Method and device for controlling an adaptive cruise control function of an autonomous vehicle

Abstract

The invention relates to a method and a device for controlling an adaptive cruise control function of an autonomous vehicle, said method comprising the steps of; Determining (310) an activation of said function; Determining (320) a vehicle used as a target by said function, called target vehicle, determining a target inter-vehicle distance and / or a target inter-vehicle time, and determining a target acceleration; Determining (330) a depression of the accelerator pedal beyond a first threshold; Determining (340) an area focused by a gaze of a driver of said autonomous vehicle; Determining (350) a release of the depression of said accelerator pedal; Determining (360) a new target inter-vehicle distance and / or a new target inter-vehicle time;Foundation (370) of said speed regulation on said new target inter-vehicle distance and / or on said new target inter-vehicle time. Figure to be published for the abstract: Figure 3;

Description

Title of the invention: Method and device for controlling an adaptive cruise control function of an autonomous vehicle Technical field of the invention

[0001] The invention is in the field of autonomous vehicle driving assistance systems. In particular, the invention relates to a method and a device for controlling an adaptive cruise control function of an autonomous vehicle, said vehicle comprising a gaze analysis device. State of the art

[0002] The term "vehicle" means any type of vehicle such as a motor vehicle, a moped, a motorcycle, a storage robot in a warehouse, etc. The term "autonomous driving" of a "vehicle" means any process capable of assisting the driving of the vehicle; the "vehicle" is then also called an "autonomous vehicle". The process may thus consist of partially or totally steering the vehicle or providing any type of assistance to a natural person driving the vehicle. The process thus covers all autonomous driving, from level 0 to level 5 in the OICA scale, for International Organization of Motor Vehicle Manufacturers.

[0003] The methods capable of assisting the driving of the vehicle are also called AD AS (from the English acronym "Advanced Driver Assistance Systems"), AD AS systems or driving assistance systems. An adaptive cruise control function of an autonomous vehicle is a driving aid, called ACC from the English "Adaptive Cruise Control". The operation of an ACC is known. The autonomous vehicle is also called an ego vehicle.

[0004] Devices for monitoring an occupant of a vehicle are also known, in particular devices for analyzing the gaze and monitoring the driver's attention. These devices are capable of determining the direction of the gaze and thus determining an area focused by the driver's gaze. This area may be a location located on the driver's seat, such as a predetermined area of ​​a display. This area may also be a location outside the vehicle such as a vehicle traveling in front of the ego vehicle, a speed limit sign, etc. These devices are capable of determining one or more attributes linked to the focused area. For example, these attributes may be a vehicle preceding the ego vehicle, a speed limit on a traffic sign, a displayed parameter of a driving aid, etc.

[0005] An ACC comprises means capable of detecting the presence of a vehicle preceding said ego vehicle, the two vehicles traveling on the same traffic lane. preceding vehicle is also called target vehicle. The ACC is able to determine the distance between the ego vehicle and the vehicle, a distance called inter-vehicle distance. The ACC is able to determine an inter-vehicle time from said inter-vehicle distance and a measured speed of the vehicle.

[0006] An ACC user can adjust: • a target speed, the speed at which the user wants the ego vehicle to travel. The target speed is chosen by the user based on the speed limit of the road on which the ego vehicle is traveling. The choice is made using buttons or a human-machine interface; • a target inter-vehicle time, called target TIV, which makes it possible to determine a target distance separating the ego vehicle from a target vehicle. This TIV is generally of the order of 2 seconds. The choice is made either from buttons other than the target speed selection buttons, or from the same buttons from a dedicated interface that must be activated using other buttons, not allowing to ergonomically and successively set a target speed and a TIV, and vice versa, in less than a second. On the other hand, the proposed choice of TIV is limited to 3 different values, generally equal to 2 seconds, 1.5 seconds and 1 second.

[0007] Once the ACC is activated, the driver of the ego vehicle no longer needs to press the accelerator pedal to control the speed of the ego vehicle, this speed being regulated by the ACC. With these settings, in the presence of a target vehicle, the ACC determines an acceleration, called target acceleration, such that the inter-vehicle time corresponds, at each instant, to the target inter-vehicle time. In this situation, the speed of the ego vehicle may be lower than the target speed.

