Method for planning the longitudinal movement of a motor vehicle.

Abstract

Method for planning a longitudinal movement of a motor vehicle (100), comprising - constructing a database (BD1, BD2) containing associations between a tuple and an acceleration profile, the tuple describing current driving parameters of the vehicle and a maneuver to be executed, then - receiving a maneuver to be applied by the vehicle, - a query to the database containing a setpoint tuple describing a) a driving mode, b) a current longitudinal speed, c) a defined speed difference between the current longitudinal speed and a speed of the vehicle when it reaches the situation, or a current speed difference between the vehicle and a target, d) a distance to the situation, - receiving an acceleration profile associated with the tuple, - determining a movement of the vehicle implementing the acceleration profile.Figure for the abridged version: 1.

Description

Title of the invention: Method for planning the longitudinal movement of a motor vehicle.

[0001] The invention relates to a method for planning the longitudinal movement of a motor vehicle. The invention further relates to a system for planning the longitudinal movement of a motor vehicle.

[0002] Some motor vehicles are equipped with a longitudinal displacement planning system. Longitudinal displacement planning systems are generally defined specifically according to an architecture relative to each vehicle model.

[0003] The object of the invention is to provide a system for planning the longitudinal movement of a motor vehicle that overcomes the above drawbacks and improves upon prior art systems for planning the longitudinal movement of a motor vehicle. In particular, the invention makes it possible to implement a system and a method that are simple and reliable and that work on different vehicle ranges or different vehicle models.

[0004] To this end, the invention relates to a method for planning the longitudinal movement of a motor vehicle, the vehicle comprising - at least one sensor capable of perceiving the environment of the motor vehicle at a given moment, - at least one application capable of analyzing data from at least one sensor and then commanding a target tracking maneuver or a movement maneuver towards a desired situation based on data from at least one sensor, the method comprising - a step of constructing at least one database of the motor vehicle comprising a plurality of associations between a tuple n and an acceleration or deceleration profile of the motor vehicle, the tuple n containing a) a driving mode of the motor vehicle, b) a typical longitudinal speed of the motor vehicle, (c) a defined speed difference between the current longitudinal speed of the motor vehicle and the speed of the motor vehicle when it reaches the situation, or a speed difference measured at the current time between the motor vehicle and a target vehicle, d) a distance called the distance to the situation, the distance to the situation being either a distance separating the motor vehicle from an end-of-maneuver position, or a distance separating the motor vehicle from a position of the target vehicle, Then - a step of receiving a movement maneuver instruction towards a situation or a follow-up instruction to a target vehicle to be implemented by the motor vehicle, the instruction being issued by at least one application based on a traffic environment of the motor vehicle perceived by at least one sensor, then - a step of transmitting to a management system of at least one database, a query containing a tuple, the tuple containing, a) a driving mode of the motor vehicle, b) a typical longitudinal speed of the motor vehicle, (c) a defined speed difference between the current longitudinal speed of the motor vehicle and the speed of the motor vehicle when it reaches the situation, or a speed difference measured at the current time between the motor vehicle and the target vehicle, d) a distance from the situation, the distance to the situation being either a distance separating the motor vehicle from an end-of-maneuver position, or a distance separating the motor vehicle from a position of a target vehicle, then - a step of receiving an acceleration or deceleration profile associated with the data contained in the tuple, said profile being transmitted by the management system of at least one database, Then - a step of determining a longitudinal displacement of the motor vehicle implementing the acceleration or deceleration profile.

[0005] In one embodiment, - when the motor vehicle is tracking a target vehicle, then a vehicle acceleration or deceleration profile contains a single association between a given distance value to the situation, corresponding to a current distance between the motor vehicle and the target vehicle, and a range of acceleration values ​​that are best applied when the motor vehicle is at a distance from the target vehicle close to the given distance value, - otherwise, a vehicle acceleration or deceleration profile contains a plurality of associations between (i) a given value of distance to the situation, and (ii) a range of acceleration values ​​that is preferable to apply when the motor vehicle is at a distance from the situation close to the given value of distance.

