Method and device for controlling a semi-automatic lane-changing system for a vehicle

Abstract

The present invention relates to a method and device for controlling a lane-changing system for a first vehicle (10) traveling behind a first vehicle (11) in a common lane (1001) of a road segment and in front of a second vehicle (12) traveling in an adjacent lane (1002), the first vehicle's speed being greater than the first vehicle's speed and less than the second vehicle's speed. The method comprises receiving representative data on the first and second speeds, a first distance (d1) separating the first vehicle from the first vehicle, and a second distance (d2) separating the second vehicle from the second vehicle. A deceleration of the first vehicle and a second deceleration of the second vehicle are determined based on the data, compared, and the lane-changing system is controlled based on the result of the comparison.Figure for the abbreviation: Figure 1.

Description

Title of the invention: Method and device for controlling a semi-automatic lane change system for a vehicle Technical field

[0001] The present invention relates to methods and devices for controlling a semi-automatic lane change system, known as a SALC system, of a vehicle, for example a motor vehicle. The present invention also relates to a method and a device for controlling a vehicle, in particular an autonomous vehicle. Technological background

[0002] Some contemporary vehicles are equipped with functions or system(s) or driving assistance, known as AD AS (from the English “Advanced Driver-Assistance System” or in French “Advanced Driving Assistance System”).

[0003] Among these systems, the semi-automatic lane change system, called the SALC system (from the English "Semi-Automatic Lane Change") has the primary function of assisting the driver of a vehicle when the driver wishes to change lanes. Upon detecting the activation of the turn signals on one side of the vehicle to indicate its intention to change lanes from a current lane to a target lane on the side where the turn signals have been activated by the driver, the SALC system operates the lane change after having carried out some checks. Among these checks, the SALC system checks certain conditions relating to the current lane and the target lane such as the presence of other vehicles and the distances separating the vehicle carrying the SALC system from the other vehicles before checking a possible lane change of this same vehicle.

[0004] These checks, however, prove insufficient in the face of complex vehicle life or driving situations by only taking into account the current road configuration. Summary of the present invention

[0005] An object of the present invention is to solve at least one of the problems of the technological background described above.

[0006] Another object of the present invention is to improve the operation of a SALC system of a vehicle.

[0007] According to a first aspect, the present invention relates to a method for controlling a semi-automatic lane change system, called a SALC system, of an ego vehicle, the ego vehicle traveling behind a first vehicle on a current traffic lane of a portion of road and in front of a second vehicle traveling on a traffic lane adjacent to the current traffic lane, an ego speed of the ego vehicle being greater than a first speed of the first vehicle and less than a second speed of the second vehicle, the method comprising the following steps: - receipt of data representative of: • the speed ego, • first gear, • a first distance separating the ego vehicle from the first vehicle, • second gear, and • a second distance separating the ego vehicle from the second vehicle; - determination of representative values ​​of a first deceleration of the second vehicle and a second deceleration of the second vehicle based on the data; - first comparison of ego deceleration and second deceleration; - control of the SALC system as a function of a result of the first comparison.

[0008] The SALC system thus controls a change of traffic lane of the ego vehicle as a function of its own deceleration and the deceleration induced in the second vehicle.

[0009] According to a variant of the method, the SALC system is controlled so as to trigger a lane change of the ego vehicle from the current traffic lane to the adjacent traffic lane when the result of the first comparison indicates that an absolute value of the ego deceleration is greater than an absolute value of the second deceleration.

[0010] The ego vehicle thus only changes lane if the deceleration induced in the second vehicle is less than the deceleration it would experience if it did not change lane.

[0011] According to another variant, the method further comprises the following steps: - prediction of a third distance separating the ego-vehicle from the first vehicle when the second vehicle has passed the ego-vehicle based on the data, - second comparison of the third distance to a determined threshold distance, - assignment of a zero value to the deceleration ego based on a result of the second comparison.

[0012] The ego vehicle thus remains in its lane to let the second vehicle pass if this maneuver does not involve having to decelerate before the second vehicle has passed the ego vehicle.

[0013] According to another variant, the method further comprises a third comparison of the second deceleration with a determined threshold deceleration, the control of the SALC system being a function of a result of the third com- parison.