[0008] On a route, the traffic context (traffic on a motorway, on a national road, in town, etc., and / or fluid, dense, very dense traffic, etc.) varies. However, a single TIV is not suitable for these different traffic contexts. For example, a user will prefer a TIV of the order of 1.5 seconds on a motorway when traveling in a right-hand lane and depending on the speed and / or traffic density, another TIV of the order of 1 second, or less, when the ego vehicle overtakes another vehicle, another TIV of the order of 2 seconds on a motorway when traveling in a left-hand lane depending on the speed and / or traffic density. Ideally, a user of the ego vehicle would like to be able to adjust the time or the inter-vehicle distance depending on the traffic context that he will determine.

[0009] Currently, for this purpose, when the driver brakes, the ACC is deactivated, and when the driver accelerates, depresses the accelerator pedal beyond a depression corresponding to the target acceleration, the vehicle accelerates. This latter situation is called, from the English, "over ride". When the pedal is then no longer depressed, ACC causes the TIV to return to the target TIV. In this case, to change the TIV, either the driver manually changes it according to the three classic values, or the driver keeps the pedal pressed in "over ride". The driver will keep the pedal pressed, in "over ride", if the proposed TIV values ​​do not correspond to the context and the driver's choice. Summary of the invention

[0010] An object of the present invention is to remedy the aforementioned problem, in particular to improve the ergonomics of selection, and in a more precise manner than the three conventional values, of the target inter-vehicle time by a driver of the vehicle.

[0011] To this end, a first aspect of the invention relates to a method for controlling an adaptive cruise control function of an autonomous vehicle, said vehicle comprising a gaze analysis device and an accelerator pedal, said method being implemented by a processor and comprising the steps of: • Determination of an activation of said speed regulation function; • Determination of a vehicle used as a target by said function, said target vehicle, determining a target inter-vehicle distance and / or a target inter-vehicle time, and determining a target acceleration; • Determining a depression of said accelerator pedal beyond a first threshold, said first threshold corresponding to an acceleration request greater than said target acceleration; • Determination of an area focused by a gaze of a driver of said autonomous vehicle, said area being said target vehicle or being a representation of data, linked to said speed regulation function, displayed on a display device; • Determining a release of the depression of said accelerator pedal, said pedal being depressed below said first threshold; • Determining a new target inter-vehicle distance and / or a new target inter-vehicle time if said release of the depression of said pedal has been determined and if said focused area has been determined; • Basing said speed regulation on said new target inter-vehicle distance and / or on said new target inter-vehicle time.

[0012] Thus, when the pedal is released, then at the end of the "over ride", the driver has brought the ego vehicle to a distance, suitable for the driver, from the target vehicle. This distance is memorized and is subsequently used by the cruise control function as the target distance. The same can be done for the inter-vehicle time. Very simply, a new target distance is determined. The determination of the area focused by the gaze makes it possible to easily distinguish also a case of "over ride" in the case of inter-vehicle distance modification. Indeed, when the driver wants to change TIV, he focuses on the target vehicle.

[0013] Advantageously, the method further comprises the steps of: • Determination of a duration of depression of said accelerator pedal, called depression duration; • Determination, during said depression of said pedal, of a duration of focusing of an area determining said target vehicle; and wherein said regulation function is based on said new inter-vehicle distance and / or on said new inter-vehicle time if, in addition, the ratio of said focusing duration to said depression duration is greater than a predetermined rate.

[0014] Thus, the new inter-vehicle distance is determined if the driver focuses sufficiently on the target vehicle while accelerating. This makes it possible to secure the determination of the new distance. This also takes into account a case where the driver adjusts the need to accelerate the vehicle for a short time to, for example, facilitate the insertion of another vehicle into the lane where the ego vehicle is traveling. This also makes it possible to avoid a determination of the new distance if the driver inadvertently depresses the accelerator pedal too much, beyond the first threshold.

[0015] Advantageously, said regulation function is based on said new inter-vehicle distance and / or on said new inter-vehicle time if, in addition, no start of lane change is determined while said pedal is determined to be pressed.

[0016] Thus, if the driver initiates a lane change for overtaking for example, where, naturally, he needs to accelerate to overtake the target vehicle for example, the determined inter-target vehicle distance is not modified.

