Method for improving target selection for adaptive speed control

Abstract

Method for improving target selection for adaptive speed control Method for selecting a target vehicle for controlling the speed of an ego vehicle (11) for adapting the speed of the ego vehicle (11) to the speed of the target vehicle (12), this method comprising the following steps: - detecting a vehicle (16) capable of lane-splitting, in particular a two-wheeler, lane-splitting, - measuring the speed of the vehicle (16) thus detected, - calculating a quantity depending at least on a difference between the speed of the ego vehicle (11) and the speed of the vehicle (16) capable of lane-splitting, - comparing the quantity thus calculated with a threshold, - in the case where the quantity is lower than the threshold, excluding the vehicle (16) capable of lane-splitting from being taken as a target vehicle. Figure for the abstract: Fig. 3

Description

Title of the invention: Method for improving target selection for adaptive speed control Technical field

[0001] The present invention relates to adaptive cruise control systems.

[0002] The invention relates more particularly to the improvement of decision-making for the target selection of an adaptive cruise control. Prior art

[0003] The ACC (Adaptive Cruise Control) system or adaptive speed control makes it possible to regulate the speed of an autonomous or partially delegated driving (ADAS) motor vehicle (known as an ego vehicle) in an adaptive manner, based on a measurement of the distance between the ego vehicle and a target vehicle preceding it on the road.

[0004] This distance measurement is conventionally obtained by a suitable sensor, for example of the camera, radar or Lidar type.

[0005] The ACC system can directly act on the braking and acceleration of the vehicle such that if the target vehicle is caused to brake or accelerate, the cruise control acts accordingly to maintain an appropriate distance from it.

[0006] Adaptive cruise control works reasonably well in an environment where only vehicles such as cars or trucks are traveling.

[0007] On the other hand, it is more complex to implement in the presence of vehicles which tend to follow trajectories which do not correspond to the infrastructure lanes, such as two-wheelers which frequently travel in inter-file, between two lanes, at a speed generally higher than other vehicles, in particular in traffic jam situations, but also sometimes when there is no traffic jam.

[0008] A problem that then arises is the risk of temporarily targeting the two-wheeler, and therefore of accelerating momentarily to follow it, this phenomenon being described as "sucking in by the two-wheeler", before braking given the approach of the vehicle traveling in front, at the moment when the two-wheeler overtakes it. The resulting driving jolts generate a feeling of discomfort for the driver and any passengers.

[0009] In the following, the term “two-wheelers” refers to motorcycles of all cylinder capacities, mopeds, bicycles and scooters.

[0010] Application EP 3 287 666 discloses a method for detecting overtaking of a vehicle by sequencing images from an on-board camera.

[0011] Publications US 2021 / 0245740 A1, US 9,988,047 B2 and US 10,698,404 B2 disclose various methods for detecting two-wheelers triggering a lateral movement maneuver of the vehicle in order to facilitate their passage.

[0012] These publications do not address the issue of adaptive cruise control.

[0013] There is a need for improved adaptive speed control methods and systems, in which the speed of the ego vehicle is automatically adapted to that of a target vehicle preceding the ego vehicle, in order to overcome the problem discussed above. Summary of the invention

[0014] The invention aims to meet this need and achieves this, according to one of its aspects, by means of a method for selecting a target vehicle for controlling the speed of an ego vehicle making it possible to adapt the speed of the ego vehicle to the speed of the target vehicle, this method comprising the following steps:

[0015] - the detection of a vehicle capable of circulating in inter-file, in particular a two- wheels, circulating in inter-file,

[0016] - the measurement of the speed of the vehicle thus detected, and better of the speeds of other neighboring vehicles possibly present in an analysis zone around the ego vehicle or around said vehicle capable of circulating in inter-file,

[0017] - the calculation of a quantity depending at least on a difference between the speed of the vehicle ego and the speed of the vehicle capable of inter-lane driving, and better depending on speed differences between the ego vehicles, any neighboring vehicles and the vehicle capable of inter-lane driving, in particular the calculation of a quantity depending on the relative speed of the ego vehicle and the relative speeds of any other neighboring vehicles, these relative speeds being determined in relation to the speed of the vehicle capable of inter-lane driving,

[0018] - the comparison of the quantity thus calculated with a threshold,

[0019] - in the case where the magnitude is lower than the threshold, the exclusion of the vehicle's capture capable of lane-splitting as a target vehicle.

