Method for controlling a motor vehicle during a lane change, associated device and vehicle.

Abstract

Method for controlling a first motor vehicle (100), traveling in a first lane (V1), the method being characterized in that it comprises the following steps: Detection of a second vehicle (200) traveling in a second lane (V2) adjacent to the first lane (V1), Reception of an instruction from a human-machine interface (140) of the first vehicle (100), Upon receipt of the instruction, the following first steps: Determination whether the following first condition is verified: The first vehicle (100) has left any blind spot (210, 220) of the second vehicle (200), for a first duration greater than a first threshold, Then, first command of the first vehicle (100) so that the first vehicle (100) joins the second lane (V2) and precedes the second vehicle (200) in the second lane, the first command being conditional on the first condition being verified. Figure for abstract: Figure 1

Description

Title of the invention: Method for controlling a motor vehicle during a lane change, associated device and vehicle.

[0001] The invention relates to automatic lane changing in front of a motor vehicle which is not automatic.

[0002] There is a need to improve the safety of these automatic lane changes.

[0003] For this purpose, the invention relates to a method for controlling a first motor vehicle, traveling in a first lane, in one direction of travel, for example implemented in the first motor vehicle (as a variant, the method can be implemented by a supervision device external to the first vehicle), the method being characterized in that it comprises the following steps: • Detection of a second vehicle traveling in a second lane adjacent to the first lane, then • Receiving an instruction from a human-machine interface (located inside a passenger compartment) of the first vehicle, then • Upon receipt of the instruction, the following first steps: • Determination whether the following first condition is verified: the first vehicle has left any blind spot of the second vehicle (in other words: the first vehicle is not in any blind spot of the second vehicle), for a first duration greater than a first threshold, • Then, (Sending of a) first command (from the direction) of the first vehicle so that the first vehicle (leaves the first lane and) joins the second lane and (then) precedes the second vehicle in the second lane (in the direction of travel), the first command being conditional on the first condition being verified (in other words: the first command being implemented if the first condition is verified).

[0004] Thanks to the invention, the first vehicle joins the second lane only after having spent a sufficiently long time in a position where the driver of the second vehicle has been able to see the first vehicle. This limits the risks of a collision resulting from acceleration of the second vehicle, controlled by the driver of the second vehicle, while the first vehicle moves in front of the second vehicle.

[0005] According to one embodiment, the first steps comprise waiting for the first condition to be verified, then (sending) the first command, as soon as the first condition is verified.

[0006] Alternatively, if the first condition is not verified, the first command is not implemented (in other words: the first command is inhibited). The instruction does not lead to a lane change of the first vehicle.

[0007] Of course, the step of determining whether the first condition is verified can further verify that the first vehicle is in a position, in the first lane, such that the first vehicle will be, as soon as it has joined the second lane, following the first command, at a distance from the second vehicle and / or any other vehicle in the second lane (, the distance being) greater than a safety threshold (for example equal to 2 seconds).

[0008] This ensures that safety distances are respected in the second lane.

[0009] It is understood that the second track is adjacent to the first track, by the fact that it there is no other road (or any construction) between the first road and the second road. In other words, the first road and the second road are separated only by road markings.

[0010] It is understood that a vehicle (here, the first vehicle) precedes another vehicle (here the second vehicle), (in a direction of travel) when the vehicle passes through the same point(s) (of a lane, here the second lane) as the other vehicle, before the other vehicle (, in the direction of travel).

[0011] According to one embodiment, the method further comprises the following step: (Sending a) Command to display a waiting message via a screen (in the passenger compartment) of the first vehicle, during the waiting phase.

[0012] For example, the first threshold is greater than 5 seconds.

[0013] Alternatively, the first threshold may have other values, of course.

[0014] According to one embodiment, during the detection step, the second vehicle is detected from data from a radar of the first vehicle or a camera of the first vehicle.

[0015] Alternatively, the second vehicle may be detected upon receipt of a message from the second vehicle, by wireless communication, which indicates, to the first vehicle, its proximity.

[0016] For example, the detection step comprises the following steps: • Determination of a position of the first vehicle relative to the second vehicle, • Determining a perimeter of the second vehicle, the method further comprising determining whether the first vehicle is in a blind spot of the second vehicle from the position and the perimeter.