[0014] A threshold deceleration makes it possible to define a maximum deceleration limit induced in the second vehicle.

[0015] According to an additional method variant, the SALC system is controlled so as to keep the ego vehicle on the current traffic lane when the result of the third comparison indicates that an absolute value of the second deceleration is greater than an absolute value of the threshold deceleration.

[0016] The ego vehicle remains in its lane so as not to force the second vehicle to decelerate too much or even brake.

[0017] According to another method variant, the absolute value of the threshold deceleration is equal to 2m / s2.

[0018] According to yet another method variant, the data are received from at least one sensor of a set of sensors comprising: - a radar, - a LIDAR, and - a camera.

[0019] These sensors are fitted to many vehicles and are sufficiently precise to determine the distances, positions and relative speeds of other vehicles.

[0020] According to a second aspect, the present invention relates to a device for controlling a semi-automatic lane change system for 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.

[0021] 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 or a system as described above according to the third aspect of the present invention.

[0022] 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.

[0023] Such a computer program may use any programming language, and 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.

[0024] 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.

[0025] 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 microelectronic circuit type ROM memory, or a magnetic recording means or a hard disk.

[0026] Furthermore, 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 an Internet-type network.

[0027] 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. Brief description of the figures

[0028] 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 3, in which:

[0029] [Fig-1] schematically illustrates an environment of a vehicle, according to an example particular and non-limiting embodiment of the present invention;

[0030] [Fig.2] schematically illustrates a device configured to control a semi-automatic lane change system of the vehicle of [Fig.1], according to a particular and non-limiting exemplary embodiment of the present invention;

[0031] [Fig.3] illustrates a flowchart of the different steps of a method for controlling a semi-automatic lane change system for the vehicle of [Fig.1], according to a particular and non-limiting exemplary embodiment of the present invention. Description of examples of implementation

[0032] A method and a device for controlling a semi-automatic lane change system, called SALC system, of a vehicle will now be described in the following with joint reference to Figures 1 to 3. The same elements are identified with the same reference signs throughout the description which follows.

[0033] The terms "first(s)", "second(s)" (or "first(s)", "second(s)"), etc. are used in this document by arbitrary convention to enable different elements (such as operations, means, etc.) implemented in the embodiments described below to be identified and distinguished. Such elements may be distinct or correspond to a single element, depending on the embodiment.

[0034] According to a particular and non-limiting example of embodiment of the present invention, the control of a semi-automatic lane change system, called SALC system, of an ego vehicle traveling behind a first vehicle on a current traffic lane of a portion of road and in front of a second vehicle traveling on a traffic lane adjacent to the current traffic lane, an ego speed of the ego vehicle being greater than a first speed of the first vehicle and less than a second speed of the second vehicle, comprises the reception of data representative of the ego, first and second speeds, of a first distance separating the ego vehicle from the first vehicle and of a second distance separating the ego vehicle from the second vehicle.

[0035] Representative values ​​of a first deceleration of the first vehicle and a second deceleration of the second vehicle are determined based on the data and then compared.

[0036] The SALC system is then controlled based on a result of the first comparison.

[0037] [Fig. 1] schematically illustrates an environment 1 in which a vehicle 10 moves, according to a particular and non-limiting exemplary embodiment of the present invention.

[0038] [Fig.l] illustrates a vehicle 10, for example a motor vehicle, traveling on a portion of road in the environment 1. 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.

[0039] The vehicle 10 corresponds to a vehicle traveling under the total supervision of a driver or traveling in an autonomous or semi-autonomous mode. The 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 total 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 AD AS system, and level 5 corresponding to a completely autonomous vehicle.

[0040] The 5 levels of autonomy of the classification of the federal agency responsible for road safety are: - level 0: no automation, the vehicle driver has full control over the main functions of the vehicle (engine, accelerator, steering, brakes); - level 1: driver assistance, automation is active for certain vehicle functions, the driver retaining overall control over the driving of the vehicle; cruise control is part of this level, as are other aids such as ABS (anti-lock braking system) or ESP (electro-stabilizer programmed); - 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”); - 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); - 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; - level 5: completely autonomous driving without driver assistance in all circumstances.

[0041] According to a particular example of embodiment, the vehicle 10, also called ego vehicle, 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.

