Method and device for controlling a maneuver by an autonomous vehicle to overtake a first object

Abstract

The present invention relates to a method and device for controlling an overtaking maneuver of a first object (11) by an autonomous vehicle (10), the first object being in a normal traffic lane (101) of the autonomous vehicle (10) and in front of the autonomous vehicle (10) in the direction of travel of the autonomous vehicle. The triggering of the overtaking maneuver is a function of a specific type of overtaking maneuver from a set of maneuver types and a function of a first indicator and a second indicator, respectively representing a distance and a time required for the autonomous vehicle (10) to perform the overtaking maneuver, the calculation of which depends on the specific type of overtaking maneuver. The triggering of the overtaking maneuver is also a function of the presence of a second object (12) traveling in the opposite direction to the autonomous vehicle (10). Figure 1 (for the abstract)

Description

Title of the invention: Method and device for controlling a maneuver by an autonomous vehicle to overtake a first object. Technical field

[0001] The invention relates to methods and devices for controlling a maneuver by an autonomous vehicle, particularly but not exclusively a motor vehicle, to overtake a first object, for example a vehicle. The invention also relates to a method and a device for controlling whether or not the autonomous vehicle initiates the overtaking maneuver of the first object. Technological background

[0002] With the development of autonomous vehicles, also called automated vehicles (from the English "Automated Vehicle"), needs in terms of decision support for the automatic control of the behavior of these autonomous vehicles according to the different life situations encountered have emerged.

[0003] Controlling an autonomous vehicle, by means of one or more driver assistance systems, called ADAS system(s) (from the English "Advanced Driver-Assistance System" or in French "Système d'aide à la conduite avancé") embedded in the automated vehicle, requires a good knowledge of the environment around the autonomous vehicle.

[0004] To ensure the safety of the autonomous vehicle, its passengers, and other road users, the decision regarding the initiation of a maneuver must be made transparently, taking into account the conditions under which the maneuver will be performed. For example, when overtaking an object, such as another vehicle, located in front of the autonomous vehicle, the decision to initiate or not initiate the overtaking maneuver must be reliable and applicable to all the conditions encountered by the autonomous vehicle in the environment(s) in which it operates.For example, the method used to decide whether or not to initiate an overtaking maneuver must be applicable to any road environment, including urban environments, on sections of road with multiple lanes of traffic in the same direction (e.g., motorway or expressway), but also on sections of road with two-way traffic.

[0005] The methods proposed to date are often dedicated to particular environments (for example sections of road with only one direction of traffic), which makes their implementation in autonomous vehicles unreliable in the face of the diversity of driving situations encountered by these autonomous vehicles. Summary of the present invention

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

[0007] An object of the present invention is, for example, to improve the automatic decision-making for triggering an overtaking maneuver for an autonomous vehicle.

[0008] According to a first aspect, the present invention relates to a method for controlling a maneuver of overtaking a first object by an autonomous vehicle, the first object being on a current traffic lane of the autonomous vehicle and in front of the autonomous vehicle in a direction of traffic of the autonomous vehicle, the method being implemented by at least one processor of the autonomous vehicle and comprising the following steps when a current speed of the autonomous vehicle is greater than a current speed of the first object at a current time: - first comparison of a current distance between the autonomous vehicle and the first object to a first interval of distances and to a second interval of distances, a lower bound of the first interval of distances corresponding to a sum of a distance required for the autonomous vehicle to change lanes from the current traffic lane to a traffic lane adjacent to the current traffic lane with a determined longitudinal acceleration value, called the first lane change distance, and a minimum safety distance between the autonomous vehicle and the first object following the lane change and an upper bound of the first interval of distances corresponding to a sum of the first lane change distance and a maximum safety distance between the autonomous vehicle and the first object following the lane change,a lower bound of the second distance interval corresponding to a sum of the distance required by the autonomous vehicle for the lane change with a longitudinal acceleration value equal to 0, called the second lane change distance, and the minimum safety distance, and an upper bound of the second distance interval corresponding to a sum of the second lane change distance and the maximum safety distance; - Determining a type of overtaking maneuver from a specific set of overtaking maneuver types based on the results of a first comparison and a second comparison between the maximum speed of the autonomous vehicle during the overtaking maneuver and a maximum speed authorized on a portion of road including the main traffic lane and the adjacent traffic lane; - calculation of a first indicator and a second indicator as a function of the type of overtaking maneuver and as a function of a speed of the autonomous vehicle during the overtaking maneuver, the current speed of the first object, a length of the first object, a width of the current traffic lane, the determined value of longitudinal acceleration, a determined value of lateral acceleration, a length of the autonomous vehicle and a parameter representing an inter-vehicle time between the autonomous vehicle and the first object, the first indicator and the second indicator being respectively representative of a distance and a time required for the autonomous vehicle to perform the overtaking maneuver; - third comparison of a distance, called final distance, at the end of the overtaking maneuver between the autonomous vehicle and a second object present on the adjacent traffic lane to a threshold value, the final distance being a function of the first and second indicators, of a speed of said second object and of an initial distance at the beginning of the overtaking maneuver between the autonomous vehicle and the second object; - triggering control of the overtaking maneuver based on the result of the third comparison.