[0006] In one embodiment, the driving mode of the motor vehicle can be sporty, comfortable or economical, and the determination of an acceleration or deceleration profile associated with the n-tuple takes into account the driving mode defined in the n-tuple.

[0007] In one embodiment, the step of constructing at least one database is carried out during the calibration of the motor vehicle or from motor vehicle calibration data.

[0008] In one embodiment, the step of constructing at least one database includes the construction of two separate databases, - a first database containing acceleration or deceleration profiles of the motor vehicle relating to a movement maneuver without target tracking, - a second database containing acceleration or deceleration profiles of the motor vehicle relating to target tracking.

[0009] In one embodiment, the step of transmitting at least one database to a management system includes a step in which the management system of at least one database searches for an acceleration or deceleration profile corresponding to the data contained in the tuple, the search step comprising (i) for the first database, a first step comprising successive selections of the data contained in the database - an initial selection based on driving style, - then a second selection is made according to the current speed of the motor vehicle, - then a third selection is made according to the speed difference between the current speed of the motor vehicle and the speed of the motor vehicle when it reaches the situation, - then a fourth selection is made according to the current distance between the motor vehicle and the situation. (ii) for the second database, a second step comprising successive selections of data contained in the database - an initial selection based on driving style, - then a second selection is made according to the current speed of the motor vehicle, - then a third selection is made based on the distance between the motor vehicle and the target vehicle, - then a fourth selection is made according to the speed difference between the motor vehicle and the target vehicle.

[0010] In one embodiment, (i) In the first step, the fourth selection applies to a subset of the first database obtained after the implementation of the first, second and third selections of the first database, the fourth selection comprising: - a determination of a first and a second data point of the subset, the first and second data point containing the distances to the situation closest to the current distance between the motor vehicle and the situation, then - a determination of the acceleration or deceleration profile of the motor vehicle by interpolation between the acceleration or deceleration profiles of the first and second data points, and / or (ii) in the second step, the fourth selection applies to a subset of the second database obtained after the implementation of the first, second and third selections of the second database, the fourth selection of the second database comprising: - a determination of a first and a second data point from the subset of the second database, the first and second data points containing the speed differences between the motor vehicle and the target vehicle that are closest to the current speed difference between the motor vehicle and the target vehicle, then - a determination of the acceleration or deceleration profile of the motor vehicle by interpolation between respectively the acceleration or deceleration profile of the first and second data of the subset of the second database.

[0011] The invention further relates to a system for planning the longitudinal movement of a motor vehicle, comprising the hardware and / or software elements implementing the method according to the invention, in particular hardware and / or software elements designed to implement the method of the invention.

[0012] The invention also relates to a motor vehicle comprising a system for planning a longitudinal movement of the invention.

[0013] Thus, the invention relates to a system for planning the longitudinal movement of a motor vehicle within the framework of an implementation of a driving assistance function.

[0014] The motor vehicle 100 can be a motor vehicle of any type, including a passenger vehicle, a utility vehicle, a truck or a public transport vehicle such as a bus or a shuttle.

[0015] An embodiment of a motor vehicle 100 according to the invention is described below. The motor vehicle 100 comprises a planning system 1 for a Longitudinal displacement, whose role is to plan a vehicle's movement that meets constraints (for example, maneuver requests). Controlling this movement then generates the data necessary to control the vehicle's actuators, such as the brakes, steering (via chassis interfaces), or the powertrain.

[0016] Fig. 1 represents an embodiment of a system 1 for planning a movement according to the invention.

[0017] In the embodiment illustrated in [Fig. 1], the system 1 for planning a movement according to the invention comprises: - a first subsystem 11 for receiving data describing the environment of the motor vehicle 100, - a second subsystem 12 for receiving constraints from different user applications and arbitrating between different planning constraints from the applications, - a third subsystem 13 for managing a database describing the dynamics of motor vehicle 100, and

[0018] - a fourth subsystem 14 for determining a displacement from the data from the first, second and third subsystems 11, 12, 13.