[0042] According to the example of [Fig.l], the vehicle 10 travels on a portion of road comprising several lanes 1001 and 1002. The vehicle 10 travels on a current traffic lane 1001 bordered by an adjacent lane 1002, the adjacent lane 1002 being to the left of the current lane 1001 (according to the direction of travel of the vehicle 10).

[0043] The concepts of right and left are defined according to the direction of travel of the vehicle 10. The traffic lane 1001 corresponds, for example, to the “slowest” lane and the traffic lane 1002 corresponds, in this example, to the “fastest” lane. The “slowest” lane is on the right in countries where vehicles travel in the right-hand lane (countries such as France, for example). The “slowest” traffic lane 1001 is on the left in countries where vehicles travel in the left-hand lane (countries such as the United Kingdom, for example).

[0044] The example in [Fig.l] corresponds to an example in which vehicles travel on the right, as in France. The invention is however not limited to such an example and extends to all road configurations, including those in which vehicles travel on the left.

[0045] According to the example of [Fig.l], the portion of road corresponds for example to a section of motorway or a section of expressway with several traffic lanes for each direction of travel. Each of the lanes 1001, 1002 is marked or delimited by lateral boundaries which correspond, for example, to road marking lines or safety barriers (or barriers).

[0046] The vehicle 10 advantageously incorporates one or more driving assistance systems, called AD AS (from the English “Advanced Driver-Assistance System” or in French “Système d'aide à la conduite supérieur”). For example, the vehicle 10 incorporates a semi-automatic lane change system, called SALC (from the English “Semi-Automatic Lane Change”). Such a system is also based on the detection of other road users, in particular the other vehicles 11, 12 present on the traffic lanes 1001, 1002, their position, their distance and their relative speed with respect to the vehicle 10.

[0047] According to this example, the vehicle 10 is traveling behind a first vehicle 11 on the current traffic lane 1001 of the road section. The first vehicle 11 is located at a distance dl from the vehicle 10.

[0048] The distance dl is between 0m and a maximum distance determined for example by the range of the sensor 101 measuring this distance dl. The maximum distance is for example 100 or 200m.

[0049] In order to best anticipate the upcoming driving situation, a high range of the sensor 101 is all the more important as the driving speed of the vehicle 10 is high. Indeed, for a driving speed close to 130 km / h, a range of 200 m is preferable because a need to decelerate the vehicle 10 may occur for example at a distance dl of 90 m if the first vehicle 11 is traveling at a speed of 90 km / h.

[0050] Still according to the example of [Fig.l], the vehicle 10 travels in front of a second vehicle 12 traveling on a traffic lane 1002 adjacent to the current traffic lane 1001.

[0051] The vehicle 10 travels at a speed called ego speed vO. This ego speed vO is greater than a first speed vl of the first vehicle 11 and less than a second speed v2 of the second vehicle 12.

[0052] Thus, in a near instant, the vehicle 10 will arrive at the height of the first vehicle 11, it will then have to decelerate or overtake it.

[0053] Similarly, the second vehicle 12 will arrive at the height of the vehicle 10 and will be able to overtake it if the vehicle 10 has remained on its current traffic lane 1001, or will decelerate to stay behind the vehicle 10 if the latter has changed lanes and placed itself on the adjacent lane 1002 to overtake the first vehicle 11.

[0054] The vehicle 10 furthermore carries one or more of the following sensors 101: - one or more millimeter wave radars arranged on the vehicle 10, for example 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 11 and second 12 vehicles), for the purpose of detecting obstacles or other objects and their distances from the vehicle 10; and / or - one or more LIDAR(s) (from the English “Light Detection And Ranging”, or “Light Detection and Ranging” 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 located in the emitted light beam and to measure the distance between the sensor and each detected object and / or - one or more cameras, constituting a monoscopic or stereoscopic vision system.

[0055] A process for controlling the SALC system of the vehicle 10 traveling on the current traffic lane 1001 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 SALC system.

[0056] In a first operation, data is received.

[0057] These data are representative of: - the ego speed v0, - first speed vb - a first distance dl separating the vehicle 10 from the first vehicle 11, - the second speed v2, and - a second distance d2 separating the vehicle 10 from the second vehicle 12.

