Method and device for controlling a vehicle's lane change system during a vehicle overtaking maneuver

Abstract

The present invention relates to a method and device for controlling a lane-changing system for a self-propelled vehicle (10) traveling in a current lane (1001) of a road segment comprising a current lane and an adjacent lane (1002). The method includes receiving data representing the presence or absence of a first vehicle (11) traveling in front of the self-propelled vehicle in the adjacent lane, the presence or absence of a second vehicle (12) traveling behind the self-propelled vehicle in the current lane, and the time between a specified instant when a third vehicle (13) traveling in the adjacent lane is overtaken by the self-propelled vehicle and a current instant. The lane-changing system is then controlled based on the data. (See Figure 1 for abbreviations.)

Description

Title of the invention: Method and device for controlling a vehicle's lane change system during an overtaking maneuver technical field

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

[0002] Some contemporary vehicles are equipped with functions or system(s) or driving assistance, called AD AS (from the English "Advanced Driver-Assistance System" or in French "Système d'aide à la conduite avancé").

[0003] Among these systems, the semi-automatic lane change system, known as SALC (Semi-Automatic Lane Change), has as its primary function to assist 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 the intention to change lanes from the current lane to a target lane on the side where the turn signals were activated by the driver, the SALC system performs the lane change after carrying out several checks. Among these checks, the SALC system verifies certain conditions relating to the current lane and the target lane, such as the presence of other vehicles and the distances separating the vehicle equipped with the SALC system from other vehicles, before checking for a possible lane change by that same vehicle.

[0004] Other traffic lane change systems perform similar checks.

[0005] However, these controls prove insufficient in the face of complex living or driving situations of the vehicle by only taking into account the current road configuration. Summary of the present invention

[0006] One object of the present invention is to solve at least one of the problems of the technological background described above.

[0007] Another object of the present invention is to improve the functioning of a vehicle lane change system.

[0008] According to a first aspect, the present invention relates to a method for controlling a lane change system of a vehicle, the vehicle traveling in a common lane of a portion of road comprising a common lane and a lane adjacent to the common lane, the method comprising the following steps: - receipt of representative data from: • the presence or absence of a first vehicle travelling in front of said vehicle in the adjacent lane, • the presence or absence of a second vehicle traveling behind the first vehicle in the current lane, • a duration between a specific moment when a third vehicle travelling in the adjacent lane is overtaken by the vehicle in question and a current moment, - control of said traffic lane change system based on data.

[0009] Such a method makes it possible to control the lane change system of the ego vehicle so as to trigger a lane change or to stay in the current lane depending on the presence of other users, in particular when many vehicles occupy the adjacent lane.

[0010] According to an embodiment of the method, the lane-changing system is controlled so as to keep the vehicle in the current lane when: - a first vehicle is present, or - a first vehicle is absent, a second vehicle is absent and the duration is less than a threshold duration.

[0011] The ego vehicle thus remains on the current lane as long as vehicles are present on the adjacent lane.

[0012] According to another embodiment of the method, the lane-changing system is controlled so as to trigger a lane change of the ego vehicle from the current lane to the adjacent lane when a first vehicle is absent and: - a second vehicle is present, or - a second vehicle is absent and the duration is greater than a threshold duration.

[0013] Thus, the vehicle ego does not systematically and immediately place itself on the adjacent lane after an overtaking.

[0014] According to yet another variant of the method, the data representing the presence or absence of a first vehicle include: - a first gear of the first vehicle, and - a first distance separating the first vehicle from the ego vehicle, the first vehicle being present if the second distance is less than a first threshold distance and if the speed of the first vehicle is less than a speed of the ego vehicle.

[0015] A vehicle that is too far away or travelling faster than the ego vehicle is not then considered as a slow vehicle or one to be overtaken soon.

[0016] According to an additional method variant, the data representative of the presence or absence of a second vehicle include: - a second gear for the second vehicle, and - a second distance separating the second vehicle from the ego vehicle, the second vehicle being present if the second distance is less than a second threshold distance or if the speed of the second vehicle is greater than a speed of the ego vehicle.

[0017] A second vehicle that is too far away or traveling slower than the primary vehicle is therefore not taken into consideration. Indeed, this second vehicle is not likely to overtake the primary vehicle in the near future.