[0019] Data describing the environment of the motor vehicle may include, in particular: - information relating to the motor vehicle 100, including for example the vehicle's position, speed, and direction, - information specific to objects detected directly on the road, such as other vehicles, pedestrians, obstacles, - information related to the vehicle's environment, such as weather conditions or road conditions.

[0020] The constraints arising from the different applications using the travel planning system 1 can be, for example - collision avoidance constraints, - target tracking constraints, - lane change constraints, - constraints related to a traffic sign, - constraints relating to vehicle dynamics, including dynamic restrictions or queries concerning the vehicle environment, or the vehicle situation.

[0021] The constraint arbitration subsystem 12 is capable of receiving dynamic constraints and requests, as well as information related to the vehicle environment. Furthermore, the arbitration subsystem 12 is capable of processing and selecting this information. In addition, the arbitration subsystem 12 is capable of transmitting the processed information to the displacement determination subsystem 14.

[0022] From the data from the arbitration subsystem 12, the displacement determination subsystem 14 is able to query the vehicle dynamics management subsystem 13 100 to obtain an acceleration or deceleration profile of the vehicle which will conform to the data from the constraint arbitration subsystem 12.

[0023] In the remainder of this document, the term "acceleration or deceleration profile of the motor vehicle" refers to a data structure containing - either a first type of data, when the maneuver to be planned is a target follow, - or a second type of data, when the maneuver to be planned is a movement towards a situation without target follow, the situation being for example the arrival of the vehicle at a given distance from the roundabout, for example 200 meters away from the roundabout, or 300 meters away from the roundabout.

[0024] In the remainder of the document, the term "n-tuple" refers to an ordered sequence of n elements, each element being able to be of a different nature.

[0025] Data of a first type is an association between an n-tuple of a first type and a range of acceleration values ​​that is preferable to apply when the motor vehicle 100 is in a situation described by the n-tuple of the first type.

[0026] In one embodiment, an n-tuple of the first type may comprise: - a driving mode of the motor vehicle 100, which could be, for example, a "sport" mode, or a "comfort" mode, or an "economy" mode, - a current longitudinal speed of the motor vehicle 100, - a typical distance measured between motor vehicle 100 and a target vehicle 200, referred to as "distance to target" in the remainder of this document, - a current speed difference between motor vehicle 100 and target vehicle 200, referred to as "speed difference" or "speed gap" in the rest of the document.

[0027] Other embodiments of an n-tuple of the first type are possible, for example the n-tuple of the first type could not include the parameter relating to the driving mode.

[0028] Data of a second type is an association between an n-tuple of a second type and a range of acceleration values ​​that is preferable to apply when the motor vehicle 100 is in a situation described by the n-tuple of the second type.

[0029] In one embodiment, an n-tuple of the second type may comprise: - a driving mode for the motor vehicle 100, which could be, for example, a "sport" mode, or a "comfort" mode, or an "economy" mode, - a longitudinal distance, called the "distance to the situation", separating the motor vehicle 100 from the position of the situation at the current moment, - a typical longitudinal speed of the motor vehicle 100, - a longitudinal speed variation of the motor vehicle 100 to be implemented between the current longitudinal speed and a speed to be reached when the motor vehicle 100 reaches the situation.

[0030] Other embodiments of an n-tuple of the second type are possible, for example the n-tuple of the second type could not include the parameter relating to the driving mode.

[0031] In the trip planning system 1 according to the invention, the third subsystem 13 for managing the dynamics of the motor vehicle 100 is implemented by at least one database management system for managing data of the first type and data of the second type.

[0032] The database management system provides interfaces for configuring a database, that is, for storing data of the first type and data of the second type in the database. In one embodiment, the data of the first type and the data of the second type are stored in two separate databases, BD1, BD2. Alternatively, the data of the first type and the data of the second type can be stored in the same database.