[0058] These data are for example received from one or more sensors 101, via one or more communication buses of the on-board system of the vehicle 10, for example a communication bus of the CAN data bus type (from the English “Controller Area Network” or in French “Réseau de contrôles”), CAN FD (from the English "Flexible Data-Rate Controller Area Network", FlexRay (according to ISO 17458), Ethernet (according to ISO / IEC 802-3) or LIN (from English)

[0059] A sensor 101 belongs for example to a set of sensors comprising: - a radar, - a LIDAR, and - a camera.

[0060] In a second operation, values ​​representative of a first deceleration of the vehicle 10 and a second deceleration of the second vehicle 12 are determined based on the data.

[0061] The deceleration ego a0 corresponds to the deceleration value that the vehicle 10 must follow to remain on the current lane 1001 at a distance greater than a first minimum distance dmin from the first vehicle 11 traveling on the same current lane 1001.

[0062] This deceleration is further determined from the speed v0 of the vehicle 10 when the latter is at a distance dl from the first vehicle and from the second speed vi when the vehicle 10 is at the distance dmin from the first vehicle 11.

[0063] For a constant deceleration, we obtain for example:

[0064] a0 = (v0-v1)2 / (2*(dmin-dl))

[0065] It should be noted that this formula serves to illustrate an example for determining a deceleration, but other mathematical models are applicable depending on a determined deceleration law or braking law. For example, a non-linear evolution of the speed so as to preserve the comfort of the occupants of the vehicle 10 using an expression integrating polynomials of degree greater than or equal to 2, a discontinuous expression of the speed as a function of the distance separating the two vehicles or even a deceleration law following an abacus.

[0066] The second deceleration a2 corresponds to the deceleration value that the second vehicle 12 must follow to remain at a distance greater than a second minimum distance dmin' from the vehicle 10 if the vehicle 10 changes lane and places itself on the adjacent lane 1002 where the second vehicle 12 is traveling, the second vehicle 12 then traveling behind the vehicle 10.

[0067] Similar to the determination of the ego deceleration, we obtain:

[0068] a2 = (v2 - Vi)2 / (2 * (dmin'-d2))

[0069] As before, the linear model is an example but other mathematical models are applicable.

[0070] In a third operation, according to a particular exemplary embodiment, a third distance d3 separating the vehicle 10 from the first vehicle 11 when the second vehicle 12 has passed the vehicle 10 is predicted as a function of the data.

[0071] For example, the third distance is determined for the instant ti at which the second vehicle 12 arrives at the height of the first vehicle 11. In this case, if the determination is carried out from a current instant and for constant vehicle speeds, we obtain:

[0072] b = (dl + d2) / (v2 - V1)

[0073] The third distance d3 at this instant is obtained by:

[0074] d3 = dl - (v0 - Vi) x tl

[0075] that is: d3 = dl - (v0 - Vi) x (dl + d2) / (v2 - Vi)

[0076] In a fourth operation, a second comparison is made between the third distance d3 and a determined threshold distance.

[0077] According to one example, the threshold distance is the same as the minimum distance dmin defined previously.

[0078] According to another example, the threshold distance is different, for example proportional to the minimum distance: ax dmin, with 0 < a < 2.

[0079] In a fifth operation, a zero value is assigned to the deceleration ego based on a result of the second comparison.

[0080] When the threshold distance is less than the third distance d3, then the vehicle 10 does not need to decelerate to let the second vehicle 12 pass before itself overtaking the first vehicle 11. In this case, the deceleration ego a0 is assigned a zero value, i.e., a0 = 0.

[0081] In a sixth operation, a first comparison is made between the ego deceleration a0 and the second deceleration a2.

[0082] According to another particular embodiment, in a seventh operation, a third comparison is made between the second deceleration a2 and a threshold deceleration aseuii. This threshold deceleration is determined to, for example, avoid sudden braking of the second vehicle 12. Its value is for example between 1 and 5m / s2, for example 1.5 or 2m / s2.

[0083] In an eighth operation, the SALC system is controlled based on a result of the first comparison.

