Method for controlling a motor vehicle to anticipate a slowdown, device and associated vehicle.

Abstract

A method for electronically controlling a first motor vehicle (100) traveling in a first lane (V1) at a first speed, the method being characterized in that it comprises the following steps: Determining a second time interval, at the end of which the difference between a second vehicle (200) traveling in a second lane (V2) adjacent to the first lane (V1), and a third vehicle (300) traveling in the second lane (V2), will be less than a first threshold; Determining a first time interval, at the end of which the first vehicle (100) will have overtaken the second vehicle (200); If the second time interval minus the first time interval is less than the second threshold, then controlling the first vehicle (100) so that the first vehicle (100) slows down. Figure for the abstract: Figure 1

Description

Title of the invention: Method for controlling a motor vehicle to anticipate a slowdown, associated device and vehicle.

[0001] The invention relates to the automated driving of motor vehicles.

[0002] There is a need to improve the efficiency and fluidity of such automated driving.

[0003] To this end, the invention relates to a method for (electronic) controlling a first motor vehicle, traveling in a first lane, at a first (instantaneous) speed (in a direction of travel and / or a direction of travel), the method being characterized in that it comprises the following steps: - Determination of a second duration, at the expiry of which (at the earliest), a difference between: - A second vehicle travelling (in the direction of travel and / or the direction of travel) in a second lane adjacent to the first lane, at a second speed strictly lower than the first speed, and, according to one embodiment, located at a second geographical location, and - A third vehicle preceding the second vehicle in the second lane at a third speed strictly lower than the second speed. will be less than a first (predetermined) threshold, so that the second vehicle will then change lanes to (join) the first lane (for example, the second vehicle will initiate a lane change, for example, by initiating or commanding a change of direction of the second vehicle, and the process may include, for example, this lane change), - Determination of an initial duration, at the earliest expiry of which the first vehicle will have overtaken (in other words: passed) the second vehicle (i.e., if the second vehicle nevertheless remained in the second lane at the second speed), - Comparison of: - The second duration minus the first duration, with - A second (predetermined) threshold, - If the second duration minus the first duration is less than (or equal to) the second (predetermined) threshold, then the first vehicle is ordered (in other words: the first vehicle including a propulsion engine and brakes, propulsion engine control and / or brakes) so that the first vehicle slows down.

[0004] Thus the invention allows the first vehicle to anticipate, by slowing down, the lane change of the second vehicle, when it is preceded by a third vehicle traveling more slowly, and thus avoids the first vehicle from slowing down too abruptly following the lane change of the second vehicle.

[0005] For example, the steps of the process can be repeated (possibly with a third threshold instead of the second threshold). Thus, the first vehicle can slow down until the second duration minus the first duration is greater than (or equal to) the second threshold.

[0006] The second lane is understood to be adjacent to the first lane, by the fact that there is no other lane (nor any construction) between the first lane and the second lane. In other words, the first lane and the second lane are separated only by road markings.

[0007] According to one embodiment, if the second duration less the first duration is greater than the second (predetermined) threshold, the method includes a step of controlling the first vehicle (in other words: the first vehicle including a propulsion engine and brakes, a step of controlling the propulsion engine and / or brakes) so that the first vehicle maintains the first speed.

[0008] According to one embodiment, the gap is a distance between the second vehicle and the third vehicle. Alternatively, the gap is the time required to cover this distance at (a speed equal to) the second speed minus the third speed.

[0009] According to one embodiment, the first threshold is between 1 and 3 seconds (alternatively, the first threshold may have other values).

[0010] According to one embodiment, the second threshold is between 1 and 3 seconds (alternatively, the second threshold may have other values).

[0011] According to one embodiment, the first duration is determined from the first speed, second speed and second geographical location of the second vehicle, the control process further comprising the following steps (prior to the step of determining the first duration): - Reception of the first speed (for example from an odometer of the first vehicle), - First determination of the second speed and determination of the second geographical location (the second location is, for example, relative to the first location),

[0012] For example, the step of determining the first duration may include the following steps: - Calculation of an initial distance between the first vehicle and a geometric projection of the second vehicle in the first traffic lane (according to a projection direction which may be a direction perpendicular to the direction and direction of traffic or to the first lane (or, more precisely to a portion of the first lane, for example the one closest to the second vehicle)), from the second geographic location of the second vehicle (and from a first location received for example from a satellite geographic location module of the first vehicle, if the second location is not relative to the first vehicle), - Calculating the difference in speed between the first speed and the second speed.

[0013] According to one embodiment, the first time can be equal to (or obtained from) a distance between the first vehicle and the geometric projection of the second vehicle in the first traffic lane (plus, possibly, the length of the second vehicle, plus, possibly, the length of the first vehicle) (i.e. the first distance) divided by the difference in speed between the first vehicle and the second vehicle.

[0014] Alternatively, the first duration can be determined from an acceleration of the second vehicle.

[0015] According to another embodiment, the first duration can be received from the second vehicle or from the road infrastructure.