[0018] According to yet another variant of the process, the duration is reset if a first vehicle is present.

[0019] Indeed, the duration is linked to the last overtaking. However, if a first vehicle is present in front of the ego vehicle, then an overtaking is in progress, the last overtaking is therefore not finished.

[0020] According to yet another variant of the method, the data are received from at least one sensor in a set of sensors comprising: - a radar, - a LIDAR, and - a camera.

[0021] These sensors are fitted to many vehicles and are sufficiently accurate to determine distances, positions and relative speeds of other vehicles.

[0022] According to a second aspect, the present invention relates to a control device for a vehicle lane change system, the device comprising a memory associated with a processor configured for the implementation of the steps of the process according to the first aspect of the present invention.

[0023] 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.

[0024] According to a fourth aspect, the present invention relates to a computer program that includes 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.

[0025] Such a computer program may use any programming language, and be in the form of source code, object code, or an intermediate code between source code and object code, such as in a partially compiled form, or in any other desirable form.

[0026] 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 process according to the first aspect of the present invention.

[0027] On the one hand, the recording medium can be any entity or device capable of storing the program. For example, the medium can include a storage means, such as a ROM, a CD-ROM or a microelectronic circuit-type ROM, or a magnetic recording means or a hard disk drive.

[0028] On the other hand, this recording medium can also be a transmissible medium such as an electrical or optical signal, such a signal being able to be transmitted via an electrical or optical cable, by conventional or radio frequency, by self-directing laser beam, or by other means. The computer program according to the present invention can, in particular, be downloaded from an Internet-type network.

[0029] Alternatively, the recording medium may be an integrated circuit in which the computer program is incorporated, the integrated circuit being adapted to execute or to be used in the execution of the process in question. Brief description of the figures

[0030] Other features and advantages of the present invention will become apparent from the description of the particular and non-limiting embodiments of the present invention below, with reference to the attached Figures 1 to 3, in which:

[0031] [Fig-1] schematically illustrates a vehicle environment, according to an example of particular and non-limiting implementation of the present invention;

[0032] [Fig.2] schematically illustrates a device configured to control a semi-automatic lane change system for the vehicle of [Fig.1], according to a particular and non-limiting embodiment of the present invention;

[0033] [Fig.3] illustrates a flowchart of the different stages of a control method for a semi-automatic lane change system of the vehicle of [Fig.1], according to a particular and non-limiting embodiment of the present invention. Description of examples of achievements

[0034] A method and a control device for a vehicle lane change system will now be described in what follows with joint reference to Figures 1 to 3. The same elements are identified with the same reference signs throughout the following description.

[0035] The terms "first," "second" (or "firsts," "seconds"), etc., are used in this document by arbitrary convention to allow for the identification and distinction of different elements (such as operations, means, etc.) implemented in the embodiments described below. Such elements may be distinct or correspond to a single element, depending on the embodiment.

[0036] According to a particular and non-limiting embodiment of the present invention, the control of a system configured to control a lane change of a vehicle (also called ego vehicle), referred to as a traffic lane change system, traveling in a current traffic lane of a portion of road comprising a current traffic lane and a traffic lane adjacent to the current traffic lane includes the reception of data representative of the presence or absence of a first vehicle traveling in front of the ego vehicle in the adjacent lane, of the presence or absence of a second vehicle traveling behind the ego vehicle in the current lane and of a duration between a determined instant at which a third vehicle traveling in the adjacent lane is overtaken by the ego vehicle and a current instant.

[0037] The traffic lane change system is then controlled according to the data.

[0038] Fig. 1 schematically illustrates an environment 1 in which a vehicle 10 evolves, according to a particular and non-limiting embodiment of the present invention.

[0039] Fig. 1 illustrates a vehicle 10, for example a motor vehicle, travelling on a portion of road in 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 motorized land vehicle.

[0040] Vehicle 10 corresponds to a vehicle operating under the full supervision of a driver or operating in an autonomous or semi-autonomous mode. Vehicle 10 operates at an autonomy level of 0 or at an autonomy level ranging from 1 to 5, for example, according to the scale defined by the US federal agency which has established 5 levels of autonomy ranging from 1 to 5, level 0 corresponding to a vehicle with 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 vehicle com- Completely autonomous.