[0084] The SALC system is, according to a first particular exemplary embodiment, controlled so as to trigger a lane change of the vehicle 10 from the current traffic lane 1001 to the adjacent traffic lane 1002 when the result of the first comparison indicates that the absolute value of the ego deceleration a0 is greater than the absolute value of the second deceleration a2, i.e. when I a01 > I a21.

[0085] Conversely, when the absolute value of the ego deceleration a0 is less than the absolute value of the second deceleration a2, the SALC system is controlled so as to keep the vehicle 10 on the current traffic lane 1001.

[0086] According to a second particular embodiment, the SALC system is also controlled according to a result of the third comparison, the SALC system is controlled so as to keep the vehicle 10 on the current traffic lane 1001 when the result of the third comparison indicates that the absolute value of the second deceleration a2 is greater than the threshold deceleration aseuii, i.e. when I a21 > I aseuii I-

[0087] Thus, the SALC system is controlled, in this second example, so as to trigger a lane change of the vehicle 10 from the current traffic lane 1001 to the adjacent traffic lane 1002 when the result of the first comparison indicates that the absolute value of the ego deceleration a0 is greater than the absolute value of the second deceleration a2, and that the absolute value of the second deceleration a2 is less than the threshold deceleration aseuU, i.e. when I a01 > I a21 and I aseuU I > I a21.

[0088] Such a process makes it possible to control a change of traffic lane of the vehicle 10 as a function of the distances separating it from the other vehicles 11, 12 as well as the speeds of the other vehicles 11, 12. A change of traffic lane of the vehicle 10 is controlled when the vehicle 10 is caused to decelerate if it does not overtake the first vehicle 11. The change of lane is then effective if the second vehicle 12 does not have to decelerate more than the vehicle 10 which would remain in its lane.

[0089] The vehicle 10 is therefore able to overtake a first vehicle 11 traveling on the current traffic lane 1001 even if a second vehicle 12 is present on the adjacent traffic lane 1002 to a certain extent. Thus, the vehicle 10 does not have to remain behind the first vehicle 11 at a speed lower than its current speed which could then make overtaking the first vehicle 11 difficult.

[0090] [Fig.2] schematically illustrates a device 2 configured to control a SALC system, according to a particular and non-limiting embodiment of the present invention. The device 2 corresponds for example to a device on board the vehicle 10, for example a computer.

[0091] The device 2 is for example configured for the implementation of the operations described with regard to [Fig. 1] and / or the steps of the method described with regard to [Fig. 3]. Examples of such a device 2 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 2, individually or in combination, can be integrated into a single integrated circuit, into several integrated circuits, and / or into discrete components. The device 2 can be produced in the form of electronic circuits or software (or computer) modules or even a combination of electronic circuits and software modules.

[0092] The device 2 comprises one (or more) processor(s) 20 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 2. The processor 20 may include integrated memory, an input / output interface, and various circuits known to those skilled in the art. The device 2 further comprises at least one memory 21 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.

[0093] 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 21.

[0094] According to various particular and non-limiting embodiments, the device 2 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.

[0095] According to a particular and non-limiting exemplary embodiment, the device 2 comprises a block 22 of interface elements for communicating with external devices, for example a remote server or the “cloud”, or the vehicle 10 when the device 2 corresponds to a smartphone or a tablet for example. The interface elements of the block 22 comprise one or more of the following interfaces: - RF radio frequency interface, for example Wi-Fi® type (according to IEEE 802.11), for example in the 2.4 or 5 GHz frequency bands, or Bluetooth® type (according to IEEE 802.15.1), in the 2.4 GHz frequency band, or Sigfox type using UBN (Ultra Narrow Band) radio technology, or LoRa in the 868 MHz frequency band, LTE (LTE) “Long-Term Evolution” or in French “Long-Term Evolution”), LTE-Advanced (or in French LTE-advanced); - USB interface (from the English “Universal Serial Bus” or “Universal Serial Bus” in French); - HDMI interface (from the English “High Definition Multimedia Interface”).

[0096] According to another particular and non-limiting embodiment, the device 2 comprises a communication interface 23 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 230. The communication interface 23 corresponds for example to a transmitter configured to transmit and receive information and / or data via the communication channel 230. The communication interface 23 corresponds for example to a wired network of the CAN (Controller Area Network) type, CAN FD (Controller Area Network Flexible Data-Rate) or FlexRay type. (standardized by ISO 17458), Ethernet (standardized by ISO / IEC 802-3) or LIN (from the English “Local Interconnect Network”).