[0017] For example, the blind spots of the second vehicle are determined from a predetermined (maximum) viewing angle of a driver of the second vehicle (between a lateral side of the second vehicle, determined from the perimeter of the second vehicle, and the first lane), towards the rear of the second vehicle, from the front of the second vehicle (, in the direction of travel). Other methods of determining the blind spots of the second vehicle, in particular by the first vehicle, are of course possible.

[0018] Alternatively, the blind spots of the second vehicle may be received from the second vehicle (e.g., by radio communication means).

[0019] A blind spot is an area, more precisely, for example, an area inaccessible to the field of vision of a driver of a second vehicle, including through the rear-view mirrors, if he does not turn his head.

[0020] The second vehicle may include blind spots all around the second vehicle (in the direction of travel: in front, behind and on the lateral sides of the second vehicle).

[0021] Alternatively, the second vehicle can inform the first vehicle if it is in a blind spot of the second vehicle by radio communication (the second vehicle itself determining, for example, the position of the first vehicle and whether or not it is in a blind spot). The second vehicle can memorize the location of its blind spots for this purpose.

[0022] According to another variant, it is the road infrastructure which detects and informs the first vehicle if it is in a blind spot of the second vehicle.

[0023] For example, the method further comprises the following step: Upon receipt of the instruction, (sending of a) command to activate (in other words: to switch on) a flashing light of the first vehicle (direction change indicator of the first vehicle, for example in the direction of the second lane). In other words, the instruction is a command to activate a flashing light of the first vehicle (for example in the direction of the second lane).

[0024] The human-machine interface is for example a lever for actuating the turn signal.

[0025] Alternatively, the instruction is received from a dedicated human-machine interface.

[0026] For example, the second vehicle: • Is at a distance less than a threshold distance (for example between 10 and 150 meters) from the first vehicle (and may, for example, precede it, in the direction of travel), and / or • Has been overtaken by the first vehicle (in the direction of travel), and / or, • Is at the same height as the first vehicle.

[0027] The waiting step may include repeating a check that the first vehicle is not in any blind spot of the second vehicle (and, for example, counting the time since the first vehicle is no longer in any blind spot of the second vehicle during this repetition until this time is greater than the first threshold).

[0028] According to one embodiment, the method further comprises a step of verifying the following second condition: • - The first vehicle remained for a second duration, greater than one second threshold, in one (at least) blind spot of the second vehicle. The first steps are implemented provided that the second condition is met.

[0029] For example, if the second condition is not verified, then the method comprises the following step: upon receipt of the instruction, (sends the) first command (whether the first condition is verified or not).

[0030] For example, the second threshold is greater than 30 seconds. Alternatively, other values ​​are of course possible for this second threshold.

[0031] The verification of the second condition can be implemented in the same way as the verification of the first condition and the detection of the second vehicle: in particular, detection of the second vehicle, for example from data coming from a radar of the first vehicle and / or from a camera of the first vehicle, and / or determination whether the first vehicle is located in a blind spot of the second vehicle, for example from the position and the perimeter, for example from a maximum viewing angle, alternatively, the condition can be verified by the second vehicle and information according to which the condition is verified can be received from the second vehicle.

[0032] 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.

[0033] 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.

[0034] 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).

[0035] 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.

[0036] For example, the electronic device comprises a computer program, a microprocessor and / or a microcontroller.

[0037] 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 at a first step of the method of [Fig.4], • [Fig.2] represents the electronic device and a motor vehicle of the [Fig.l] at a second stage of the process of [Fig.4], • [Fig.3] represents an electronic device and a motor vehicle of the figures 1 and 2 at a third stage of the process of [Fig.4], • [Fig.4] represents an implementation of the method according to the invention, according to a exemplary embodiment, by the electronic device and the motor vehicle of figures 1 to 3.

[0038] In Figures 1 and 3, certain elements are, of course, seen through transparency.

[0039] Detailed description of an exemplary embodiment of the invention, with reference to Figures 1 to 4.

[0040] Figures 1 and 3 show a motor vehicle 100 at various stages of the method of [Fig.4]. The motor vehicle 100 comprises a microprocessor 110. The microprocessor 110 is connected to the following elements of the motor vehicle: • A radar 120, • A 130 camera, • A 150 screen (in the vehicle cabin), • A 160 flashing light, • A lever 140 for actuating the indicator 160.

[0041] In step S00 [Fig.4], the microprocessor 110 determines that the vehicle 100, traveling on lane VI, in the direction of travel dsl, has remained for more than 30 seconds in the blind spot 210 of the truck 200, traveling in lane V2.

