determined threshold value and the counter is compared 409 with a fourth determined threshold value.

[0097] In operation 406, it is for example determined whether the lateral speed of the vehicle 10 is less than the first determined threshold value, which is representative of a determined lateral speed value.

[0098] In operation 407, it is for example determined whether the heading of the vehicle 10 is less than the second determined threshold value, which is representative of a determined heading value.

[0099] In operation 408, it is for example determined whether the difference between the absolute value of the first distance and the absolute value of the second lateral speed distance is less than the third determined threshold value, which is representative of a determined distance value.

[0100] In operation 409, for example, it is determined whether the value taken by the counter is greater than the fourth determined threshold value, which is representative of a determined duration.

[0101] The first threshold value, the second threshold value, the third threshold value and the fourth threshold value correspond for example to parameters of the ACC system and are for example stored in memory. According to a variant, one or more of these threshold values ​​can be modified, for example via an HMI, by the driver or a person responsible for maintaining the ACC system and / or the vehicle 10.

[0102] The comparisons are, for example, implemented at regular intervals, for example every 20, 50, 100, 200 or 500 ms. Alternatively, the comparisons are implemented each time a first piece of information, a second piece of information and / or a third piece of information is determined.

[0103] In a seventh operation 410 or in an eighth operation 411, the first vehicle 11 or the second vehicle 12 is selected as the target vehicle of the ACC system depending on the result of the comparisons of operations 406 to 409.

[0104] For example, when the lateral speed of the vehicle 10 is less than the first determined threshold value, the heading of the vehicle 10 is less than the second determined threshold value, the difference between the absolute value of the first distance and the absolute value of the second lateral speed distance is less than the third determined threshold value and the value taken by the counter is greater than the fourth determined threshold value, then the first vehicle 11 traveling in front of the vehicle 10 on the first traffic lane 101 is selected at operation 410.

[0105] Otherwise, when the lateral speed of the vehicle 10 is greater than the first determined threshold value, the heading of the vehicle 10 is greater than the second determined threshold value, the difference between the absolute value of the first distance and the absolute value of the second lateral speed distance is greater than the third determined threshold value at a time at which the value taken by the counter is less than the fourth determined threshold value, then the second vehicle 12 traveling in front of the vehicle 10 on the second traffic lane 102 is selected at operation 411.

[0106] Figure 2 schematically illustrates a first trajectory of the vehicle 10 leading to a selection of the second vehicle 12 as the target vehicle of the ACC system, according to a particular and non-limiting exemplary embodiment of the present invention.

[0107] According to the example of Figure 2, the vehicle 10 crosses the virtual line 2000 at a time t1. The time t2 illustrates the fourth determined threshold value corresponding to the duration value to which the counter is compared, which counter is triggered at the time t1. The time t2 corresponds to the deadline (the end) of a time interval having as its start the time t1 and as its duration a determined duration, for example 2, 3, 5 or 10 s.

[0108] Figure 2 thus illustrates vehicle 10 at time t1 and vehicle 10 at time t3, vehicle 10 having followed the first trajectory 200 between time t1 and time t3.

[0109] According to the example in Figure 2, time t3 is later than time t1 and earlier than time t2.

[0110] The heading of the vehicle 10 at time t3 is represented by an arrow 21 in figure 2 (and / or by an angle between this heading 21 and the longitudinal axis of the road 100 represented by the arrow 22 in figure 2).

[0111] According to the example of Figure 2, the heading 21 of the vehicle 10 is said to be negative (angle between the axis 21 and the axis 22 in the clockwise direction) in that it corresponds to a lateral movement of the vehicle 10 towards the left. Conversely, a heading is said to be positive (angle between the axis 21 and the axis 22 in the counterclockwise direction) in that it corresponds to a lateral movement of the vehicle 10 towards the right.

[0112] At this time t3, the result of the comparisons carried out in operations 406 to 409 is as follows:

[0113] - the lateral speed of vehicle 10 is greater than the first threshold value; and

[0114] - the heading 21 of the vehicle 10 is greater than the second determined threshold value and the heading 21 is negative; and - the difference between the absolute value of the first distance (between the left front wheel of the vehicle 10 and the separation line 1000) and the absolute value of the second distance (between the left rear wheel of the vehicle 10 and the separation line 1000) is greater than the third determined threshold value; and

[0115] - 13 is earlier than t2, that is to say that the value of the counter at time t3 is lower than the fourth threshold value determined.