[0020] When a vehicle preceding the ego vehicle is already targeted, the ego vehicle may, in exemplary implementations of the invention, retain it as the target vehicle in this case, both for acceleration and braking.

[0021] The calculation of the aforementioned quantity makes it possible to take into account the traffic speed and to obtain a relatively robust detection method, particularly suited to traffic jam situations.

[0022] Thanks to the invention, it is possible to differentiate a vehicle such as a two-wheeler which is traveling in lane splitting from a vehicle which is performing standard overtaking, and to avoid poor target selection by the cruise control, and in particular a phenomenon of "sucking" the ego vehicle by the vehicle traveling in lane separation. The speed control system is thus made more efficient.

[0023] The safety of the speed control system is increased, and this results in improved driver comfort. The driver's level of confidence in the operation of the system is also enhanced.

[0024] By "vehicle capable of inter-lane travel" is meant a vehicle capable of traveling between two lines of cars traveling on two respective lanes. The vehicle capable of inter-lane travel may be a two-wheeler or a type of vehicle other than a two-wheeler, such as for example a so-called "last mile" delivery robot.

[0025] When said magnitude is greater than or equal to said threshold, the distance of the vehicle capable of traveling in inter-file to a reference axis, in particular a reference axis corresponding to the center of a traffic lane on which the ego vehicle is traveling, can be calculated, and if the distance of is less than a predefined distance dthreshold, the selection of the vehicle capable of traveling in inter-file as a target for speed control by the ego vehicle is authorized.

[0026] By "authorize", it is meant that the vehicle capable of traveling in inter-file can be automatically targeted for automatic speed control without any other condition, or targeted only when one or more other conditions are met.

[0027] The identification of the reference axis can be carried out from the ground markings. The reference axis can also be taken as being the extension of the longitudinal axis of the vehicle ego.

[0028] Thus, it is possible to define a lane center in the case where the road markings are absent, or not very visible, such as during a traffic jam situation.

[0029] The evaluation of the distance makes it possible to discriminate between standard overtaking and inter-file overtaking, in the case where the vehicle capable of inter-file travel is moving at a speed higher than that of the adjacent vehicles.

[0030] If the distance of is greater than the predefined distance dseuU, the targeting of the vehicle capable of lane-splitting can be excluded at least for a predefined duration, in particular the replacement by the vehicle capable of lane-splitting of a vehicle already targeted is excluded for the speed control.

[0031] This avoids, in the event of sudden acceleration of the vehicle capable of traveling in lane separation, the aforementioned “sucking” phenomenon and untimely accelerations not expected or understood by the driver.

[0032] The vehicle capable of inter-lane travel can be targeted by the ego vehicle for speed control in the case where the distance is greater than the threshold predefined dseuU for a period of time greater than a predefined duration tseuii.

[0033] The expression “other neighboring vehicles possibly present” is not limited to the presence of several vehicles and covers the case where only one neighboring vehicle is present in the analysis zone.

[0034] Whether or not a vehicle belongs to said analysis zone can be determined by a distance calculation, in particular using at least one sensor present on the vehicle ego.

[0035] Said analysis zone may be a circle, preferably with a radius between 1 and 20 meters, better still between 1 and 10 meters.

[0036] Selecting a circular analysis area allows the distances of different vehicles to be calculated more quickly from their coordinates in a Cartesian frame of reference, which can reduce the need for computing power.