[0009] The use of two indicators, the calculation of which depends on the type of overtaking maneuver (determined based on the autonomous vehicle's situation and specific parameters), and a set of data relating to the autonomous vehicle's environment, makes it possible to assess whether the overtaking maneuver can be initiated safely or not, depending on the type of overtaking maneuver to be performed. The decision-making process thus adapts to a range of situations covering several different scenarios encountered by the autonomous vehicle when overtaking, for example, on a two-way road with a first object to be overtaken and a second object in the lane used to overtake the first object, on a multi-lane road with one-way traffic, etc.

[0010] According to one variant, the set of overtaking maneuver types includes: - a first type in which the autonomous vehicle makes the lane change with a non-zero longitudinal acceleration value until it reaches the maximum authorized speed; - a second type in which the autonomous vehicle makes the lane change with a non-zero longitudinal acceleration value until it reaches a first maximum speed lower than the maximum authorized speed; - a third type in which the autonomous vehicle performs the lane change with a value of zero longitudinal acceleration and then continues the overtaking maneuver with a non-zero longitudinal acceleration value until it reaches the maximum authorized speed; and - a fourth type in which the autonomous vehicle makes the lane change with a value of zero longitudinal acceleration and then continues the overtaking maneuver with a non-zero longitudinal acceleration value until reaching a second maximum speed lower than the maximum authorized speed.

[0011] According to another variant, the type of overtaking maneuver corresponds to: - the first type when the result of the first comparison indicates that the current distance belongs to the first interval of distances and when the maximum speed of the autonomous vehicle reaches the maximum authorized speed; - second type when the result of the first comparison indicates that the current distance belongs to the first interval of distances and when the maximum speed of the autonomous vehicle is less than the maximum authorized speed; - third type when the result of the first comparison indicates that the current distance belongs to the second distance interval and when the maximum speed of the autonomous vehicle reaches the maximum authorized speed; or - fourth type when the result of the first comparison indicates that the current distance belongs to the second interval of distances and when the maximum speed of the autonomous vehicle is less than the maximum authorized speed.

[0012] According to another variant, the overtaking maneuver trigger control includes: - the transmission of an instruction to trigger the overtaking maneuver when the result of the third comparison indicates that the final distance is greater than or equal to the threshold value; and - a transmission of an instruction not to trigger the overtaking maneuver when the result of the third comparison indicates that the final distance is less than the threshold value.

[0013] According to yet another variant, the threshold value is a function of the braking distance of the autonomous vehicle to bring the autonomous vehicle to a stop.

[0014] According to yet another variant, the minimum safety distance is a function of the speed of the autonomous vehicle and a first determined value of the inter-vehicle time and the maximum safety distance is a function of the speed of the autonomous vehicle and a second determined value of the inter-vehicle time, the second value of the inter-vehicle time being greater than the first determined value of the inter-vehicle time.

[0015] According to a further variant, the first object and the second object each correspond to a vehicle, the current traffic lane being in a first direction of travel and the adjacent traffic lane being in a second direction of travel opposite to the first direction of travel.