[0041] The 5 levels of autonomy in the classification of the federal agency responsible for road safety are: - level 0: no automation, the vehicle driver fully controls 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 driving the vehicle; cruise control is part of this level, as are other aids such as ABS (anti-lock braking system) or ESP (electronic stability program); - 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 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; however, autonomous driving can only take place under certain specific environmental and traffic conditions (only on highways for example); - level 4: fully autonomous driving under certain conditions, the vehicle is designed to independently perform all critical safety functions over a complete journey; the driver provides a destination or navigation instructions but is not required to be available to take back control of the vehicle; - Level 5: Completely autonomous driving without driver assistance in all circumstances.

[0042] According to a particular embodiment, the vehicle 10, also called the ego vehicle, operates 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.

[0043] According to the example in [Fig.1], 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 right of the current lane 1001 (according to the direction of travel of the vehicle 10).

[0044] The concepts of right and left are defined according to the direction of travel of vehicle 10. For example, lane 1001 corresponds to the "fastest" lane, and lane 1002 corresponds, according to this example, to the "slowest" lane. The "slowest" lane is on the right in countries where vehicles travel on the right (countries such as France, for example). Lane 1001 "the "slower" is on the left in countries where vehicles travel on the left lane (countries such as the United Kingdom, for example).

[0045] The example in [Fig. 1] corresponds to an example in which vehicles travel on the right, as in France. However, the invention is not limited to such an example and extends to all road configurations, including those where vehicles travel on the left.

[0046] According to the example in [Fig. 1], the road segment corresponds, for example, to a section of motorway or a section of expressway with multiple lanes of traffic in each direction. Each of the lanes 1001, 1002 is marked or delimited by lateral delimitations which correspond, for example, to road markings or safety barriers (or guardrails).

[0047] The vehicle 10 advantageously incorporates one or more driver assistance systems, known as AD AS (from the English "Advanced Driver-Assistance System" or in French "Système d'aide à la conduite avancé").

[0048] According to a first example, the vehicle 10 carries a semi-automatic lane change system, called the SALC system (from the English "Semi-Automatic Lane Change").

[0049] According to a second example, vehicle 10 is an autonomous vehicle, having an autonomy level of 4 or 5 according to the classification previously presented. The lane change is then fully automated, and the activation of the lane change control does not require any user action, such as the driver of vehicle 10 activating a turn signal, as is usually the case for a SALC system.

[0050] Such systems are also based on the detection of other road users, in particular other vehicles 11, 12, 13 present on the traffic lanes 1001, 1002, their position, their distance and their relative speed in relation to vehicle 10.

[0051] According to this example, vehicle 10 is traveling behind a first vehicle 11 traveling in the adjacent lane 1002 of the road segment. The first vehicle 11 is located at a distance dl from vehicle 10.

[0052] 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.

[0053] In order to best anticipate the upcoming driving situation, a long range of the sensor 101 is all the more important as the speed of the vehicle 10 is high. Indeed, for a speed close to 130 km / h, a range of 200 m is preferable because a need for the vehicle 10 to decelerate may arise, for example, at a distance dl of 90 m if the first vehicle 11 is traveling at a speed of 90 km / h.

[0054] Still according to the example of [Fig.1], vehicle 10 is travelling in front of a second vehicle 12 which is also travelling in the current traffic lane 1001.

[0055] A third vehicle 13 is also travelling on the adjacent lane 1002, vehicle 10 having overtaken this third vehicle previously.

[0056] Vehicle 10 travels at a speed called ego speed v0. This ego speed v0 is greater than a first speed vi of the first vehicle 11, less than a second speed v2 of the second vehicle 12 and greater than a third speed v3 of the third vehicle 13.

[0057] Thus, in a moment, vehicle 10 will arrive alongside the first vehicle 11.

[0058] Similarly, the second vehicle 12 will arrive alongside vehicle 10 and will be able to overtake it if vehicle 10 has moved into the adjacent lane 1002 to let the second vehicle 12 pass.