[0116] According to the example of FIG. 2, the result of the comparisons described in operations 406 to 409 indicates that the vehicle 10 has actually made a lane change from the first traffic lane 101 to the second traffic lane 102 and that the conditions of the first set of conditions listed above are met to select the second vehicle 12 as the target vehicle of the ACC system of the vehicle 10.

[0117] Figure 3 schematically illustrates a second trajectory of the vehicle 10 leading to a selection of the first vehicle 11 as the target vehicle of the ACC system, according to a particular and non-limiting exemplary embodiment of the present invention.

[0118] According to the example of Figure 3, the vehicle 10 crosses the virtual line 2000 at a time t1. The time t2 illustrates the fourth determined threshold value corresponding to the duration value to which the counter is compared, which counter is triggered at the time t1. The time t2 corresponds to the deadline (the end) of a time interval having as its start the time t1 and as its duration a determined duration, for example 2, 3, 5 or 10 s.

[0119] Figure 3 thus illustrates the vehicle 10 at time t1 and the vehicle 10 at a time t3 later than or equal to time t2, the vehicle 10 having followed the second trajectory 300 between time t1 and time t3.

[0120] According to the example in Figure 3, time t3 is later than time t1 and later than or equal to time t2.

[0121] The heading of the vehicle 10 at time t3 is represented by an arrow 31 in Figure 3 (and / or by an angle between this heading 21 and the longitudinal axis of the road 100 represented by the arrow 22 in Figure 3). According to the example in Figure 3, the heading 21 of the vehicle 10 is said to be negative (angle between the axis 31 and the axis 22 in the clockwise direction) in that it corresponds to a lateral movement of the vehicle 10 towards the left.

[0122] At this time t3, the result of the comparisons carried out in operations 406 to 409 is as follows:

[0123] - the lateral speed of vehicle 10 is less than the first threshold value; and

[0124] - heading 21 of vehicle 10 is lower than the second determined threshold value and heading 21 is negative; and

[0125] - the difference between the absolute value of the first distance (between the right front wheel of the vehicle 10 and the separation line 1000) and the absolute value of the second distance (between the right rear wheel of the vehicle 10 and the separation line 1000) is less than the third determined threshold value; and

[0126] - 13 is later than or equal to t2, that is to say that the value of the counter at time t3 is greater than the fourth threshold value determined.

[0127] According to the example of Figure 3, the result of the comparisons described in operations 406 to 409 indicates that the vehicle 10 follows a trajectory close to the separation line 1000 but without making a perfectly identified lane change, that is to say that it is considered that the vehicle 10 remains in its first traffic lane. According to this example, the second set of conditions listed above are met to select the first vehicle 11 as the target vehicle of the ACC system of the vehicle 10.

[0128] Figure 5 schematically illustrates a device 5 configured to control the selection of a target vehicle of the ACC system on board a vehicle, for example the vehicle 10, according to a particular and non-limiting exemplary embodiment of the present invention. The device 5 corresponds for example to a device on board the vehicle 10, for example a computer.

[0129] The device 5 is for example configured for the implementation of the operations described with regard to figures 1 to 4 and / or the steps of the method described with regard to figure 6. Examples of such a device 5 include, but are not limited to, on-board electronic equipment such as an on-board computer of a vehicle, an electronic calculator such as an ECU (“Electronic Control Unit”), a smartphone, a tablet, a laptop. The elements of the device 5, individually or in combination, can be integrated into a single integrated circuit, into several integrated circuits, and / or into discrete components. The device 5 can be produced in the form of electronic circuits or software (or computer) modules or even a combination of electronic circuits and software modules.

[0130] The device 5 comprises one (or more) processor(s) 50 configured to execute instructions for carrying out the steps of the method and / or for executing the instructions of the software(s) embedded in the device 5. The processor 50 may include integrated memory, an input / output interface, and various circuits known to those skilled in the art. The device 5 further comprises at least one memory 51 corresponding for example to a volatile and / or non-volatile memory and / or comprises a memory storage device which may comprise volatile and / or non-volatile memory, such as EEPROM, ROM, PROM, RAM, DRAM, SRAM, flash, magnetic or optical disk.

