Method for controlling a motor vehicle to anticipate a slowdown, associated device and vehicle.
The method for controlling a motor vehicle anticipates lane changes by adjacent vehicles by determining specific durations and thresholds, allowing the vehicle to adjust its speed smoothly and prevent abrupt braking, thus enhancing the efficiency and safety of automated driving.
Patent Information
- Application Number
- FR2023007087
- Authority / Receiving Office
- FR · FR
- Patent Type
- Patents
- Current Assignee / Owner
- Filing Date
- 2023-07-04
- Publication Date
- 2025-05-23
- Estimated Expiration
- 2043-07-04
AI Technical Summary
Automated driving systems face challenges in maintaining smooth and efficient vehicle control, particularly when anticipating lane changes by other vehicles, which can lead to abrupt braking if not managed properly.
A method for controlling a motor vehicle that involves determining specific durations and thresholds related to the speeds and positions of adjacent vehicles to anticipate and manage lane changes, thereby controlling the vehicle's speed to avoid abrupt braking.
The method enables the vehicle to anticipate and smoothly adjust its speed in response to potential lane changes by other vehicles, enhancing the efficiency and safety of automated driving by preventing abrupt braking.
Smart Images
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Abstract
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] For this purpose, the invention relates to a method for (electronic) control of 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 end of which (at the earliest), a difference between: - A second vehicle traveling (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, such that the second vehicle will then change lanes to (join) the first lane (e.g., the second vehicle will initiate a lane change, e.g., by initiating or commanding a change of direction of the second vehicle, and the method may comprise, e.g., this lane change), - Determination of a first duration, at the end of which (at the earliest), the first vehicle will have overtaken (in other words: overtaken) 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 threshold (predetermined), - If the second duration minus the first duration is less than (or equal to) the second (predetermined) threshold, then order of the first vehicle (in other words: the first vehicle comprising a propulsion engine and brakes, propulsion motor 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 change of lane of the second vehicle, when it is preceded by a third vehicle traveling more slowly, and thus to avoid the first vehicle slowing down too abruptly following the change of lane of the second vehicle.
[0005] For example, the steps of the method may be repeated (possibly with a third threshold in place of the second threshold). Thus, the first vehicle may 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 (or any construction) between the first lane and the second lane. In other words, the first lane and the second lane are separated only by a road marking.
[0007] According to one embodiment, if the second duration minus the first duration is greater than the second (predetermined) threshold, the method comprises a step of controlling the first vehicle (in other words: the first vehicle comprising a propulsion motor and brakes, a step of controlling the propulsion motor and / or the 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 travel 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, the second speed and the second geographical location of the second vehicle, the control method further comprising the following steps (prior to the step of determining the first duration): - Receiving the first gear (e.g. 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 a first distance distl 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 closest to the second vehicle)), from the second geographical location of the second vehicle (and from a first location received for example from a satellite geographical location module of the first vehicle, if the second location is not relative to the first vehicle), - Calculation of a speed difference between the first speed and the second speed.
[0013] According to one embodiment, the first duration may 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 speed difference between the first vehicle and the second vehicle.
[0014] Alternatively, the first duration may 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 geographic location may be determined from data from a radar of the first vehicle and / or from a camera of the first vehicle.
[0017] Alternatively, the second speed and / or the second geographic location of the second vehicle (e.g., relative to the first vehicle) may be received from the second vehicle or from the road infrastructure.
[0018] According to one embodiment, it is understood that the first vehicle has 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 the 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 step of determining- mination 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 from 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 gap 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 difference 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 coming from a radar of the first vehicle and / or from a camera of the first vehicle.
[0026] Alternatively, the second speed (during the second determination step), the third speed, and / or the third geographic location (and / or the second geographic location of the second vehicle, for example if the third location geographical location is 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 times (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 method according to the invention, when it is 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 another element is "configured to" (or "capable of") performing or implementing a step or operation, this implies, for example, that the element comprises means for performing the step or operation. The means preferably comprise 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 comprises a computer program, a microprocessor and / or a microcontroller.
[0033] Other characteristics and advantages of the present invention will appear more clearly on reading the detailed description which follows, comprising embodiments of the invention given as non-limiting examples and illustrated by the appended drawings, in which: - [Fig.l] represents an electronic device and a motor vehicle according to an embodiment of the invention, - [Fig.2] represents an implementation of the method according to the invention, according to a exemplary embodiment, by the electronic device and the motor vehicle of [Fig.l].
[0034] In [Fig.l], certain elements are, of course, seen through transparency.
[0035] Detailed description of an exemplary embodiment of the invention.
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[0044] [Fig.l] 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.l] and 2, in 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 the van 300 relative to the first vehicle 100, - A third (instantaneous) speed of the 300 van equal to 70 kilometers per hour, - A length 1200 of the second vehicle 200 equal to 5 meters. In step 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 100 travels in the direction and direction of traffic dsl in the VL lane The second vehicle 200 and the van 300 are traveling in the direction and direction of traffic dsl in lane V2. The van 300 precedes the second vehicle 200. In step 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. In 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. In step S30, the microprocessor 110 estimates a first duration equal to 5 seconds, by dividing the distance distl plus the length 1200 and the length 1100 (in total 15 meters), by the difference in speed between the first vehicle and the second vehicle 200, here 3 meters per second (i.e. 10.8 kilometers per hour). It is thus estimated that the vehicle 100 will have overtaken the vehicle 200 in 5 seconds. Alternatively, to calculate when vehicle 100 has overtaken vehicle 200, the mi processor 110 only takes into account the distance distl, or only the distance distl plus the length 1200.
[0045] In step S40, the microprocessor 110 estimates a second duration equal to 5.4 seconds, by dividing the distance dist2, by the difference in speed between the van 300 and the second vehicle 200, here 2 meters per second (i.e. 10.8 kilometers per hour), and by subtracting from the result 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 safety distance between the van 300 and the second vehicle 200.
[0046] In 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 minus the first duration (i.e. 0.8 seconds) is less than the second threshold (i.e. 2 seconds), the microprocessor 100 controls, in step S60, the propulsion motor and the brakes of the vehicle 100 so that the first vehicle 100 slows down.
[0048] For example, steps S00 to S60 may be repeated. Thus, the first vehicle 100 may 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. the second threshold, the microprocessor 100 would have controlled, in step S60, the propulsion motor and the brakes of the vehicle 100 so that the first vehicle 100 maintains 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 geographic 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 geographic 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.