[0016] According to a second aspect, the present invention relates to a control device for an overtaking maneuver of a first object by an autonomous vehicle, the device comprising a memory associated with a processor configured for the implementation of the steps of the process according to the first aspect of the present invention.

[0017] According to a third aspect, the present invention relates to an autonomous vehicle, for example of the automobile type, comprising a device as described above according to the second aspect of the present invention.

[0018] According to a fourth aspect, the present invention relates to a computer program which includes instructions adapted for carrying out the steps of the process according to the first aspect of the present invention, in particular when the computer program is executed by at least one processor.

[0019] Such a computer program may use any programming language, and be in the form of source code, object code, or an intermediate form between source code and object code, such as in a partially compiled form, or in any other desirable form.

[0020] According to a fifth aspect, the present invention relates to a computer-readable recording medium on which is recorded a computer program comprising instructions for carrying out the steps of the process according to the first aspect of the present invention.

[0021] On the one hand, the recording medium can be any entity or device capable of storing the program. For example, the medium can include a storage means, such as a ROM, a CD-ROM or a microelectronic circuit-type ROM, or a magnetic recording means or a hard disk drive.

[0022] On the other hand, this recording medium can also be a transmissible medium such as an electrical or optical signal, such a signal being able to be transmitted via an electrical or optical cable, by conventional or radio frequency, by self-directing laser beam, or by other means. The computer program according to the present invention can, in particular, be downloaded from an Internet-type network.

[0023] Alternatively, the recording medium may be an integrated circuit in which the computer program is incorporated, the integrated circuit being adapted to execute or to be used in the execution of the process in question. Brief description of the figures

[0024] Other features and advantages of the present invention will become apparent from the description of the particular and non-limiting embodiments of the present invention below, with reference to the attached Figures 1 to 6, in which:

[0025] [Fig. 1] schematically illustrates a maneuver of overtaking a first object by an autonomous vehicle, according to a particular embodiment of the present invention;

[0026] [Fig.2] illustrates the overtaking maneuver of [Fig.1] at different successive time instants, according to a particular and non-limiting example of the present invention;

[0027] [Fig.3] illustrates a set of conditions relating to the presence of a second object for the overtaking maneuver of [Fig.1], according to a particular and non-limiting embodiment of the present invention;

[0028] [Fig.4] illustrates a decision block for triggering or not triggering the overtaking maneuver of [Fig.1], according to a particular and non-limiting example of the present invention;

[0029] [Fig.5] illustrates a device configured for controlling the overtaking maneuver of the first object by the autonomous vehicle of [Fig.1], according to a particular and non-limiting embodiment of the present invention;

[0030] [Fig. 6] illustrates a flowchart of the different stages of a method for controlling the overtaking maneuver of the first object by the autonomous vehicle of [Fig. 1], according to a particular and non-limiting embodiment of the present invention. Description of embodiment examples

[0031] A method and a device for controlling a maneuver to overtake a first object by an autonomous vehicle, and more specifically for controlling the triggering or non-triggering of the overtaking maneuver, will now be described in what follows with joint reference to figures 1 to 6. The same elements are identified with the same reference signs throughout the description that follows.

[0032] The terms "first," "second" (or "firsts," "seconds"), etc., are used in this document by arbitrary convention to allow for the identification and distinction of different elements (such as operations, means, etc.) implemented in the embodiments described below. Such elements may be distinct or correspond to a single element, depending on the embodiment.

[0033] Fig. 1 schematically illustrates a maneuver of overtaking a first object 11 by an autonomous vehicle 10, according to a particular and non-limiting embodiment of the present invention.

[0034] The environment in which the autonomous vehicle 10 is likely to perform the overtaking maneuver corresponds to any road environment, for example an urban environment, a motorway or expressway environment, an environment with two-way traffic roads, etc.