[0033] An example of data of a first type recorded in the database can be illustrated as follows: - Driving mode of the motor vehicle = "sport" mode, - Typical longitudinal speed of the motor vehicle = 20 meters per second. - distance to the target = 60 meters, - speed difference = 10 meters per second, - acceleration value range = [-3.5 m.s2, +3.5 m.s2]

[0034] An example of data of a second type recorded in the database can be illustrated as follows: - Driving mode of the motor vehicle = "comfort" mode, - Current longitudinal speed of the motor vehicle = 22.2 meters per second, - Distance to the situation = 200 meters, - change in speed between the current speed and the speed at the situation = -16.6 meters per second - a plurality of associations between (i) a given value of distance to the situation, and (ii) a range of acceleration values ​​that are preferable to apply when the motor vehicle is at a distance from the situation close to the given distance value, the plurality of associations being represented by the table below: Distance to the situation 150 m 100 m 20 m Acceleration [-0.5 ; +0.5] ms² [-2.5 ; 0] ms² [-4 ; 0] ms²

[0035] In one embodiment, the motor vehicle 100 is considered to be located at a distance from the situation close to the given value of distance when a difference between, on the one hand, the given value of distance and, on the other hand, a distance separating the vehicle from the situation is less than 10 meters, or even less than 2 meters.

[0036] The database management system further provides interfaces for querying the database, and the displacement determination subsystem 14 is capable of using the interfaces of the database management system to query the database.

[0037] For example, to define the dynamics of a target tracking movement, the displacement determination subsystem 14 is capable of constructing a query and transmitting it to the database, the query containing an n-tuple of the first type. In response to its query, the displacement determination subsystem 14 is capable of receiving a response from the database and processing the response from the database. In the described embodiment, the response from the database contains a range of acceleration values ​​to be implemented by the motor vehicle 100 for target tracking, for example, [-3.5 m / s², +3.5 m / s²].

[0038] The longitudinal displacement planning system 1 according to the invention mainly comprises the following modules: - a module 101 for constructing at least one database of the motor vehicle containing a plurality of acceleration or deceleration profiles of the vehicle, module 141 collaborating with at least one database BD1, BD2, then - a module 102 for determining a movement or tracking maneuver to be implemented by the motor vehicle, then - a module 103 for querying at least one database to obtain an acceleration or deceleration profile compatible with the maneuver, - a module 104 for implementation, of the acceleration or deceleration profile of the vehicle.

[0039] The system 1 for planning a longitudinal movement includes means for implementing a method for planning a longitudinal movement of a motor vehicle according to the invention, one embodiment of which is described below. System 1 planning can also be seen as a process for managing the longitudinal displacement or longitudinal speed of a motor vehicle.

[0040] The planning process can be viewed as a method for managing the longitudinal displacement or longitudinal speed of a motor vehicle. The planning process can also be viewed as a method for operating a motor vehicle.

[0041] The planning process comprises five steps, E0 to E4, which are executed successively.

[0042] In step E0, the database construction is carried out during a motor vehicle calibration step or from motor vehicle calibration data.

[0043] During the calibration stage, operators adjust and optimize parameters that control the response of the motor vehicle along the longitudinal axis, during acceleration or braking.

[0044] The operators then select parameter values ​​to obtain an optimal response from the motor vehicle along the longitudinal axis. This operation is performed in target-following situations; the selected parameter values ​​are then recorded as data of a first type in the database. This operation is also performed in situations of movement to a non-target-following state; the selected parameter values ​​are then recorded as data of a second type in the database.

[0045] Movements towards a situation without target tracking may include contextual situations (such as a speed sign, a roundabout, ...), or even a traffic light crossing, or a change in speed instruction for example.

[0046] In one embodiment, the data of the first type and the second type are respectively recorded in two separate databases.