[0017] Advantageously, said regulation function is based on said new inter-vehicle distance and / or on said new inter-vehicle time if, in addition, no depression of said pedal is determined beyond a second predetermined threshold, said second threshold being greater than said first threshold.

[0018] Thus, an emergency case is identified, where the vehicle must accelerate sharply. The target inter-vehicle distance is then not modified.

[0019] Advantageously, said method further comprises a step of storing said new inter-vehicle distance and said new inter-vehicle time, a step of determining a deactivation of said function, and, when said function is determined to be reactivated, said regulation function is based on said new stored distance and / or on said new stored inter-vehicle time.

[0020] Thus, after deactivating the cruise control function, if the driver reactivates the function, its preferences, in inter-vehicle distance and / or inter-vehicle time, have been memorized.

[0021] Advantageously, said method further comprises a step of determining a signal configured to display, for the attention of said driver, on said display device, data linked to the speed regulation function.

[0022] Advantageously, when said area focused by the driver's gaze is the representation of data, linked to said speed regulation function, displayed on a display device, said method further comprises a step of determining a signal configured to highlight said focused area.

[0023] Thus, the driver has visual feedback of said new target inter-vehicle distance and / or said new target inter-vehicle time.

[0024] A second aspect of the invention relates to a device comprising a speed regulation function, a gaze analysis device, an accelerator pedal, a display device, a memory associated with at least one processor configured to implement the method according to the first aspect of the invention.

[0025] The invention also relates to a vehicle comprising the device.

[0026] The invention also relates to a computer program comprising instructions which, when the program is executed by the device according to the second aspect of the invention, lead the latter to implement the method according to the first aspect of the invention. Brief description of the figures

[0027] Other characteristics and advantages of the invention will emerge from the description of the non-limiting embodiments of the invention below, with reference to the appended figures, in which:

[0028] [Fig.l] schematically illustrates a device, according to a particular example of embodiment of the present invention.

[0029] [Fig.2] schematically illustrates a display by a display device, according to a particular example of embodiment of the present invention.

[0030] [Fig.3] schematically illustrates a method for controlling a regulation function adaptive speed of an autonomous vehicle, according to a particular exemplary embodiment of the present invention. Detailed description of the invention

[0031] The invention is described below in its non-limiting application to the case of an autonomous motor vehicle traveling on a road or on a traffic lane. Other applications such as a robot in a storage warehouse or a motorcycle on a country road are also conceivable.

[0032] [Fig.l] represents an example of a device 101 included in the vehicle, in a network (“cloud”) or in a server. This device 101 can be used as a centralized device in charge of at least certain steps of the method described below with reference to [Fig.2]. In one embodiment, it corresponds to an autonomous driving computer.

[0033] In the present invention, the device 101 is included in the vehicle.

[0034] This device 101 can take the form of a box comprising circuits printed, from any type of computer or even from a mobile phone (“smartphone”).

[0035] The device 101 comprises a random access memory 102 for storing instructions for the implementation by a processor 103 of at least one step of the method as described below. The device also comprises a mass memory 104 for storing data intended to be retained after the implementation of the method.

[0036] The device 101 may further comprise a digital signal processor (DSP) 105. This DSP 105 receives data to format, demodulate and amplify, in a manner known per se, this data.

[0037] The device 101 also comprises an input interface 106 for receiving the data implemented by the method according to the invention and an output interface 107 for transmitting the data implemented by the method according to the invention.

[0038] For example, the input interface 106 can receive the following data: position or geographical location of the vehicle, speed and / or acceleration of the vehicle, set or predetermined positions / speeds / accelerations, engine speed, position and / or travel of the clutch, brake and / or acceleration pedal, detection of other vehicles or objects, position or geographical location of the other vehicles or objects detected, speed and / or acceleration of the other vehicles or objects detected, operating states of sensors, confidence index of data originating from or processed by sensors and / or devices similar to the device 101. For example, the sensors capable of providing data are: GPS associated or not with mapping, tachometers, accelerometers, RADAR, LIDAR, lasers, ultrasound, camera, etc.