[0059] The vehicle 10 also carries one or more of the following sensors 101: - 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 reflected 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"), a LIDAR sensor corresponding to an optoelectronic system composed of a laser emitter, a receiver including a light collector (to collect the portion 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 that 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.

[0060] A process for controlling the lane change system of the vehicle 10 traveling on the current traffic lane 1001 is advantageously implemented by the vehicle 10, i.e. by a computer or a combination of computers of the vehicle 10's on-board system, for example by the computer or computers in charge of controlling the lane change system.

[0061] In a first operation, data is received.

[0062] This data is representative of: - the presence or absence of a first vehicle 11 travelling in front of the vehicle 10 in the adjacent lane 1002, - the presence or absence of a second vehicle 12 travelling behind vehicle 10 in the current lane 1001, - a duration between a determined instant at which a third vehicle 13 travelling in the adjacent lane 1002 is overtaken by the ego vehicle 10 and a current instant.

[0063] This data is for example received from one or more sensors 101, via one or more communication buses of the vehicle's on-board system 10, for example a CAN data bus (from the English "Controller Area Network" or in French "Réseau de contrôlers"), CAN FD (from the English "Controller Area Network Flexible Data-Rate" or in French "Réseau de contrôlers à débit de données flexible"), FlexRay (according to ISO 17458), Ethernet (according to ISO / IEC 802-3) or LIN (from the English "Local Interconnect Network" or in French "Réseau interconnecté local").

[0064] A sensor 101 belongs for example to a set of sensors comprising: - a radar, - a LIDAR, and - a camera.

[0065] According to one example, the data representing the presence or absence of a first vehicle 11 include: - a first gear vi of the first vehicle 11, and - a first distance dl separating the first vehicle 11 from vehicle 10.

[0066] The first vehicle 11 is present if the second distance dl is less than a first threshold distance dseuU and if the speed vi of the first vehicle 11 is less than a speed v0 of the first vehicle 10, i.e. dl < dseun and V! > v0.

[0067] Indeed, if the first speed vi is greater than the speed v0 of vehicle 10, then the first vehicle 11 moves away and vehicle 10 can change lanes and move back behind the first vehicle 11 into the adjacent lane 1002 without having to overtake the first vehicle 11 afterwards.

[0068] Similarly, if the first distance dl is greater than the first threshold distance dseuU, the vehicle 10 has the possibility of moving back onto the adjacent lane 1002 to let a second vehicle 12 pass without being hindered in the near future by the distant first vehicle 11. A distant first vehicle is therefore considered absent during the process.

[0069] The first threshold distance dseuii is for example between 100 and 500m, for example this first threshold distance dseuii is 200m or 300m.

[0070] In the absence of a first vehicle 11, it should be noted that a sensor 101 cannot send data representative of the presence or absence of a first vehicle 11. The absence of this data is therefore representative of the absence of a first vehicle 11.

[0071] Similarly, representative data on the presence or absence of a second vehicle 12 include, for example: - a second speed v2 of the second vehicle 12, and - a second distance d2 separating the second vehicle 12 from vehicle 10.

[0072] The second vehicle 12 is present if the second distance d2 is less than a second threshold distance dseuii' or if the speed v2 of the second vehicle 12 is greater than a speed of the ego vehicle 10.

[0073] Indeed, if the second distance d2 is less than a second threshold distance dseuU ', then the second vehicle 12 is in the immediate vicinity of the vehicle 10 and ready to overtake it.

[0074] The second threshold distance dseuii' is for example between 0 and 50m, for example this second threshold distance dseuii' is 10 or 30m.

[0075] Similarly, if the second speed v2 of the second vehicle 12 is greater than the speed v0 of the vehicle 10, then the second vehicle 12 will soon reach the level of the vehicle 10 and will be ready to overtake the vehicle 10.

[0076] As before, in the absence of a second vehicle 12, it should be noted that a sensor 101 cannot send data representative of the presence or absence of a second vehicle 12. The absence of this data is therefore representative of the absence of a second vehicle 12.

[0077] In a second operation, the traffic lane change system is controlled according to the data previously received.

[0078] The lane change system is, for example, controlled so as to keep the vehicle 10 in the current lane 1001 when: - a first vehicle 11 is present, or - a first vehicle 11 is absent, a second vehicle 12 is absent and the duration is less than a threshold duration.