[0037] Alternatively, the analysis zone may be of another shape, in particular polygonal, for example with a center defined by its geometric center of gravity.

[0038] The analysis area may in particular be a rectangle. The width of the rectangle may then be conditioned by the total width of one or more traffic lanes.

[0039] Said analysis zone can be centered on the vehicle capable of circulating in inter-file.

[0040] Alternatively, said analysis zone is centered on the ego vehicle.

[0041] Said quantity may be equal to the difference between a weighted average of the speeds of the vehicle ego and of the other neighboring vehicles on the one hand, and the speed of the vehicle capable of traveling in inter-lane on the other hand.

[0042] The weighting of the average of the speeds of the ego vehicle and of the other neighboring vehicles can be carried out according to the lane of the vehicles considered. A weighted average makes it possible, for example, to attribute more importance to the vehicles traveling along the lane of the ego vehicle. The weighting can also be carried out to attribute a greater relative weight to the speed of the ego vehicle.

[0043] In particular, said quantity may be equal to the difference between an arithmetic mean of the speeds of the vehicle ego and of the other vehicles on the one hand, and the speed V of the vehicle capable of traveling in inter-file on the other hand.

[0044] In one example, the weighting is chosen by giving the same weight to the different vehicles.

[0045] Said quantity can then be taken equal to , with Vnwy — ~ “

[0046] Vreli= Vvehicler V, for ie[ ^bvehiculesZ(me] and Vrelego = Vego - V,

[0047] Vego designating the speed of the vehicle ego, Vvehicle; designating the speed of the vehicle i and nbvehicuies_zone designating the number of vehicles present in the analysis zone other that the vehicle is capable of circulating in lane separation

[0048] The detection of the vehicle capable of circulating in inter-file can be carried out at a frequency greater than or equal to 25 Hz, better still greater than or equal to 100 Hz. A fairly fine time step makes it possible to obtain a reactive and robust detection method.

[0049] Said threshold can be fixed or variable depending on the speed of the ego vehicle.

[0050] Thus, the threshold can be defined by Vseuii = f(Vego). The function f can be positive, and notably increasing, for example to increase the threshold value if the speed of the ego vehicle is greater, to take into account that the traffic is more fluid.

[0051] The distance dseuU can be between 0.5 meters and 1 meter, or be greater.

[0052] Audible or visual information may, if necessary, be emitted when the vehicle capable of driving in inter-file detected is considered in inter-file, to warn the driver of its presence.

[0053] The invention also relates to an adaptive speed control system for a vehicle, configured for implementing the method according to the invention, as defined above.

[0054] Such a system may have all or part of the characteristics defined above, in connection with the method according to the invention.

[0055] This system can thus be an adaptive control system for the speed of an ego vehicle, making it possible to adapt the speed of the ego vehicle to the speed of a target vehicle, the adaptive control system comprising one or more sensors making it possible to detect other vehicles and to measure their speed and / or their distance to the ego vehicle, the system comprising a computer configured to:

[0056] - detect a vehicle capable of circulating in lane separation, in particular a two-wheeler, circulating in inter-file,

[0057] - measuring the speed of the vehicle thus detected and the speeds of other vehicles neighbors possibly present in an analysis zone around the ego vehicle or around said vehicle capable of circulating in inter-file,

[0058] - calculate a quantity depending at least on a difference between the speed of the vehicle ego and the speed of the vehicle capable of inter-lane driving, and better depending on speed differences between the ego vehicles, any neighboring vehicles and the vehicle capable of inter-lane driving, in particular calculating a quantity depending on the relative speed of the ego vehicle and the relative speeds of any other neighboring vehicles, these relative speeds being determined in relation to the speed of the vehicle capable of inter-lane driving,

[0059] - compare the quantity thus calculated with a threshold,

[0060] - in the case where the magnitude is lower than the threshold exclude the taking of the capable vehicle to circulate in inter-file as a target vehicle.