[0097] According to a particular and non-limiting exemplary embodiment, the device 2 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 2.

[0098] [Fig. 3] illustrates a flowchart of the different steps of a method for controlling a semi-automatic lane change system, called SALC system, according to a particular and non-limiting example of the present invention. The method is for example implemented by a device on board the vehicle 10 or by the device 2 of [Fig. 2].

[0099] In a first step 31, data is received.

[0100] These data are representative of: • an ego speed v0, • a first speed vb • a first distance dl separating the vehicle 10 from the first vehicle 11, • a second speed v2, and • a second distance d2 separating the vehicle 10 from the second vehicle 12.

[0101] In a second step 32, values ​​representative of a deceleration a0 of the vehicle 10 and of a second deceleration a2 of the second vehicle 12 are determined as a function of the data.

[0102] In a third step 33, the ego deceleration a0 and the second deceleration a2 are compared.

[0103] In a fourth step 34, the SALC system is controlled based on a result of the first comparison.

[0104] According to a variant, the variants and examples of the operations described in relation to [Fig.l] apply to the steps of the method of [Fig.3].

[0105] Of course, the present invention is not limited to the exemplary embodiments described above but extends to a method for controlling a change of traffic lane 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.

[0106] The present invention also relates to a SALC system comprising the device 2 of [Fig.2].

[0107] The present invention also relates to a vehicle, for example an automobile or more generally an autonomous land-based motor vehicle, comprising the device 2 of [Fig.2] or the SALC system above.

Claims

Claims

1. Method for controlling a semi-automatic lane change system, called SALC system, of an ego vehicle (10), said ego vehicle (10) traveling behind a first vehicle (11) on a current traffic lane (1001) of a portion of road and in front of a second vehicle (12) traveling on a traffic lane adjacent (1002) to said current traffic lane (1001), an ego speed of said ego vehicle (10) being greater than a first speed of said first vehicle (11) and less than a second speed of said second vehicle (12), said method comprising the following steps: - receiving (31) data representative of: • said ego speed, • the first speed, • a first distance (dl) separating said ego vehicle (10) from said first vehicle (11), • the second speed, and • a second distance (d2) separating said ego vehicle (10) from said second vehicle (12);- determination (32) of values ​​representative of an ego deceleration of said ego vehicle (10) and of a second deceleration of said second vehicle (12) as a function of said data; - first comparison (33) of said ego deceleration and second deceleration; - control (34) of said SALC system as a function of a result of said first comparison.;

2. A method according to claim 1, wherein said SALC system is controlled so as to trigger a lane change of said ego vehicle (10) from the current traffic lane (1001) to the adjacent traffic lane (1002) when the result of the first comparison indicates that an absolute value of said ego deceleration is greater than an absolute value of said second deceleration.

3. Method according to claim 1 or 2, which further comprises the following steps: - prediction of a third distance separating said ego-vehicle (10) from said first vehicle (11) when said second vehicle (12) has passed said ego-vehicle (10) according to said data, - second comparison of said third distance with a threshold distance determined, - assignment of a zero value to said ego deceleration based on a result of said second comparison.

4. Method according to one of claims 1 to 3, which further comprises a third comparison of said second deceleration to a determined threshold deceleration, said control of the SALC system being a function of a result of said third comparison.

5. A method according to claim 4, wherein said SALC system is controlled so as to keep said ego vehicle (10) on the current traffic lane (1001) when the result of the third comparison indicates that an absolute value of said second deceleration is greater than an absolute value of said threshold deceleration.

6. A method according to claim 4 or 5, wherein an absolute value of said threshold deceleration is equal to 2m / s2.

7. Method according to one of claims 1 to 6, for which said data are received from at least one sensor of a set of sensors comprising: - a radar, - a LIDAR, and - a camera.

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

9. Device (2) for controlling a semi-automatic system for changing the lane of a vehicle, said device (2) comprising a memory (21) associated with at least one processor (20) configured for implementing the steps of the method according to any one of claims 1 to 7.

10. Vehicle (10) comprising the device (2) according to claim 9.

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