[0079] The threshold duration is for example between 15 seconds and 2 minutes, for example the threshold duration is 30s or 45s.

[0080] This threshold duration allows vehicle 10 to remain in the fastest lane, the current lane 1001, to avoid merging too quickly into the adjacent lane 1002 when the presence of a new first vehicle 11 is highly probable, for example, when the adjacent lane 1002, i.e., the slowest lane, is occupied by a long, almost uninterrupted line of trucks. Vehicle 10 does not systematically merge into this adjacent lane in order to avoid making numerous lane changes when it is not obstructing any second vehicle 12.

[0081] Conversely, following this example, the lane change system is controlled so as to trigger a lane change of vehicle 10 from the current traffic lane 1001 to the adjacent traffic lane 1002 when a first vehicle 11 is absent and: - a second vehicle 12 is present, or - a second vehicle is absent and the duration is greater than a threshold duration.

[0082] Thus, vehicle 10 moves back onto the adjacent lane 1002 to let the second vehicle 12 pass if there is no risk of finding itself immediately behind a new first vehicle 11, or after when the threshold time since the last overtaking of a third vehicle 13 is reached.

[0083] In a third operation, the duration is reset if a first vehicle 11 is present.

[0084] Indeed, if a first vehicle 11 is present in front of vehicle 10, then vehicle 10 is about to overtake the first vehicle 11. The last overtaking maneuver is therefore the one currently underway. When the first vehicle 11 is overtaken, it becomes a third vehicle 13.

[0085] The duration is thus incremented from the moment when vehicle 10 has passed a third vehicle 13 and no first vehicle 11 is present.

[0086] Such a process makes it possible to control a change of traffic lane of the vehicle 10 when it is positioned on the fastest lane, the current lane 1001, following the overtaking of a third vehicle 13. The vehicle 10 thus remains on the current lane 1001 as long as a first vehicle 11 is close and soon to be overtaken.

[0087] Thus, vehicle 10 only moves into the adjacent lane 1002 when there is no first vehicle 11 to overtake. If there is no second vehicle 12 behind vehicle 10, the latter remains in the current lane 1001 for a predetermined duration, the threshold duration, in order to avoid having to change lanes several times within a short period.

[0088] Figure 2 schematically illustrates a device 2 configured to control a lane-changing system, according to a particular and non-limiting embodiment of the present invention. The device 2 corresponds, for example, to a device embedded in the vehicle 10, for example a computer.

[0089] Device 2 is, for example, configured to carry out the operations described opposite [Fig. 1] and / or the steps of the process described opposite [Fig. 3]. Examples of such a device 2 include, but are not limited to, embedded electronic equipment such as a vehicle's on-board computer, an electronic control unit such as an ECU (Electronic Control Unit), a smartphone, a tablet, or a laptop computer. The elements of device 2, individually or in combination, may be integrated into a single integrated circuit, into several integrated circuits, and / or into discrete components. Device 2 can be implemented in the form of electronic circuits or software (or computer) modules, or a combination of electronic circuits and software modules.

[0090] The device 2 comprises one (or more) processor(s) 20 configured to execute instructions for carrying out the steps of the process and / or for executing instructions from the software 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 volatile and / or non-volatile memory, and / or includes a memory storage device that may include volatile and / or non-volatile memory, such as EEPROM, ROM, PROM, RAM, DRAM, SRAM, flash, magnetic disk, or optical disk.

[0091] The computer code of the embedded software(s) including the instructions to be loaded and executed by the processor is for example stored on memory 21.

[0092] According to various specific 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 (Telematic Control Unit), for example via a communication bus or through dedicated input / output ports.

[0093] According to a particular and non-limiting 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 tablet, for example. The interface elements of the block 22 comprise one or more of the following interfaces: - radio frequency RF 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; - USB interface (from the English "Universal Serial Bus" or "Universal Serial Bus" in French); - HDMI interface (from the English "High Definition Multimedia Interface", or "High Definition Multimedia Interface" in French).