[0047] At least one motor vehicle database comprises a plurality of associations between (i) on the one hand, an n-tuple comprising a longitudinal speed of the vehicle and a distance to the situation, the distance to the situation being either a distance separating the motor vehicle from an end-of-maneuver position, or a distance separating the motor vehicle from a position of a target vehicle, and (ii) on the other hand, a vehicle acceleration or deceleration profile.

[0048] Advantageously, to establish the target tracking database, the operator enters a tuple of the first type comprising: - a driving mode of the motor vehicle, which could be, for example, a "sport" mode, a "comfort" mode, or an "economy" mode, - a typical longitudinal speed of the motor vehicle, - a standard distance measured between the motor vehicle and a target vehicle, referred to as the "distance to the target" in the rest of this document, - a current speed difference between the motor vehicle and the target vehicle, referred to as the "speed difference" in the rest of the document.

[0049] Advantageously, to establish the database relating to a movement towards a situation without target tracking, the operator enters a tuple of the second type comprising - a driving mode for the motor vehicle, which could be, for example, a "sport" mode, a "comfort" mode, or an "economy" mode. - a longitudinal distance, known as the "distance to the situation", separating the motor vehicle from the current position of the situation, - a current longitudinal speed of the motor vehicle, - a variation in the longitudinal speed of the motor vehicle to be implemented between the current longitudinal speed and a speed to be reached when the motor vehicle reaches the situation.

[0050] At least one database advantageously includes many data of the first type and / or the second type, so as to define an acceleration or deceleration profile of the motor vehicle for many distinct situations.

[0051] Since the number of possible combinations of the different fields of an n-tuple of the first or second type is very high, it is however impossible to obtain a database associating an acceleration or deceleration profile with each n-tuple.

[0052] In the remainder of the document, it is assumed that there are two separate databases, a first database relating to a target tracking maneuver, and a second database relating to a movement towards a situation without target tracking.

[0053] In step El, a command to move or follow is received to be implemented by the motor vehicle, the command being issued by an application based on a traffic environment of the motor vehicle perceived by at least one sensor.

[0054] The maneuver instruction contains a description of the maneuver that populates the various fields of a tuple related to the maneuver instruction, referred to hereafter as the "instruction tuple." For example, a target tracking instruction contains the information defining an instruction tuple of the first type; a movement to a location instruction contains the information defining an instruction tuple of the second type.

[0055] Once the fields of the n-tuple of instructions have been filled in, we proceed to step E2.

[0056] Then, in step E2, the selected database is queried to obtain an acceleration or deceleration profile compatible with the maneuver described by the n-tuple of setpoint.

[0057] The query step includes a transmission, to the database management system, by the trip planning system, of a query containing the setpoint tuple.

[0058] If a data, of the first or second type, corresponding to the n-tuple of setpoint is present in the database, then the n-tuple of setpoint allows direct access to an acceleration or deceleration profile which has been defined for this n-tuple in the calibration step E0.

[0059] Alternatively, if no data in the database corresponds exactly to the setpoint n-tuple, then the database management system searches among the data contained in the database for the one that best corresponds to the maneuver described by the setpoint n-tuple.

[0060] The application of a first search method in the case of a movement maneuver towards a situation without target tracking is described below.

[0061] In one embodiment of the first method, the data are first selected according to the field relating to the driving mode. In other words, the search is restricted to data whose field relating to the driving mode is identical to the driving mode described by the n-tuple of instructions. This yields a first subset of data from the database, for example, a first subset of data corresponding to a sporty driving mode.

[0062] Next, a second selection is applied to the first subset of data. This second selection focuses on the field containing the speed difference between the current speed of motor vehicle 100 and the speed of motor vehicle 100 when it reaches the specified situation. The search is then restricted to data whose field relating to the speed difference is close to the speed difference described by the n-tuple of the setpoint. In one embodiment, two speed differences are considered close if the absolute value of the difference between these two speed differences is less than or equal to 2 m / s. If no data in the database meets this criterion, the two data points whose speed difference is closest to the speed difference described by the n-tuple of the setpoint are selected. This yields a second subset of data corresponding to a speed difference close to that described by the n-tuple of the setpoint.