[0039] For example, the input interface 106 may also receive the following data: an activation of a cruise control function, a consideration of a target vehicle by the cruise control function, an inter-vehicle distance, an inter-vehicle time, a target acceleration, a level or travel of depression of an accelerator pedal, thresholds of depression of the accelerator pedal, a level of depression of the accelerator pedal linked to a target acceleration, a release of a depression of a pedal, a focused zone and characteristics or attributes linked to the focused zone such as a target vehicle, data linked to a cruise control function displayed on a display device, a duration of focus of a zone, a duration rate, a start of a lane change, a deactivation and reactivation of the cruise control function speed, ...

[0040] For example, the output interface 107 can transmit data similar to the data received by the input interface 106. For example, the output interface can also transmit the following data: a threshold crossing of an accelerator pedal depression with respect to a threshold, a duration of depression of the accelerator pedal as a function of a threshold of depression crossed, a new target inter-vehicle distance, a new target inter-vehicle time, a speed regulation command from the new target inter-vehicle distance and / or the new target inter-vehicle time, a ratio between a focusing duration and a pedal depression duration, a duration rate, a new stored inter-vehicle distance, a new stored inter-vehicle time, a signal configured to highlight a focused zone, ...

[0041] [Fig.2] schematically illustrates a display 201 by a display device, according to a particular example of embodiment of the present invention. The display device of said autonomous vehicle displays, for the attention of an occupant of said autonomous vehicle, data linked to the cruise control function such as a limit speed 202, a target speed 203, a preceding vehicle 204, representations 205, 206 of the inter-vehicle distance and / or the inter-vehicle time. The limit speed 202, the target speed 203, the preceding vehicle 204 and the representations 205, 206 of the inter-vehicle distance and / or the inter-vehicle time are displayed in determined areas of the passenger compartment of the vehicle.

[0042] The speed limit 202 is conventionally determined from a navigation system comprising a map and means for geolocating the vehicle. The map includes the traffic lanes and information determining a speed limit. The map can be embedded in the vehicle and / or unloaded from the vehicle (in a network, in the “cloud”). The speed limit can also be determined by recognizing roadside traffic signs from a camera embedded in the vehicle and processing images from the camera.

[0043] The target speed 203 is a parameter that can be modified by the driver / occupant of the vehicle. This parameter corresponds to the speed at which the autonomous vehicle must travel in the absence of a target vehicle and a gap between the target inter-vehicle time and a measured inter-vehicle time. Generally, the modification of the target speed is obtained from an interaction between the driver and a button. The display of the target speed 203 on the display 201 allows the driver to know what the value of the target speed 203 is.

[0044] When the cruise control function identifies the presence of a target vehicle, a target vehicle being a vehicle preceding the autonomous vehicle, the target vehicle traveling on the same traffic lane as the autonomous vehicle, the function informs the driver of the autonomous vehicle. This information can be provided by displaying the preceding vehicle 204 with a representation of a vehicle.

[0045] Conventionally, the display 201 is in the axis of the steering wheel according to the normal direction of travel of the vehicle. The display is displayed on the dashboard. The display can also be displayed on a so-called head-up display. This display allows the driver to consult this information. To consult this information, the driver focuses his gaze on the information zone. A zone represents a delimited region or space. Conventionally, a zone for the speed limit 202, for the target speed 203 or for the preceding vehicle is a few cm2.

[0046] The display 201 also shows a conventional view, with a representation of the inter-vehicle distance and the inter-vehicle time. This representation 205 is made by a number of “horizontal bars” and a light intensity level. Sometimes, the inter-vehicle distance and / or the inter-vehicle time 206 are represented by a numerical value and a unit.

[0047] [Fig.3] schematically illustrates a method for controlling a regulation function adaptive speed of an autonomous vehicle, according to a particular embodiment of the present invention. Said autonomous vehicle, also called ego vehicle, comprises a gaze analysis device and an accelerator pedal. Said method is implemented by a processor 103 and comprises several steps.