[0061] The invention also relates to a motor vehicle equipped with such a system of adaptive cruise control. Brief description of the drawings

[0062] The invention may be better understood by reading the detailed description which follows, non-limiting examples of its implementation, and by examining the attached drawing, in which:

[0063] [Fig-1] [Fig.l] illustrates, in a schematic and partial manner, a vehicle adapted to implement the method according to the invention.

[0064] [Fig.2] [Fig.2] illustrates, in a schematic and partial manner, a traffic situation road where a two-wheeler is detected near the ego vehicle.

[0065] [Fig.3] [Fig.3] illustrates steps of the method according to the invention.

[0066] [Fig.4] [Fig.4] illustrates a variant of the method according to the invention. Detailed description

[0067] [Fig.l] shows a motor vehicle 1 in top view, with equipment suitable for implementing the method according to the invention.

[0068] The vehicle 1 may have a thermal engine, of the gasoline, diesel, gas or hydrogen type, hybrid or electric.

[0069] It may be of the autonomous type or with partially delegated driving. The vehicle 1 comprises one or a plurality of telemetric sensors, for example at least one camera and a radar and / or a lidar and / or a sonar, making it possible to provide the data necessary for adaptive speed control.

[0070] In the example illustrated in [Fig.l], the vehicle 1 thus comprises a camera 2 placed on the windshield and facing forward so as to be able to capture images of the environment in front of the vehicle ego. The vehicle 1 also comprises a plurality of lateral radars 3, arranged at each corner of the vehicle 1, as well as a front radar 4.

[0071] The radars 3,4 make it possible to precisely measure the distances of objects located in the vicinity of the vehicle ego 1. In particular, they make it possible to measure the relative positions of other vehicles on the road, of certain obstacles, or even of infrastructures located near the road.

[0072] In order to use the data provided by all the sensors and provide a driving instruction to the powertrain, the braking system and the steering unit, the vehicle ego 1 is equipped with a computer 5.

[0073] The computer 5 may comprise any appropriate electronic and computer means, in the form of one or more cards, with one or more processors, and may comprise, among other things, at least one RAM memory, at least one ROM memory used to save the applications of the vehicle 1, one or more possible digital-analog converters as well as one or more input / output interfaces. possible used to receive data from the various sensors.

[0074] The calculator 5 allows the execution of one or more programs ensuring adaptive speed control from a vehicle preceding it on the road and taken as a target, and allowing the calculation of distances and speeds, as detailed later.

[0075] The adaptive speed control makes it possible to influence the brakes and the accelerator of the vehicle 1, and to dynamically select a target relative to which the computer 5 adapts the speed of the ego vehicle 1, so as to maintain the distance of the latter 1 relative to the target vehicle within a given range.

[0076] [Fig.2] illustrates a road traffic situation at time t=0, on a road 10 comprising at least two traffic lanes 10L, 10R.

[0077] The ego vehicle 11 is traveling on the right lane 10R with adaptive speed control relative to a target vehicle 12 in front of it. Other vehicles 13 are also present on the road 10.

[0078] The ego lane 14 represents the traffic corridor of the ego vehicle 11, of width equal to at least the width of the ego vehicle 11.

[0079] The central line of track ego 15 delimits two sub-corridors of track ego 14 on either side of the central line of track ego 14.

[0080] The central line of the ego lane 15 can in particular be identified from at least one camera of the ego vehicle 11, and from ground markings such as for example the continuous or discontinuous lines of lane demarcations.

[0081] In the example considered, a vehicle 16 capable of traveling in inter-file, for example a two-wheeler 16, travels substantially between the two lanes 10L, 10R near the vehicle ego 11, at a distance of from the central line of lane ego 15.

[0082] The trajectory 17 of the two-wheeler 16 at times t<0 is represented schematically. The two-wheeler 16 initially comes from the left lane 10L and then shifts so as to begin overtaking a vehicle 13 traveling on the left lane 10L.