[0035] An autonomous vehicle is defined as a vehicle equipped with a sophisticated driver assistance system that ensures vehicle control and is capable of operating in its road environment without driver intervention or under the control of a person not involved in driving the autonomous vehicle, except in emergencies, for example. A vehicle capable of such autonomous driving must have a level of autonomous driving higher than a certain level out of a total number of levels. For example, the autonomous vehicle has an autonomy level greater than or equal to 4 out of the 5 levels defined in the classification published by the federal agency responsible for road safety in the USA, or out of the 6 levels defined in the classification published by the international organization of motor vehicle manufacturers, which comprises 6 levels.According to one embodiment, the autonomous vehicle 10 has an autonomy level greater than or equal to 3 out of the 5 or 6 levels provided for in the two classifications mentioned above.

[0036] The autonomous vehicle 10 corresponds for example to a vehicle with a thermal engine, an electric vehicle or a hybrid vehicle (combining a thermal engine and an electric motor).

[0037] According to the example in [Fig. 1], the autonomous vehicle 10 travels on a section of road with two-way traffic. The section of road comprises a first traffic lane 101 with a first direction of travel and a second traffic lane 102 with a second direction of travel opposite or contrary to the first direction of travel.

[0038] Before initiating the overtaking maneuver, the autonomous vehicle 10 travels on the first traffic lane 101 (also called the current traffic lane in the rest of the description, referring to the traffic lane on which the autonomous vehicle travels before deciding whether or not to initiate the overtaking maneuver) on which there is a first object 11 in front of the autonomous vehicle 10 according to the direction of travel of the autonomous vehicle 10 on the first traffic lane 101.

[0039] The first object 11 corresponds to a first vehicle according to the example of [Fig.1] whose speed is less than the speed of the autonomous vehicle 10. According to other examples, the first object 11 corresponds to a static object located on the first traffic lane 11, for example an obstacle, a parked or stopped vehicle, an element of a chicane, etc.

[0040] The trajectory 103 followed by the autonomous vehicle 10 is illustrated with a solid line curve, [Fig. 1] illustrating the autonomous vehicle 10 at the beginning of the overtaking maneuver (corresponding to the origin of trajectory 103) and the autonomous vehicle 10 at the end of the overtaking maneuver (corresponding to the end of trajectory 103 illustrated by the arrow ending the curve).

[0041] An overtaking maneuver such as that illustrated in [Fig. 1] comprises, for example, 3 phases, namely: - a first PI phase during which the autonomous vehicle 10 makes a lane change to move from the first traffic lane 101 to the second traffic lane 102 adjacent to the first traffic lane (also called the adjacent traffic lane or overtaking lane or passing lane), such a lane change being carried out by the autonomous vehicle with a zero or non-zero acceleration value, depending on the situations or types of overtaking maneuver; - a second phase P2 following the first phase PI during which the autonomous vehicle 10 travels in the second traffic lane 102 to overtake (on the left or on the right depending on the country) the first object 101 remaining in the first traffic lane 101, this second phase P2 being implemented with an acceleration of the autonomous vehicle to reach the maximum authorized speed on the section of road comprising the first traffic lane 101 and the second traffic lane 102 (then maintain this maximum authorized speed) or to reach an initial maximum speed lower than the maximum authorized speed (then maintain this initial maximum speed), depending on the situations or types of overtaking maneuver; and - a second phase P3 following the second phase P2 during which the autonomous vehicle 10 makes another lane change to move from the second traffic lane 102 to the first traffic lane 101, i.e. to return to the first traffic lane 101 once the first object 11 has been passed.

[0042] According to the particular example of [Fig. 1], a second object 12 is located on the second traffic lane 102 in front of the autonomous vehicle 10 in the direction of travel of the autonomous vehicle 10. This second object 12 corresponds to a static object (for example an obstacle, a parked or stopped vehicle, an element marking the end of a chicane, etc.) or a dynamic object (for example a second vehicle traveling in the opposite direction to the direction of travel of the autonomous vehicle 10).

[0043] The invention is not limited to such a traffic environment but extends to any traffic environment, for example a motorway or expressway where the direction of traffic is the same on the first traffic lane 101 and on the second traffic lane 102, a road with a single traffic lane and a first object 11 corresponding to an obstacle to be bypassed or a first vehicle stopped or parked on the side of the roadway.

[0044] The types of overtaking maneuvers that the autonomous vehicle 10 can perform belong, for example, to a determined set of overtaking maneuver types comprising 3, 4, 5, 10 or more different types of overtaking maneuvers, each having particular characteristics for one or more phases of the overtaking maneuver.