[0042] This determination comprises the detection of the truck 200, by the microprocessor 110, from data received from the radar 120 and the camera 130. In particular, the position of the first and the perimeter of the truck 200 are determined.

[0043] The blind spot 210 of the second vehicle is determined from the hypothesis of a maximum viewing angle al (represented [Fig.2] and 3) predetermined between a lateral side of the vehicle, determined from the perimeter of the vehicle, and the rest of the lane VI, towards the rear, from the front of the vehicle, in the direction of travel dsl.

[0044] In step S10 [Fig.4], the motor vehicle 100 accelerates automatically or not, and leaves the blind spot 210, as illustrated in [Fig.2]. The driver then operates the lever 140 of the turn signal 160 (alternatively, the driver can operate the lever 140 before the vehicle 100 leaves the blind spot 210). The lever 140 then sends an instruction to the microprocessor 110, which receives it.

[0045] In step S20 [Fig.4], the microprocessor 110 then controls the activation of the flashing light 160, indicating a change of direction of the vehicle 100 towards the second lane (alternatively, this step can be implemented in step S40),

[0046] In step S30 [Fig. 4], the vehicle having remained more than 30 seconds in the blind spots 210 and 220 of the truck 200, the microprocessor 110 waits until the vehicle 100 has left any blind spot of the truck 200, that is to say the blind spots 210 and 220 of the truck 200, for more than 5 seconds, then in step S40 [Fig. 4], controls the direction of the vehicle 100 so that the vehicle 100 leaves the lane VI and joins the lane V2 and precedes the truck 200 in the second lane, as illustrated [Fig. 3]. In other words, the microprocessor 210 waits until more than 5 seconds have elapsed since step S10.

[0047] Of course, during step S30, the microprocessor 110 can also wait for the vehicle 100 to be at a position in the lane VI, such that the first vehicle 100 will be, as soon as it has joined the second lane V2, following the second command, at a distance d1 from the truck 200 greater than a safety threshold, for example equal to 2 seconds.

[0048] During step S30, the microprocessor 210 can command the display of a waiting message, for example comprising the following character string “Exit from the blind spots of the preceding vehicle on the destination lane too recent. Lane change put on hold”, on the screen 150.

[0049] The wait, implemented by the microprocessor 110, may include repeating a check that the vehicle 100 is not in any blind spot of the truck 200 (and, for example, counting the time since the vehicle 100 is no longer in any blind spot of the truck 200 during this repetition until this time is greater than 5 seconds).

[0050] If, however, in step S00, the microprocessor 110 determines that the vehicle 100 has remained for less than 30 seconds in the blind spot 210 of the truck 200, then step S30 is omitted and the method then proceeds to step S40.

Claims

Claims

1. Method for controlling a first motor vehicle (100), traveling in a first lane (VI), the method being characterized in that it comprises the following steps: • Detection (S00) of a second vehicle (200) traveling in a second lane (V2) adjacent to the first lane (VI), • Reception of an instruction (S 10) from a human-machine interface (140) of the first vehicle (100), • Upon reception of the instruction (S 10), the following first steps: • Determination (S30) whether the following first condition is verified: the first vehicle (100) has left any blind spot (210, 220) of the second vehicle (200), for a first duration greater than a first threshold, • Then, first command (S40) of the first vehicle (100) so that the first vehicle (100) joins the second lane (V2) and precedes the second vehicle (200) in the second lane,the first order being conditional on the first condition being verified.,

2. Control method according to the preceding claim in which the first steps comprise waiting for the first condition to be verified, then the first command, as soon as the first condition is verified.

3. Control method according to the preceding claim further comprising the following step: • Controlling the display of a waiting message by a screen (150) of the first vehicle (100), during the waiting step.

4. A control method according to any one of the preceding claims wherein the first threshold is greater than 5 seconds.

5. A control method according to any one of the preceding claims wherein, during 1” detection step, the second vehicle (200) is detected from data from a radar (120) of the first vehicle (100) or from a camera (130) of the first vehicle (100).

6. Control method according to any one of the preceding claims further comprising a step of verifying the following second condition: • The first vehicle (100) has remained for a second duration, greater than a second threshold, in a blind spot (210) of the second vehicle (200). The first steps being implemented on condition that the second condition is verified.

7. Control method according to the preceding claim in which the second threshold is greater than 30 seconds.

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

9. Electronic device (110) configured to implement the steps of the method according to any one of claims 1 to 7

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

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