[0083] Such a situation then presents an ambiguity relating to the behavior of the two-wheeler 16. The latter may be required to perform standard overtaking, or to continue to travel in inter-file. The two possible trajectories at times t>0 of standard overtaking 17 and inter-file overtaking 18 are schematically represented in [Fig.2],

[0084] An example of an adaptive speed control method according to the invention will now be described in light of [Fig.3].

[0085] The method comprises a first step 30 of detecting a possible two-wheeler 16 near the vehicle ego 11.

[0086] This detection 30 can be carried out using the various on-board sensors of the ego vehicle 11, in particular by image recognition from at least one image taken by the sensor(s) of the ego vehicle 11.

[0087] The detection 30 is preferably carried out before the two-wheeler 16 arrives at the level of the ego vehicle 11, thanks to a sufficiently high acquisition and analysis frequency.

[0088] The time step for analyzing the surroundings of the vehicle ego 11 in order to detect a two-wheeler can thus in particular be less than 40 milliseconds. In this way, the detection 30 of a two-wheeler 16 is done in a quasi-continuous manner on the scale of traffic.

[0089] The method according to the invention also comprises the detection and measurement of the speeds of other vehicles in a given analysis zone 19.

[0090] The analysis zone 19 is for example defined around the two-wheeler 16 during a step 32, moving jointly with it.

[0091] The belonging of a given vehicle 11,12,13 to the analysis zone 19 can be determined by carrying out a distance calculation.

[0092] In a preferred embodiment, the analysis zone 19 is circular and centered on the two-wheeler 16. The distances can be calculated from the Cartesian coordinates of the centers of the vehicles 11, 12, 13 in the plane of the road 10. A given vehicle 11, 12, 13 then belongs to the analysis zone 19 if its relative distance to the two-wheeler is less than the radius of the analysis zone 19.

[0093] The coordinates of the different vehicles 11, 12, 13 can be recovered by the different on-board sensors of the ego vehicle 11.

[0094] A calculation of the speeds of the different vehicles 11, 12, 13 located in the analysis zone 19 is then carried out by the calculator 5 during a step 34.

[0095] The speeds of the different vehicles 11, 12, 13 and of the two-wheeler 16 can in particular be calculated from the speed of the vehicle ego 11 Vego, and from their relative speed with respect to the vehicle ego 11. The speed of the vehicle ego 11 Vego is known thanks to its different sensors, in particular of the odometer, gyrometer, accelerometer and / or GPS type. The relative speeds of the vehicles 12, 13 are measured from the sensors of the vehicle ego 11.

[0096] The adaptive speed control method may comprise conducting a first test 36, by comparing a predefined quantity depending on a speed difference between the speed of the two-wheeler 16 and those of the other vehicle(s) 11, 12, 13 in said zone 19 to a given threshold, namely in this example by comparing the speed Vseuii to the difference Vmoy between the weighted average of the speeds of the vehicles 11, 12, 13 in the analysis zone 19 and the speed V of the two-wheeler 16.

[0097] The threshold speed Vseuii can verify an equation of type Vseuii= f(Vego), with f increasing positive function, for example the identity function, or a function increasing in stages.

[0098] Vmoy can be defined by , with V _ V _________L V mov — i +1 f ■\ehicLdex.zone'r' 1

[0099] Vreli= Vvehicle- V, for ie[ 1; nbve,hicule,s^(me], and Vrelego = Vego - V,

[0100] Vego denoting the speed of the vehicle ego, Vvehicle; denoting the speed of the vehicle i and nvéhicuies zone designating the number of vehicles 11,12,13 present in the analysis zone other than two-wheelers 16.

[0101] In the above formula, the weights are equal, but alternatively the weighting coefficient associated with a given vehicle 12,13 may be relative to the traffic lane 10L,10R of the vehicle 12,13 in question, to the type of vehicle 12,13, to the distance of said vehicle 12,13 relative to the ego vehicle 11, and / or to the distance of said vehicle 12,13 relative to the two-wheeler 16. The weighting coefficient associated with the ego vehicle 11 may be set independently of the others.