[0131] The computer code of the embedded software(s) comprising the instructions to be loaded and executed by the processor is for example stored in the memory 51.

[0132] According to various particular and non-limiting embodiments, the device 5 is coupled in communication with other similar devices or systems and / or with communication devices, for example a TCU (from the English “Telematic Control Unit” or in French “Telematic Control Unit”), for example via a communication bus or through dedicated input / output ports.

[0133] According to a particular and non-limiting exemplary embodiment, the device 5 comprises a block 52 of interface elements for communicating with external devices, for example a remote server or the "cloud". The interface elements of the block 52 comprise one or more of the following interfaces: - RF radio frequency interface, for example of the Wi-Fi® type (according to IEEE 802.11), for example in the 2.4 or 5 GHz frequency bands, or of the Bluetooth® type (according to IEEE 802.15.1), in the 2.4 GHz frequency band, or of the Sigfox type using UBN (Ultra Narrow Band) radio technology, or LoRa in the 868 MHz frequency band, LTE (Long-Term Evolution), LTE-Advanced;

[0134] - USB interface (from the English “Universal Serial Bus” or “Universal Serial Bus” in French);

[0135] - HDMI interface (from the English “High Definition Multimedia Interface”).

[0136] According to another particular and non-limiting exemplary embodiment, the device 5 comprises a communication interface 53 which makes it possible to establish communication with other devices (such as other computers of the on-board system or on-board sensors) via a communication channel 530. The communication interface 53 corresponds for example to a transmitter configured to transmit and receive information and / or data via the communication channel 530. The communication interface 53 corresponds for example to a wired network of the CAN (Controller Area Network), CAN FD (Controller Area Network Flexible Data-Rate), FlexRay (standardized by the ISO 17458 standard), Ethernet (standardized by the ISO / IEC 802-3 standard) or LIN (Local Interconnect Network).

[0137] According to a particular and non-limiting exemplary embodiment, the device 5 can provide output signals to one or more external devices, such as a display screen, touch-sensitive or not, one or more speakers and / or other peripherals (projection system) via respective output interfaces. According to a variant, one or other of the external devices is integrated into the device 5. Figure 6 illustrates a flowchart of the different steps of a method for controlling the selection of a target vehicle of an adaptive cruise control system, called ACC system, of a vehicle traveling on a first traffic lane of a road comprising several traffic lanes in the same direction of travel, the road further comprising a second lane adjacent to the first traffic lane along one side of the first traffic lane, the first traffic lane and the second traffic lane being separated by a dividing line.The method is for example implemented by a device on board the vehicle 10 or by the device 5 of figure 5.

[0138] In a first step 61, the crossing, by the vehicle, of a virtual line defined in the first traffic lane at a determined distance from the dividing line is detected or determined.

[0139] In a second step 62, a counter is triggered upon detection of the crossing of the virtual line.

[0140] In a third step 63, first information representative of lateral speed of the vehicle, second information representative of heading of the vehicle and third information representative of a difference between the absolute value of a first distance and the absolute value of a second distance are determined upon detection of the crossing of the virtual line, the first distance corresponding to a distance between the separation line and a front wheel of the vehicle on the side of the separation line and the second distance corresponding to a distance between the separation line and a rear wheel of the vehicle on the side of the separation line.

[0141] In a fourth step 64, the first information is compared with a first determined threshold value, the second information is compared with a second determined threshold value, the third information is compared with a third determined threshold value and the counter is compared with a fourth determined threshold value.

[0142] In a fifth step 65, a first vehicle or a second vehicle is selected as a target vehicle of the ACC system based on at least one result of the comparison, the first vehicle traveling upstream of the vehicle in the first traffic lane and the second vehicle traveling upstream of the vehicle in the second traffic lane.

[0143] According to a variant, the variants and examples of the operations described in relation to one of figures 1 to 4 apply to the steps of the method of figure 6.