[0048] An adaptive cruise control function, also called a cruise control function, or called a function, is based on an inter-vehicle distance and / or an inter-vehicle time. Generally, a driver of the autonomous vehicle enters a limit speed and a target inter-vehicle time in a specific menu. The limit speed is the maximum speed of the vehicle that the driver wishes to have. The function regulates the speed to reach the limit speed. However, the function is able to determine the presence of a vehicle, called a target vehicle, preceding the ego vehicle, and is able to limit the speed of the ego vehicle such that the inter-vehicle distance, the distance between the ego vehicle and the target vehicle, also called the current distance, is equal to a target inter-vehicle distance. The current distance is provided by sensors of the vehicle.The target inter-vehicle distance is determined from the target inter-vehicle time and a speed, current speed, of the ego vehicle.

[0049] Step 310, Act, is a known step for determining an activation of said speed regulation function. For example, this determination is obtained from a reception of a signal coming from the function which transmits its status (activation deactivation, ...), or coming from a sensor (button, ...). The activation information can also be read in the memory 102.

[0050] Step 320, AccTarget, is a known step of determining a vehicle used as a target by said function, called target vehicle, determining a target inter-vehicle distance and / or a target inter-vehicle time, and determining a target acceleration. For example, these determinations are obtained from receiving a signal from the function, or from sensors. The information related to these determinations can also be read from the memory 102, or deduced from some of this information and from data received by the input interface 106.

[0051] Step 330, Pdl On, is a step of determining a depression of said accelerator pedal beyond a first threshold, said first threshold corresponding to an acceleration request greater than said target acceleration. It is known to know a depression of an accelerator pedal. By "depression of an accelerator pedal" is meant a depression level, a depression percentage, a depression travel in millimeters, in percentage, in degrees or expressed in another unit. The more the driver depresses the accelerator pedal, the more the driver requests significant acceleration to increase the speed of the vehicle. By "beyond", is meant a depression level greater than the depression corresponding to the first threshold.

[0052] It is also known to have available, via the input interface 106 or via the memory 102, a value of the first threshold corresponding to a request for acceleration greater than said target acceleration. Conventionally, these data come from the function or from another calculator such as an engine calculator. For example, the first threshold is a value that varies according to the speed of the vehicle and other conditions between 10 and 70% of a depression of the accelerator pedal travel, other values are possible.

[0053] When a driver presses the accelerator pedal beyond the first threshold, conventionally, the acceleration achieved by the vehicle is greater than the target acceleration. The speed of the vehicle becomes greater than a regulation speed determined by the regulation function. In the presence of a target vehicle, the ego vehicle approaches the target vehicle if the speed of the ego vehicle is greater than the speed of the target vehicle.

[0054] Advantageously, the method further comprises a step of determining a duration of depression of said accelerator pedal, called depression duration. In one operating mode, when depression beyond the first threshold is determined, a first timer is started. This makes it possible to measure a duration during which the depression remains beyond the first threshold.

[0055] Step 340, Zone, is a step of determining a zone focused by a gaze of a driver of said autonomous vehicle, said zone being said target vehicle or being a representation of data, linked to said speed regulation function, displayed on a display device.

[0056] Devices for monitoring an occupant of a vehicle are known, in particular devices for analyzing the driver's gaze and / or monitoring his attention. These devices are capable of determining the direction of the gaze and thus determining an area focused by the driver's gaze. This area may be a location located on the driver's seat, such as a predetermined area of ​​a display. This area may also be a location outside the vehicle, such as a vehicle traveling in front of the vehicle, a speed limit sign, etc.

[0057] After having determined an area focused by the driver, the gaze analysis device is able to characterize the focused area, for example by associating an attribute with the area determined from areas determined directly and / or from vehicle data from vehicle sensors and / or devices similar to the device 101.

[0058] For example, if the determined focused area is behind a preceding vehicle traveling on the same traffic lane, in other words the driver is looking straight ahead and a preceding vehicle is detected by a sensor of the cruise control function, the attribute associated with this area determines a focus of the target vehicle.

[0059] In another example, if the determined focused area is the display of the preceding vehicle 204 on the display 201, the attribute associated with this area determines a focus being a representation of data, linked to said speed regulation function, displayed on a display device. It may be the same if the focus is on the display of the limit speed 202, on the display of the target speed, on an indication of inter-vehicle distance or inter-vehicle time 205 or 206, and / or on a display area 201 dedicated to the speed regulation function.