[0016] For example, the second speed (during the first determination step) and / or the second geographical location can be determined from data from a radar of the first vehicle and / or a camera of the first vehicle.

[0017] Alternatively, the second speed and / or second geographical location of the second vehicle (for example, relative to the first vehicle) can be received from the second vehicle or from the road infrastructure.

[0018] According to one embodiment, the first vehicle is understood to have overtaken the second vehicle as soon as the first vehicle precedes the geometric projection of the second vehicle in the first traffic lane (in the direction of travel and / or the direction of travel). Other definitions are of course possible.

[0019] A vehicle is understood to precede another vehicle when the vehicle passes through the same point(s) (of a lane) as the other vehicle, before the other vehicle.

[0020] According to one embodiment, the second duration is determined from the third speed, the second speed, and a third geographical location of the third vehicle (for example, relative to the second or first vehicle) (and the second geographical location of the second vehicle, for example, if the third geographical location is not relative to the second vehicle), the control method further comprising the following steps (prior to the determination step) (minute of the second duration): - Second determination of the second speed, determination of the third speed, and determination of the third geographical location (and determination of the second geographical location of the second vehicle, for example if the third geographical location is not relative to the second vehicle),

[0021] For example, the step of determining the second duration may include the following steps: - Calculation of a second distance between the second vehicle and the third vehicle from the third geographical location of the third vehicle (and the second geographical location of the second vehicle, for example if the third geographical location is not relative to the second vehicle), - Calculation of a second speed difference between the second speed and the third speed.

[0022] According to one embodiment, the second duration is, for example, equal to (or obtained from): - If the difference and the first threshold are distances, the time to travel the distance between the first vehicle and the second vehicle minus the first threshold at a speed equal to the second speed difference (i.e., equal to the second speed minus the third speed) or - If the gap and the first threshold are durations, the time to travel the distance between the first vehicle and the second at a speed equal to the second speed difference (i.e., equal to the second speed minus the third speed) minus the first threshold.

[0023] Alternatively, the second duration can be determined from an acceleration of the second vehicle.

[0024] According to another embodiment, the second duration can be received from the second vehicle, the third vehicle or a road infrastructure.

[0025] According to one embodiment, the second speed (during the second determination step), the third speed, and / or the third geographical location (and / or the second geographical location of the second vehicle, for example if the third geographical location is not relative to the second vehicle) can be determined from data from a radar of the first vehicle and / or a camera of the first vehicle.

[0026] Alternatively, the second gear (during the second determination step), the third gear, and / or the third geographical location (and / or the second geographical location of the second vehicle, for example if the third location geographical (not relative to the second vehicle) are received from the second vehicle, the third vehicle or a road infrastructure.

[0027] Of course, the first speed, the second speed, the third speed as well as the first location, the second location and / or the third location are speeds and / or geographical locations considered (in other words: or determined or calculated) at the same time (in other words: instant) or at very close instants (a few milliseconds apart for example).

[0028] The invention also relates to a computer program comprising instructions executable by a microprocessor or a microcontroller or a computer, to implement the steps of the process according to the invention, when executed by the microprocessor or the microcontroller or the computer.

[0029] The method according to the invention can be implemented by an electronic device. The invention therefore also relates to an electronic device configured to implement the steps of the method according to the invention, as well as a motor vehicle comprising the electronic device.

[0030] The characteristics and advantages of the computer program, the electronic device, and the vehicle are identical to those of the method according to the invention (without it being necessary to repeat them here).

[0031] When the electronic device, the first motor vehicle (or other element) is "configured to" (or "capable of") performing or implementing a step or operation, this implies, for example, that the element includes means for performing the step or operation. The means preferably include electronic means, for example, a computer program, data in memory, specialized electronic circuits, wired or wireless connections, a microprocessor and / or a microcontroller.

[0032] For example, the electronic device includes a computer program, a microprocessor and / or a microcontroller.

[0033] Other features and advantages of the present invention will become more apparent upon reading the following detailed description, which includes embodiments of the invention given by way of non-limiting examples and illustrated by the accompanying drawings, in which: - [Fig. 1] represents an electronic device and a motor vehicle according to one embodiment of the invention. - [Fig.2] represents an implementation of the process according to the invention, according to a example of realization, by the electronic device and the motor vehicle of [Fig.1].

[0034] In [Fig.1], certain elements are, of course, seen through transparency.

[0035] Detailed description of an example embodiment of the invention.