[0045] The set of overtaking maneuvers includes, for example, the following different types: - a first type according to which the autonomous vehicle 10 performs the lane change of the first phase PI with a non-zero longitudinal acceleration value until reaching the maximum authorized speed on the section of road comprising the first traffic lane 101 and the second traffic lane 102 during the second phase P2, the autonomous vehicle 10 having for example a first longitudinal acceleration value during the first phase PI then a second longitudinal acceleration value during the second phase P2 to reach the maximum authorized speed, the first and second longitudinal acceleration values ​​being different or equal; - a second type in which the autonomous vehicle 10 performs the lane change of the first phase PI with a non-zero longitudinal acceleration value until reaching a first maximum speed lower than the maximum authorized speed, the autonomous vehicle 10 having for example a first longitudinal acceleration value during the first phase PI then a second longitudinal acceleration value during the second phase P2 to reach the first maximum speed, the first and second longitudinal acceleration values ​​being different or equal; - a third type in which the autonomous vehicle 10 performs the lane change of the first phase PI with a value of zero longitudinal acceleration and then continues the overtaking maneuver with the second phase P2 during which the autonomous vehicle 10 accelerates (according to a non-zero longitudinal acceleration value) until it reaches the maximum authorized speed; and - a fourth type in which the autonomous vehicle 10 performs the lane change of the first phase PI with a value of zero longitudinal acceleration and then continues the overtaking maneuver with the second phase P2 during which the autonomous vehicle 10 accelerates (according to a non-zero longitudinal acceleration value, identical or different from that of the third type) until reaching a second maximum speed lower than the maximum authorized speed.

[0046] Two situations are thus distinguished: - first situation including the first type and the second type: the autonomous vehicle 10 performs the lane change of the first PI phase by accelerating, then the autonomous vehicle 10 continues to accelerate during the second phase P2 until it reaches the desired speed; and - second situation including the third type and the fourth type: the autonomous vehicle 10 performs the lane change of the first phase PI without accelerating, at constant speed (for example when the distance between the autonomous vehicle 10 and the first object 11 is greater than a safety threshold at the time of the triggering of the overtaking maneuver), then the autonomous vehicle 10 accelerates during the second phase P2 until reaching the desired speed.

[0047] A process for controlling the overtaking maneuver of the first object 11 by the autonomous vehicle 10 is implemented by one or more processors of a device or set of devices embedded in the autonomous vehicle 10, which corresponds for example to a computer.

[0048] Such a process includes the control of the triggering (triggering or not triggering) of the overtaking maneuver and thus includes a decision as to whether to trigger or not trigger the overtaking maneuver at a current moment, for example when the autonomous vehicle 10 detects the presence of the first object 11 in front of it.

[0049] Such decision-making is implemented by a decision module or block implemented in a hardware or software manner, such a block being for example included in, controlled by or implemented by the computer (or set of computers) implementing the process.

[0050] Figure 4 illustrates such a decision block 40, according to a particular and non-limiting embodiment of the present invention.

[0051] Decision block 40 receives as input a set of data comprising: - data 401 representing the distance, denoted d0 (in meters), between the autonomous vehicle 10 and the first object 11 at a current instant, denoted to, at which the autonomous vehicle 10 wishes to determine whether the overtaking maneuver can be triggered or not, this distance also corresponding to the initial distance between the autonomous vehicle 10 and the first object 11 at the start of the overtaking maneuver; - data 402 representing the initial distance, denoted dovi (in meters), between the autonomous vehicle 10 and the second object 12 at the current time to; - data 403 representing the speed of the first object 11, noted v, (in m / s); - data 404 representing the speed of the second object 12, noted vo (in m / s); - data 405 representative of the speed of the autonomous vehicle 10, noted ve (in m / s); - data 406 representing the maximum authorized speed on the section of road on which the autonomous vehicle 10 is traveling, noted vUm (in m / s); - data 407 representing the length of the first object 11, denoted h (in meters); and - data 408 representative of the width of the current traffic lane 101, also the first traffic lane, noted Aye (in meters), this width also corresponding to that of the adjacent traffic lane 102, also called the second traffic lane.