[0094] According to another particular and non-limiting embodiment, device 2 includes a communication interface 23 which enables communication with other devices (such as other computers in 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. Communication interface 23 corresponds for example to a wired network of type CAN (from the English "Controller Area Network" or in French "Réseau de contrôlers"), CAN FD (from the English "Controller Area Network Flexible Data-Rate" or in French "Réseau de contrôlers à débit de données flexible"), FlexRay (standardized by the ISO 17458 standard), Ethernet (standardized by the ISO / IEC 802-3 standard) or LIN (from the English "Local Interconnect Network", or in French "Réseau interconnecté local").

[0095] According to a particular and non-limiting 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 loudspeakers, and / or other peripherals (projection system) via respective output interfaces. In one variant, one or more of the external devices is integrated into the device 2.

[0096] Figure 3 illustrates a flowchart of the different steps in a method for controlling a lane-changing system, according to a particular and non-limiting embodiment of the present invention. The method is implemented, for example, by a device mounted in the vehicle 10 or by the device 2 of Figure 2.

[0097] In a first step 31, data is received.

[0098] This data is representative of: • the presence or absence of a first vehicle 11 travelling in front of vehicle 10 in the adjacent lane 1002, • the presence or absence of a second vehicle 12 travelling behind vehicle 10 in the current lane 1001, • a duration between a determined instant at which a third vehicle 13 travelling in the adjacent lane 1002 is overtaken by the ego vehicle 10 and a current instant.

[0099] In a second step 32, the traffic lane change system is controlled according to this data.

[0100] According to one variant, the variants and examples of the operations described in relation to [Fig.1] apply to the steps of the process in [Fig.3].

[0101] Of course, the present invention is not limited to the embodiments described above but extends to a method for controlling lane changes that would include secondary steps without departing from the scope of the present invention. The same would apply to a device configured for putting into work of such a process.

[0102] The present invention also relates to a SALC system comprising device 2 of [Fig.2].

[0103] The present invention also relates to a vehicle, for example a motor vehicle or more generally an autonomous land-based motor vehicle, comprising the device 2 of [Fig.2] or the traffic lane change system above.

Claims

Claims

1. Method for controlling a lane change system of an ego vehicle (10), said ego vehicle (10) traveling in a current lane (1001) of a portion of road comprising a current lane (1001) and a lane adjacent to the current lane (1001), said method comprising the following steps: - receiving (31) data representative of: • a presence or absence of a first vehicle (11) traveling in front of said ego vehicle (10) in the adjacent lane (1002), • a presence or absence of a second vehicle (12) traveling behind said ego vehicle (10) in the current lane (1001), • a duration between a determined instant at which a third vehicle (13) traveling in the adjacent lane (1002) is overtaken by the ego vehicle (10) and a current instant, - controlling (32) said system lane change based on data.

2. A method according to claim 1, wherein said lane change system is controlled to keep said ego vehicle (10) in the current traffic lane (1001) when: - a first vehicle (11) is present, or - a first vehicle (11) is absent, a second vehicle (12) is absent and said duration is less than a threshold duration.

3. A method according to claim 1 or 2, wherein said lane change system is controlled to trigger a lane change of said ego vehicle (10) from the current lane (1001) to the adjacent lane (1002) when a first vehicle (11) is absent and: - a second vehicle (12) is present, or - a second vehicle is absent and said duration is greater than a threshold duration.

4. Method according to one of claims 1 to 3, for which the data representative of said presence or absence of a first vehicle (11) comprise: - a first speed of said first vehicle (11), and - a first distance (dl) separating the first vehicle (11) from said first vehicle (10), said first vehicle (11) being present if the second distance (dl) is less than a first threshold distance and if the speed of the first vehicle (11) is less than a speed of the ego vehicle (10).

5. Method according to one of claims 1 to 4, for which the data representative of said presence or absence of a second vehicle (12) comprise: - a second speed of said second vehicle (12), and - a second distance (d2) separating the second vehicle (12) from said ego vehicle (10), said second vehicle (12) being present if the second distance (d2) is less than a second threshold distance or if the speed of the second vehicle (12) is greater than a speed of the ego vehicle (10).

6. Method according to one of claims 1 to 5, for which said duration is reset if a first vehicle (11) is present.

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.

Images