[0102] In the case where Vmoy < Vseuii, the two-wheeler 16 is ignored as a potential target, and the method continues the detection 30.

[0103] Otherwise, if Vmoy >= Vseuii, the two-wheeler 16 is considered to be overtaking.

[0104] A second test 38 can then be carried out by comparing the distance between the center of gravity of the two-wheeler 16 (or any other reference point of the two-wheeler 16) and the center line of the lane ego 15 to a distance threshold dseuii, in order to distinguish the case of standard overtaking from that of inter-file overtaking.

[0105] In the case where > dseuili, the two-wheeler 16 is ignored for adaptive speed control. The latter is then considered to be in inter-file overtaking during a step 40.

[0106] Otherwise, if de <= dseuU, the two-wheeler 16 can be selected as a target for adaptive speed control at a step 44, because it is considered to be performing standard overtaking at a step 42.

[0107] A third test 46 can be carried out in the case where the two-wheeler 16 has been identified as being in inter-file overtaking, by comparing the duration t during which the two-wheeler 16 is detected as being in inter-file with a predefined duration tseuii. The duration tseuU is for example between 1 and 15 seconds.

[0108] In the case where t < tseuU, the two-wheeler 16 is ignored as a possible target for the adaptive speed control and the method returns to the detection step 30.

[0109] Otherwise if t >= tseuU the two-wheeler 16 can be targeted for adaptive speed control during step 44.

[0110] Of course, the invention is not limited to the examples which have just been described.

[0111] The whole of track 10R on which the vehicle ego 11 is traveling can be considered as track ego 14 when the road markings are visible, the center line of track ego 15 then being simply the center of track 10R.

[0112] In a variant, the identification of the central line of the lane ego 15 is carried out directly by the vehicle ego 11 by extending its longitudinal axis. This method is particularly suitable for cases where the road markings are absent, or not very visible, such as for example in traffic jam situations.

[0113] Alternatively, the center line of lane ego 15 is calculated taking into account the positions of the vehicles 12, 13 traveling on the lanes 10L, 10R. In this way, it is possible to take into account the fact that the vehicles 11, 12, 13 are not perfectly aligned.

[0114] In an alternative implementation of the invention, when the magnitude Vmoy is greater than VSeuii the two-wheeler 16 is targeted in the adaptive speed control only for braking. Thus, when the two-wheeler 16 slows down or brakes, the ego vehicle 11 also slows down. Conversely, if the two-wheeler 16 is caused to accelerate, the ego vehicle 11 does not accelerate, being ignored at least for acceleration. This transient measure makes it possible to have safe speed regulation during the time interval when the behavior of the two-wheeler 16 is uncertain, the risk of suction then being excluded.

Claims

Claims

1. Method for selecting a target vehicle for controlling the speed of an ego vehicle (11) making it possible to adapt the speed of the ego vehicle (11) to the speed of the target vehicle (12), this method comprising the following steps: - detecting a vehicle (16) capable of traveling in lane-splitting, in particular a two-wheeler, traveling in lane-splitting, - measuring the speed of the vehicle (16) thus detected, - calculating a quantity depending at least on a difference between the speed of the ego vehicle (11) and the speed of the vehicle (16) capable of traveling in lane-splitting, - comparing the quantity thus calculated with a threshold, - in the case where the quantity is lower than the threshold, excluding the use of the vehicle (16) capable of traveling in lane-splitting as a target vehicle.