[0063] Next, a third selection is applied from the second subset of data, the third selection being on the field containing the longitudinal velocity The search is then restricted to data where the field relating to the current speed of motor vehicle 100 is close to the speed described by the n-tuple of the setpoint. This yields a third subset of data corresponding to a current speed of motor vehicle 100 close to that described by the n-tuple of the setpoint.

[0064] Next, a fourth selection is applied from the third subset of data, this fourth selection focusing on the field containing the longitudinal distance between the motor vehicle 100 and the situation, named "distance to the situation". The search is then restricted to data whose field relating to the distance to the situation is close to the distance to the setpoint situation described by the setpoint n-tuple. This determines two data points from the third subset that are closest to the distance to the situation described by the setpoint n-tuple.

[0065] In one embodiment, a linear interpolation is then performed between the two closest data, allowing the creation of a so-called "final" data whose "distance to the situation" field is equal to the "distance to the situation" described by the n-tuple of instruction.

[0066] In summary, the first method allows successive selections to be applied among the data in a database relating to a movement maneuver towards a situation without target tracking, the selections being applied in a defined order, in particular the data are selected successively according to: - the driving mode defined in the maneuver instruction, then - the speed difference measured between the current speed of motor vehicle 100 and the speed of motor vehicle 100 when it has reached the situation, then - the current longitudinal speed of motor vehicle 100, then - the distance to the situation.

[0067] Then, an interpolation step is carried out on the two selected data containing a distance to the situation closest to the distance to the setpoint situation, contained in the setpoint n-tuple, the interpolation allowing to define a final data whose field relating to the distance to the situation is equal to the distance to the setpoint situation.

[0068] The final data contains an acceleration or deceleration profile calculated by linear combination of the acceleration or deceleration profiles respectively contained in the two data selected for the interpolation step.

[0069] A second method, similar to the first method, can be applied in the case of a target tracking maneuver, as described below.

[0070] First, the data is selected according to the field relating to the driving mode: in other words, the search is restricted to data whose field relating to the driving mode is identical to the driving mode described by the n-tuple of instructions. This obtains a first subset of data from the database, for example a first subset of data corresponding to a sporty driving mode.

[0071] Next, a second selection is applied to the first subset of data, this second selection focusing on the field containing the current longitudinal speed of the motor vehicle 100. The search is then restricted to data whose field relating to the current speed of the motor vehicle 100 is close to the speed described by the n-tuple of reference. This yields a second subset of data corresponding to a speed difference close to that described by the n-tuple of reference.

[0072] Next, a third selection is applied to the second subset of data. This third selection focuses on the field containing the speed difference between the target vehicle and the motor vehicle 100, referred to as the "speed difference" in the remainder of this document. Indeed, a key characteristic of a longitudinal tracking maneuver is the speed difference. The search is then restricted to data whose field relating to the speed difference is close to the speed difference described by the n-tuple of the setpoint. In one embodiment, two speed differences are considered close if the absolute value of the difference between these two speed differences is less than or equal to 2 m / s. If no data in the database meets this criterion, the two data points whose speed difference is closest to the speed difference described by the n-tuple of the setpoint are selected.This yields a third subset of data corresponding to a speed difference close to that described by the n-tuple of setpoint.

[0073] Next, a fourth selection is applied from the third subset of data, this fourth selection focusing on the field containing the longitudinal distance between the motor vehicle 100 and the target, named "distance to target". The search is then restricted to data whose field relating to the distance to the target is close to the target distance of the setpoint described by the setpoint n-tuple. This determines two data points from the third subset that are closest to the target distance described by the setpoint n-tuple.

[0074] In one embodiment, a linear interpolation is then performed between the two closest data, allowing the creation of a so-called "final" data whose "distance to target" field is equal to the "distance to target" described by the n-tuple of instruction.