[0052] This data is, for example, received from one or more environmental perception sensors on board the autonomous vehicle 10 or determined by processing data obtained from one or more of the environmental perception sensors on board the autonomous vehicle 10. The environmental perception sensor(s) on board the automated vehicle 10 correspond, for example, to: - one or more millimeter-wave radars arranged on the autonomous vehicle 10, for example at the front, at the rear, on each front / rear corner of the vehicle; each radar is adapted to emit electromagnetic waves and to receive the echoes of these waves reflected by one or more objects (for example the first object 11 and / or the second object 12), in order to detect obstacles and their distances from the autonomous vehicle 10; and / or - one or more LIDAR(s) (Light Detection and Ranging), a LIDAR sensor corresponding to an optoelectronic system composed of a laser emitter, a receiver including a light collector (to collect the portion of the light emitted by the emitter and reflected by any object located in the path of the light rays emitted by the emitter) and a photodetector that transforms the collected light into an electrical signal; a LIDAR sensor thus makes it possible to detect the presence of objects (for example the first object 11 and / or the second object 12) located in the emitted light beam and to measure the distance between the sensor and each detected object; and / or - one or more cameras (associated or not with a depth sensor) for the acquisition of one or more images of the environment around the autonomous vehicle 10 located in the field of vision of the camera(s), the data obtained from these cameras being processed to read and recognize road signs, for example to determine the maximum authorized speed.

[0053] According to another example, some of the data is received directly from the first object 11, the second object 12 (when the latter correspond to objects, in particular vehicles, known as connected objects) or the infrastructure in a mode Vehicle-to-Everything (V2X) communication. For this purpose, the autonomous vehicle communicates with these objects and / or the infrastructure using a V2X communication system, for example based on the 3GPP LTE-V or IEEE 802.1 lp standards of ITS G5. In such a V2X communication system, each vehicle and / or infrastructure communication devices carry a node (or wireless communication system / interface) to enable vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), and / or vehicle-to-pedestrian (V2P) communication, with pedestrians equipped with mobile devices (e.g., a smartphone) configured to communicate with the vehicles.

[0054] The decision block 40 also receives as input, for example from a memory, a set of parameters including: - a first parameter 411 representing a value of longitudinal acceleration, called comfort, noted ac, such a first parameter corresponding to a longitudinal acceleration deemed comfortable by the occupants of the autonomous vehicle 10, that is to say sufficiently smooth so as not to feel any unpleasant effect linked to an excessive longitudinal acceleration; - a second parameter 412 representing a lateral acceleration value, called comfort, denoted ay, such a second parameter corresponding to a lateral acceleration deemed comfortable by the occupants of the autonomous vehicle 10, that is to say sufficiently gentle so as not to feel any unpleasant effect linked to an excessive lateral acceleration; - a third parameter 413 representing the length of the autonomous vehicle 10, denoted the ; and - a fourth parameter 414 representing an inter-vehicle time, called TIV, corresponding to the minimum safety time to be maintained between the autonomous vehicle 10 and the first object 11, such a fourth parameter corresponding for example to a setpoint parameter of the speed regulation system of the autonomous vehicle, for example an ACC system (from the English "Adaptive Cruise Control" or in French "régulation de vitesse adaptative"), which automatically controls and regulates the speed of the autonomous vehicle 10; such a fourth parameter takes for example two values, with a value with for example a first value corresponding to a so-called lower value of the TIV and a second value higher than the first value corresponding to a so-called higher value of the TIV.

[0055] The value assigned to one or the other of these parameters is, for example, adjustable, for example by a user of the autonomous vehicle 10 via an ad hoc HMI (Human Machine Interface).