2. Method according to claim 1, comprising measuring the speeds of other neighboring vehicles (12, 13) possibly present in an analysis zone (19) around the ego vehicle (11) or around said vehicle (16) capable of inter-lane travel, said calculated quantity being dependent on speed differences between the ego vehicles (11), the possible neighboring vehicles (12, 13) and the vehicle (16) capable of inter-lane travel, and preferably the calculation of said quantity being dependent on the relative speed of the ego vehicle (11) and the relative speeds of other possible neighboring vehicles (12, 13), these relative speeds being determined with respect to the speed of the vehicle (16) capable of inter-lane travel.

3. Method according to claim 1 or 2, wherein when said magnitude is greater than or equal to said threshold, the distance of the vehicle (16) capable of inter-lane travel to a reference axis, in particular a reference axis corresponding to the center of a traffic lane (15) on which the ego vehicle (11) is traveling, is calculated, and if the distance of is less than a predefined distance dseun, the selection of the vehicle (16) capable of inter-lane travel as a target for speed control by the ego vehicle (11) is authorized.

4. Method according to claim 3, in which the identification of the reference axis is carried out from the ground markings.

5. A method according to claim 3, wherein the reference axis is taken as being the extension of the longitudinal axis of the vehicle ego (15).

6. Method according to one of claims 3 to 5, in which if the distance d is greater than the predefined distance dseuU, the taking of the vehicle (16) capable of circulating in inter-file as target is excluded at least for a predefined duration, in particular the replacement by the vehicle (16) capable of circulating in inter-file of a vehicle (12) already taken as target is excluded for the speed control.

7. Method according to one of claims 3 to 5, in which the vehicle (16) capable of inter-lane travel is targeted by the ego vehicle (11) for speed control in the case where the distance d is greater than the predefined threshold dseuU for a period of time greater than a predefined duration.

8. Method according to one of claims 2 to 7, in which the belonging or not of a vehicle to said analysis zone (19) is determined by a distance calculation.

9. Method according to one of claims 2 to 8, wherein said area (19) is a circle.

10. Method according to one of claims 2 to 9, in which said analysis zone (19) is centered on the vehicle (16) capable of circulating in inter-file.

11. Method according to one of claims 2 to 9, wherein said zone (19) is centered on the ego vehicle (11).

12. Method according to one of claims 2 to 11, in which said quantity is equal to the difference between a weighted average of the speeds of the ego vehicle (11) and of the other neighboring vehicles (12, 13) on the one hand, and the speed of the vehicle capable of traveling in inter-file on the other hand.

13. Method according to any one of the preceding claims, in which the detection of the vehicle (16) capable of circulating in inter-file is carried out at a frequency greater than or equal to 25 Hz, better still greater than or equal to 100 Hz.

14. Method according to one of the preceding claims, wherein said threshold is fixed or variable depending on the speed of the ego vehicle (11).

15. An adaptive speed control system for an ego vehicle (11), for adapting the speed of the ego vehicle (11) to the speed of a target vehicle (12), the adaptive control system comprising one or more sensors (2,3,4) for detecting other vehicles and measuring their speed and / or their distance to the ego vehicle, the system comprising a calculator (5) configured to: - detect a vehicle (16) capable of moving in lane separation, in particular a two-wheeler, moving in lane separation, - measuring the speed of the vehicle (16) thus detected and the speeds of other neighboring vehicles (12, 13) possibly present in an analysis zone (19) around the ego vehicle (11) or around said vehicle (16) capable of circulating in inter-file, - calculating a quantity depending at least on a difference between the speed of the ego vehicle (11) and the speed of the vehicle (16) capable of inter-lane travel, and better depending on speed differences between the ego vehicles (11), any neighboring vehicles (12,13) ​​and the vehicle (16) capable of inter-lane travel, in particular calculating a quantity depending on the relative speed of the ego vehicle (11) and the relative speeds of any other neighboring vehicles (12,13), these relative speeds being determined with respect to the speed of the vehicle (16) capable of inter-lane travel, - compare the quantity thus calculated with a threshold, - in the case where the size is lower than the threshold, exclude the use of the vehicle (16) capable of circulating in inter-file as a target vehicle.

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