[0060] In one operating mode, the method further comprises a step of determining, during said depression of said pedal, a duration of focusing of an area determining said target vehicle. For example, a second timer is started to determine a duration of focusing by the gaze of a driver of said autonomous vehicle, of the area being said target vehicle or being a representation of data, linked to said speed regulation function, displayed on a display device. Advantageously, the timer is started once the depression of said accelerator pedal beyond a first threshold has been determined.

[0061] Step 350, Pdl Off, is a step of determining a release of the depression of said accelerator pedal, said pedal being depressed below said first threshold. By "below", we mean a level of depression less significant than the depression corresponding to the first threshold.

[0062] In one mode of operation, the first timer is stopped and a pressing duration has been determined. Advantageously, a ratio between said focusing duration and said pressing duration is determined. Thus, a focusing duration rate, a percentage between 0 and 100%, can be determined. For example, if the rate is 0%, during the time when the pedal pressing is beyond the first threshold, the driver has not looked at either the target vehicle or a representation of data, linked to said cruise control function, displayed on a display device. In this case, the driver may have inadvertently pressed the accelerator pedal. Conversely, if the rate is 100%, the driver was very focused on the target vehicle and on a desire to establish an inter-vehicle distance other than the target inter-vehicle distance.

[0063] Step 360, Dist, is a step of determining a new target inter-vehicle distance and / or a new target inter-vehicle time if said release of the depression of said pedal has been determined and if said focused area has been determined. During the duration of depression of the pedal beyond the first threshold, the driver wished to modify the inter-vehicle distance. Since the driver was focused on the target vehicle or a representation of data, linked to said cruise control function, an intention to modify the target inter-vehicle distance and the target inter-vehicle time is determined. In this step, a new target inter-vehicle distance is determined from inputs received by the input interface 106. This may be a measurement of a distance provided by a sensor or by the function.This can be a combination of distance measurements provided by a sensor or by the function, this combination being able to remove erratic measurements or data, being able to filter the measurements, ... .

[0064] The new inter-vehicle time can also be determined in the same way, by reception on the input interface 106. The new inter-vehicle time can also be deduced from the new inter-vehicle distance and a speed of the vehicle received by the input interface 106.

[0065] Step 370, Reg, is a step of basing said speed regulation on said new target inter-vehicle distance and / or on said new target inter-vehicle time. Thus, the speed regulation function of the vehicle is based on said new target inter-vehicle distance and / or on said new target inter-vehicle time, instead of said target inter-vehicle distance and / or said target inter-vehicle time. The regulation function is controlled by the method, the regulated inter-vehicle distance is changed.

[0066] Advantageously, said regulation function is based on said new inter-vehicle distance and / or on said new inter-vehicle time if, in addition, the ratio of said focusing duration to said depression duration is greater than a predetermined rate. Thus, the new inter-vehicle distance is determined if the driver focuses sufficiently on the target vehicle while accelerating. This makes it possible to secure the determination of the new distance. This also takes into account a case where the driver adjusts the need to accelerate the vehicle for a short time to, for example, facilitate the insertion of another vehicle into the lane where the ego vehicle is traveling. This also makes it possible to avoid determining the new distance if the driver inadvertently depresses the accelerator pedal too much, beyond the first threshold. The predetermined rate is a value between 0 and 1 (for example 10%, 20%, 50%, 90%). In a preferred operating mode, the predetermined rate is at least 50%, which corresponds to a focusing duration at least equal to half the duration of depressing the accelerator pedal beyond the first threshold.

[0067] Advantageously, the regulation function is based on said new inter-vehicle distance and / or on said new inter-vehicle time if, in addition, no start of lane change is determined while said pedal is determined to be depressed. Thus, if the driver starts a lane change for an overtaking, for example, where, naturally, he needs to accelerate to pass the target vehicle, for example, the target inter-vehicle distance determined is not modified.

[0068] A detection of the start of a lane change is obtained from vehicle sensors. This can be a blinker, a navigation system, an image processing of a camera, ...

[0069] Advantageously, said regulation function is based on said new inter-vehicle distance and / or on said new inter-vehicle time if, in addition, no depression of said pedal is determined beyond a second predetermined threshold, said second threshold being greater than said first threshold. Thus, an emergency case is identified, where the vehicle must accelerate sharply. The target inter-vehicle distance is then not modified. For example, the second threshold may correspond to an almost complete depression, such as more than 90%, of the depression travel of the accelerator pedal. Other values ​​are possible.