[0075] In summary, the second method allows successive selections to be applied among the data in the database, the selections being applied in a defined order, in particular by successively selecting according to: - the driving mode defined in the maneuver instruction, then - the speed difference measured between the motor vehicle and the target, then - the current longitudinal speed of the motor vehicle 100, then - the distance to the target. Then, an interpolation is performed on the two data containing a distance to the target closest to the distance to the setpoint target, contained in the setpoint n-tuple, the interpolation allowing to define a final data whose field relating to the distance to the target is equal to the distance to the setpoint target.

[0076] The final data contains an acceleration or deceleration profile calculated by linear combination of the acceleration or deceleration profiles respectively contained in the two data selected for the interpolation step.

[0077] Then we proceed to a step E4 of determination, by the subsystem for determining a displacement, of a longitudinal displacement of the motor vehicle 100 implementing the acceleration or deceleration profile defined in step E3.

[0078] Overall, the invention relates to the use, by a travel planning system, of a database containing a plurality of associations between an n-tuple and an acceleration or deceleration profile of the motor vehicle 100, the n-tuple containing parameters describing current driving parameters of the vehicle and a maneuver to be executed.

[0079] Using a database to determine vehicle movement dynamics has multiple advantages.

[0080] Indeed, the database is advantageously constructed with data from vehicle calibration, which simplifies the construction of the database and guarantees the quality and accuracy of the data used by the trip planning system.

[0081] Furthermore, since the data defining the vehicle's dynamics are stored in a database, the same trip planning system can advantageously be used on different vehicle models. By modifying the database, the vehicle's behavior can be adjusted according to the vehicle type without requiring any changes to the vehicle's embedded algorithms.

[0082] In addition, the database can be shared between different applications, which makes it possible to factorize the settings of various applications using the database.

[0083] Moreover, the database is easily modifiable and does not require specific expertise in travel planning.

Claims

1. Demands Method for planning the longitudinal movement of a motor vehicle (100), the vehicle comprising - at least one sensor (2) capable of perceiving, at a given moment, an environment of the motor vehicle (100), - at least one application (3) capable of analyzing data from at least one sensor and then commanding a target tracking maneuver or a movement maneuver towards a situation based on data from at least one sensor (2), the method comprising - a step (E0) of constructing at least one database of the motor vehicle comprising a plurality of associations between a tuple n and an acceleration or deceleration profile of the motor vehicle (100), the tuple n containing a) a driving mode of the motor vehicle, b) a current longitudinal speed of the motor vehicle, c) a defined speed difference between a current longitudinal speed of the motor vehicle and a speed of the motor vehicle when it reaches the situation, or a speed difference measured at the current moment between the motor vehicle and a target vehicle, d) a distance called the distance to the situation, the distance to the situation being either a distance separating the motor vehicle from an end-of-maneuver position, or a distance separating the motor vehicle from a position of the target vehicle, then - a step (El) of receiving a movement maneuver instruction to a situation or a follow-up instruction to a target vehicle to be implemented by the motor vehicle (100), the instruction being issued by at least one application based on a traffic environment of the motor vehicle perceived by at least one sensor, then - a step (E2) of transmitting to a management system of at least one database, a query containing a tuple, the tuple containing, a) a driving mode of the motor vehicle, b) a typical longitudinal speed of the motor vehicle, (c) a speed difference defined between a current longitudinal speed of the motor vehicle and a speed of the motor vehicle when it reaches the situation, or a speed difference measured at the current time between the motor vehicle and the target vehicle, (d) a distance to the situation, the distance to the situation being either a distance separating the motor vehicle from an end-of-maneuver position, or a distance separating the motor vehicle from a position of a target vehicle, then - a step (E3) of receiving an acceleration or deceleration profile associated with the data contained in the n-tuple, said profile being transmitted by the management system of at least one database, then - a step (E4) of determining a longitudinal displacement of the motor vehicle (100) implementing the acceleration or deceleration profile.