[0144] Of course, the present invention is not limited to the exemplary embodiments described above but extends to a method for determining the current traffic lane of a vehicle which would include secondary steps without thereby departing from the scope of the present invention. The same would apply to a device configured for the implementation of such a method.

[0145] The present invention also relates to an ACC system comprising the device 5 of Figure 5.

[0146] The present invention also relates to a vehicle, for example an automobile or more generally an autonomous land-based motor vehicle, comprising the device 5 of FIG. 5 or the ACC system above.

Claims

DEMANDS 1. Method for controlling the selection of a target vehicle of an adaptive speed control system, referred to as the ACC system, of a vehicle (10), said vehicle (10) travelling on a first traffic lane (101) of a road (100) comprising several traffic lanes in the same direction of travel, said road further comprising a second traffic lane (102) adjacent to said first traffic lane (101) along one side of said first traffic lane (101), said first traffic lane (101) and said second traffic lane (102) being separated by a separation line (1000), said method comprising the following steps: - detection (61) of a crossing, by said vehicle (10), of a virtual line (2000) defined in said first traffic lane (101) at a determined distance from said separation line (1000); - triggering (62) of a counter upon detection of said crossing of the virtual line (2000); - determination (63), upon detection of said crossing of the virtual line (2000), of first information representing the lateral speed of said vehicle (10), of second information representing the heading (21, 31) of said vehicle (10) and of third information representing a difference between the absolute value of a first distance and the absolute value of a second distance, said first distance corresponding to a distance between said separation line (1000) and a front wheel of the vehicle (10) on the side of said separation line (1000) and the second distance corresponding to a distance between said separation line (1000) and a rear wheel of the vehicle (10) on the side of said separation line (1000); - comparison (64) of said first information with a first determined threshold value, of said second information with a second determined threshold value, of said third information with a third determined threshold value and of said counter with a fourth determined threshold value; - selection (65) of a first vehicle (11) or a second vehicle (12) as the target vehicle of said ACC system based on at least one result of said comparison (64), said first vehicle (11) travelling ahead of said vehicle (10) in said first traffic lane (101) and said second vehicle (12) travelling upstream of said vehicle (10) in said second traffic lane (102).

2. A method according to claim 1, wherein said second vehicle (12) is selected when a first set of conditions is met at a time instant for which said counter is less than said fourth threshold value, said first set of conditions comprising the following conditions: - the lateral speed of said vehicle (10) is greater than said first threshold value; and - the heading (21) of said vehicle (10) is greater than said second determined threshold value and said heading is negative when said side corresponds to the left side and said heading is positive when said side corresponds to the right side; and - the difference between the absolute value of the first distance and the absolute value of the second distance is greater than said third determined threshold value.

3. Method according to claim 2, wherein said first vehicle (11) is selected when said first set of conditions is not met as long as said counter is less than said fourth determined threshold value.

4. A method according to claim 3, wherein said first vehicle (11) is selected when, in addition, a second set of conditions is met when said counter reaches said fourth determined threshold value, said second set of conditions comprising the following conditions: - the lateral speed of said vehicle (10) is less than said first determined threshold value; and - the heading (31) of said vehicle is less than said second determined threshold value; and - the difference between the absolute value of the first distance and the absolute value of the second distance is less than the said third determined threshold value.

5. A method according to any one of claims 1 to 4, wherein a lateral speed of said vehicle (10) is determined from a longitudinal speed of said vehicle (10) and the heading of said vehicle (10).

6. A method according to any one of claims 1 to 5, further comprising a step of detecting said separation line (1000) from image data of said road, said virtual line (2000) being defined by applying said determined distance to said detected separation line (1000).

7. Computer program comprising instructions for implementing the method according to any one of the preceding claims, when these instructions are executed by a processor.

8. Computer-readable recording medium on which is recorded a computer program comprising instructions for carrying out the steps of the process according to any one of claims 1 to 6.

9. Device (5) for controlling the selection of a target vehicle of an adaptive speed control system, referred to as the ACC system, of a vehicle, said device (5) comprising a memory (51) associated with at least one processor (50) configured for carrying out the steps of the method according to any one of claims 1 to 6.

10. Vehicle (10) comprising the device (5) according to claim 9.

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