[0070] Advantageously, said method further comprises a step of memorizing said new inter-vehicle distance and said new inter-vehicle time, a step of determining a deactivation of said function, and, when said function is determined to be reactivated, said regulation function is based on said memorized new distance and / or on said memorized new inter-vehicle time.

[0071] Thus, after deactivation of the speed regulation function, if the driver reactivates the function, his preferences, in terms of inter-vehicle distance and / or inter-vehicle time, have been memorized.

[0072] Advantageously, said method further comprises a step of determining a signal configured to cause, on said display device, data related to the speed regulation function to be displayed for the attention of said driver of the display.

[0073] Advantageously, when said area focused by the driver's gaze is the representation of data, linked to said speed regulation function, displayed on a display device, said method further comprises a step of determining a signal configured to highlight said focused area. Thus, the driver has visual feedback of said new target inter-vehicle distance and / or said new target inter-vehicle time.

[0074] The present invention is not limited to the embodiments described above as examples: it extends to other variants.

[0075] For example, the method has been described according to a sequence of steps. Certain steps can be carried out in parallel or according to another sequence.

Claims

Claims

1. A method of controlling an adaptive cruise control function of an autonomous vehicle, said vehicle comprising a gaze analysis device and an accelerator pedal, said method being implemented by a processor (103) and comprising the steps of: • Determination (310) of an activation of said speed regulation function; • Determination (320) of a vehicle used as a target by said function, said target vehicle, determination of a target inter-vehicle distance and / or a target inter-vehicle time, and determination of a target acceleration; • Determination (330) of a depression of said accelerator pedal beyond a first threshold, said first threshold corresponding to an acceleration request greater than said target acceleration; • Determination (340) of an area focused by a gaze of a driver of said autonomous vehicle, said area being said target vehicle or being a representation of data, linked to said speed regulation function, displayed on a display device; • Determination (350) of a release of the depression of said accelerator pedal, said pedal being depressed below said first threshold; • Determination (360) of a new target inter-vehicle distance and / or a new target inter-vehicle time if said release of the depression of said pedal has been determined and if said focused area has been determined; • Basing (370) said speed regulation on said new target inter-vehicle distance and / or on said new target inter-vehicle time.

2. The method of claim 1, wherein the method further comprises the steps of: • Determination of a duration of depression of said accelerator pedal, called depression duration; • Determination, during said depression of said pedal, of a focusing duration of an area determining said target vehicle; and wherein, said regulation function is based (370) on said new inter-vehicle distance and / or on said new inter-vehicle time if, in addition, the ratio of said focusing duration to said depression duration is greater than a predetermined rate.

3. Method according to one of the preceding claims, wherein said regulation function is based (370) on said new inter-vehicle distance and / or on said new inter-vehicle time if, in addition, no start of lane change is determined while said pedal is determined to be pressed.

4. Method according to one of the preceding claims, in which said regulation function is based (370) on said new inter-vehicle distance and / or on said new inter-vehicle time if, in addition, no depression of said pedal is determined beyond a second predetermined threshold, said second threshold being greater than said first threshold.

5. Method according to one of the preceding claims, in which said method further comprises a step of storing said new inter-vehicle distance and said new inter-vehicle time, a step of determining a deactivation of said function, and, when said function is determined to be reactivated, said regulation function is based on said new stored distance and / or on said new stored inter-vehicle time.

6. Method according to one of the preceding claims, in which said method further comprises a step of determining a signal configured to display, for the attention of said driver, on said display device, data linked to the speed regulation function.

7. Method according to claim 6, in which, when said area focused by the driver's gaze is the representation of data, linked to said speed regulation function, displayed on a display device, said method further comprises a step of determining a signal configured to highlight said focused area.

8. Device (101) comprising a speed regulation function, a gaze analysis device, an accelerator pedal, a display device, a memory (102) associated with at least one processor (103) configured to implement the method according to one of the preceding claims.

9. Vehicle comprising the device according to the preceding claim.

10. A computer program comprising instructions which, when the program is executed by the device (101) according to claim 8, cause the latter to implement the method according to one of claims 1 to 7.

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