2. A planning method according to the preceding claim, characterized in that - when the motor vehicle is tracking a target vehicle, then an acceleration or deceleration profile of the vehicle contains a single association between a given value of distance to the situation, corresponding to a current distance between the motor vehicle and the target vehicle, and a range of acceleration values ​​that are best applied when the motor vehicle is at a distance from the target vehicle close to the given value of distance, - otherwise an acceleration or deceleration profile of the vehicle contains a plurality of associations between (i) a given value of distance to the situation, and (ii) a range of acceleration values ​​that are best applied when the motor vehicle is at a distance from the situation close to the given value of distance.

3. A planning method according to any one of the preceding claims, characterized in that the driving mode of the motor vehicle can be sporty, comfortable, or economical, and in that the determination of an associated acceleration or deceleration profile the n-tuple takes into account the driving mode defined in the n-tuple.

4. A planning method according to any one of the preceding claims, characterized in that the step of constructing at least one database is carried out during the calibration of the motor vehicle (100) or from calibration data of the motor vehicle (100).

5. A planning method according to any one of the preceding claims, characterized in that the step (E0) of constructing at least one database comprises the construction of two separate databases (BD1, BD2), - a first database (BD1) containing acceleration or deceleration profiles of the motor vehicle relating to a movement maneuver without target tracking, - a second database (BD2) containing acceleration or deceleration profiles of the motor vehicle relating to target tracking.

6. A planning method according to the preceding claim, characterized in that the step (E2) of transmitting at least one database to a management system comprises a step of searching, by the management system of at least one database, for an acceleration or deceleration profile corresponding to the data contained in the n-tuple, the search step comprising (i) for the first database (BD1), a first step comprising successive selections of data contained in the database - a first selection being made according to the driving mode, - then a second selection being made according to the current speed of the motor vehicle (100), - then a third selection being made according to the speed difference between the current speed of the motor vehicle (100) and the speed of the motor vehicle (100) when it has reached the situation,- then a fourth selection based on the current distance between the motor vehicle (100) and the situation. (ii) for the second database (DB2), a second step comprising successive selections of the data contained in the database, - a first selection based on the driving mode, - then a second selection based on the current speed of the motor vehicle (100), - then a third selection based on the distance between the motor vehicle (100) and the target vehicle (200), - then a fourth selection based on the speed difference between the motor vehicle (100) and the target vehicle.

7. A planning method according to the preceding claim, characterized in that (i) in the first step, the fourth selection is applied to a subset (S_BD1) of the first database (BD1) obtained after the implementation of the first, second, and third selections of the first database (BD1), the fourth selection comprising: - determining a first and a second data point (data_11, data_12) of the subset (S_BD1), the first and second data points (data_11, data_12) containing the distances to the situation closest to the current distance between the motor vehicle (100) and the situation, and then - determining the acceleration or deceleration profile of the motor vehicle (100) by interpolation between the acceleration or deceleration profiles of the first and second data points (data_11, data_12), respectively, and / or (ii) in the second step,The fourth selection applies to a subset (S_BD2) of the second database (BD2) obtained after the implementation of the first, second, and third selections of the second database (BD2). The fourth selection of the second database (BD2) comprises: - the determination of a first and a second data point (data_21, data_22) from the subset (S_BD2) of the second database (BD2). The first and second data points (data_21, data_22) contain the speed differences between the motor vehicle (100) and the target vehicle that are closest to the current speed difference between the motor vehicle (100) and the target vehicle. Then, - the determination of the acceleration or deceleration profile of the motor vehicle (100) is achieved by interpolating between the acceleration or deceleration profiles of the first and second data points, respectively. second data (data_21, data_22) of the subset (S_BD2) of the second database (BD2).

8. System (1) for planning a longitudinal movement of a motor vehicle, comprising the hardware and / or software elements (2, 3, 11, 12, 13, 14, BD1, BD2) implementing the method according to any one of the preceding claims, in particular hardware (2, 3) and / or software elements designed to implement the method according to any one of the preceding claims.

9. Motor vehicle (100) comprising a system (1) for planning a longitudinal movement according to the preceding claim.