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[0044] Fig. 1 represents a motor vehicle 100 comprising a microprocessor 110, connected to a radar 120 and a camera 130 of the motor vehicle 100. With reference to [Fig. 1] and [Fig. 2], at step S00, the microprocessor 110 receives data from the radar 120 and the camera 130, and, in a manner well known to those skilled in the art, determines from this data: - A second geographical location of the second motor vehicle 200 relative to the first vehicle, - A second (instantaneous) speed of the second motor vehicle, 200, equal to 77.2 kilometers per hour, - A third geographical location of van 300 relating to the first vehicle 100, - A third (instantaneous) speed for the 300 van equals 70 kilometers per hour, - A length of 1200 of the second vehicle 200 equals 5 meters. At stage S00, the microprocessor 110 also receives a first (instantaneous) speed of the first vehicle 100 from the odometer (not shown) of the first vehicle 100 equal to 88 kilometers per hour and reads, in its memory, the length 1100 of the first vehicle 100 equal to 5 meters. The first vehicle, number 100, is traveling in the direction and direction of traffic, sorry, in the VL lane. The second vehicle 200 and the van 300 are travelling in the direction and direction of travel in lane V2. The van 300 is in front of the second vehicle 200. At stage S10, the microprocessor 110 estimates, from the second geographical location of the second vehicle 200, the distance distl, here equal to 5 meters, between the first vehicle 100 and a geometric projection 200' of the second vehicle 200 in the first traffic lane VI according to a projection direction dpi perpendicular to the direction and direction of traffic dsl. At step S20, the microprocessor 110 estimates the distance dist2 between the second vehicle 200 and the van 300, here equal to 13.6 meters, from the second geographical location of the second vehicle 200 and the third location of the van 300. At stage S30, microprocessor 110 estimates an initial duration of 5 seconds by dividing the distance between vehicle 100 and vehicle 200 (15 meters total) by the speed difference between the first vehicle and the second vehicle 200, which is 3 meters per second (10.8 kilometers per hour). It is thus estimated that vehicle 100 will have overtaken vehicle 200 in 5 seconds. Alternatively, to calculate when vehicle 100 will have overtaken vehicle 200, the mi croprocesseur 110 only takes into account the distl distance, or the distl distance plus the length 1200.

[0045] At step S40, the microprocessor 110 estimates a second duration of 5.4 seconds by dividing the distance dist2 by the speed difference between the van 300 and the second vehicle 200, here 2 meters per second (i.e., 10.8 kilometers per hour), and subtracting this from the result of a first threshold of 1 second. It is thus estimated that the second vehicle 200 will change lanes to join the first lane V1 in 5.8 seconds in order to overtake the third vehicle 300. The first threshold is, for example, the safe distance between the van 300 and the second vehicle 200.

[0046] At step S50, the microprocessor compares the second duration minus the first duration equal to 0.8 seconds with a second threshold equal to 2 seconds.

[0047] Since the second duration less the first duration (i.e. 0.8 seconds) is less than the second threshold (i.e. 2 seconds), the microprocessor 100 commands, at step S60, the propulsion motor and the brakes of vehicle 100 so that the first vehicle 100 slows down.

[0048] For example, steps S00 to S60 can be repeated. Thus, the first vehicle 100 can slow down until the second duration minus the first duration is greater than (or equal to) the second threshold (i.e., 2 seconds).

[0049] If the second duration minus the first duration had been greater than 2 seconds, i.e. at the second threshold, the microprocessor 100 would have commanded, at step S60, the propulsion motor and the brakes of the vehicle 100 so that the first vehicle 100 would maintain the first speed.

Claims

1.

2.

3. Claims Method for controlling a first motor vehicle (100), traveling in a first lane (VI), at a first speed, the method being characterized in that it comprises the following steps: - Determination of a second duration (S40), at the end of which, a difference between: - A second vehicle (200) traveling in a second lane (V2) adjacent to the first lane (VI), at a second speed strictly lower than the first speed, and located at a second geographical location, and - A third vehicle (300) preceding the second vehicle (200) in the second lane (V2) at a third speed strictly lower than the second speed, will be lower than a first threshold, - Determination of a first duration (S30), at the end of which, the first vehicle (100) will have overtaken the second vehicle (200), - Comparison (S50) of: - The second duration minus the first duration, with - A second threshold, - If the second duration minus the first duration is less than the second threshold, then control (S60) of the first vehicle (100) so that the first vehicle (100) slows down. Control method according to the preceding claim in which the second threshold is between 1 and 3 seconds. A control method according to any preceding claim wherein the first duration is determined from the first speed, the second speed and the second geographic location of the second vehicle (200), the control method further comprising the following steps: - Reception of first gear, - First determination of the second speed and deter- mination of the second geographical location,

4. Control method according to the preceding claim in which the second speed and the second geographical location can be determined from data coming from a radar (120) of the first vehicle (100) or from a camera (130) of the first vehicle (100).

5. A control method according to any one of the preceding claims wherein the second duration is determined from the third speed, the second speed, and a third geographical location of the third vehicle (300), the control method further comprising the following steps: - Second determination of the second speed, determination of the third speed, and determination of the third geographical location.

6. Control method according to the preceding claim in which the second speed, the third speed, and the third geographic location can be determined from data coming from a radar (120) of the first vehicle (100) or from a camera (130) of the first vehicle (100).

7. Computer program comprising instructions, executable by a microprocessor or a microcontroller, for implementing the method according to any one of claims 1 to 6, when executed by the microprocessor or the microcontroller.

8. Electronic device (110) configured to implement the steps of the method according to any one of claims 1 to 6

9. A motor vehicle (100) comprising the electronic device (110) according to claim 8.

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