[0056] Decision block 40 determines or calculates a decision to be made regarding the triggering of the overtaking maneuver of the first object. The decision takes, for example, the form of an instruction 421 output from decision block 40 corresponding to: - an instruction to trigger the overtaking maneuver (overtaking authorized) transmitted to one or more on-board systems of the autonomous vehicle 10 controlling the driving of the autonomous vehicle 10 in autonomous mode, the trigger instruction corresponding, for example, to a first binary code encoded on a determined set of bits, for example 8 bits, a set of control parameters being transmitted, for example, with the trigger instruction (values ​​of speed, acceleration, distances, trajectory, etc.); or - an instruction to not trigger the overtaking maneuver (overtaking prohibited or inhibited) so that this overtaking maneuver is not implemented by the autonomous vehicle 10, the instruction to not trigger corresponding for example to a second binary code coded on a determined set of bits, for example 8 bits.

[0057] The decision block 40 generates the decision 421 based on intermediate variables calculated from the input data and parameters used to calculate two indicators, namely a first indicator representing a distance required for the autonomous vehicle 10 to perform the overtaking maneuver, this first indicator being noted DTO;, and a second indicator representing a time (or duration) required for the autonomous vehicle 10 to perform the overtaking maneuver, this first indicator being noted TTO;.

[0058] The TTO; corresponds to the time required for the autonomous vehicle 10 to overtake the first object 11, referred to as object or vehicle i, that is to say for the autonomous vehicle 10 to carry out the 3 phases PI, P2 and P3 of the overtaking maneuver (passing into the adjacent lane, overtaking object i and then returning to the initial traffic lane) while ensuring the safety and comfort of the passengers as well as the surrounding vehicles.

[0059] The DTOi corresponds to the distance required for the autonomous vehicle 10 to overtake the first object 11, referred to as object or vehicle i, that is to say for the autonomous vehicle 10 to carry out the 3 phases PI, P2 and P3 of the overtaking maneuver (passing into the adjacent lane, overtaking object i and then returning to the initial traffic lane) while ensuring the safety and comfort of the passengers as well as the surrounding vehicles.

[0060] The calculation of the first DTO indicator and the second TTO indicator is a function of the type of overtaking maneuver and the 've' speed of the autonomous vehicle. 10 during the overtaking maneuver, the current speed 'v / of the first object 11 (considered constant during the maneuver), the length 'l' of the first object 11, the width 'Aye' of the current traffic lane, a determined longitudinal acceleration value 'ac' corresponding to the comfort longitudinal acceleration value, a determined lateral acceleration value 'ay' corresponding to the comfort lateral acceleration value, the length 'le' of the autonomous vehicle 10 and a parameter representing the TIV, denoted TIV* below.

[0061] The calculations of the first indicator DTO; and of the second indicator TTOiAccording to the different types of overtaking maneuver are described below in support of [Fig.2],

[0062] The intermediate variables used in the calculations of the first indicator DTO and the second indicator TTO are identified as follows: - DUm corresponds to the distance required for the autonomous vehicle 10 to go from an initial or current speed to the maximum authorized speed or limit speed vUm; - Drest corresponds to the distance traveled by the autonomous vehicle 10 with the limit speed vUm; - de corresponds to the relative distance required to make a lane change (adjustable value, for example by a user via the HMI); - dmin corresponds to the minimum safety distance between the autonomous vehicle and the first object 'i' 11 after the first lane change, from the current traffic lane 101 to the adjacent traffic lane 102 (adjustable value, for example by a user via the HMI); - d0 corresponds to the initial relative distance between the autonomous vehicle and the first object 'i' 11 to perform the first lane change comfortably; - di corresponds to the distance traveled by the first object 'i' 11 (typically a first vehicle) during the first lane change of the autonomous vehicle 10; - d2 corresponds to the distance traveled by the first object 'i' 11 (typically a first vehicle) during the advance of the autonomous vehicle 10 on the adjacent traffic lane 102 (overtaking lane or passage lane); - d3 corresponds to the distance traveled by the first object 'i' 11 (typically a first vehicle) during the second lane change (from the adjacent traffic lane 102 to the current traffic lane 101) of the autonomous vehicle 10; - dLi corresponds to the distance traveled by the first object 'i' 11 (typically a first vehicle) during the overtaking maneuver of the autonomous vehicle 10; - d4 corresponds to the minimum safety distance between the autonomous vehicle 10 and the first object 'i' 11 at the end of the second lane change (adjustable value, for example by a user via the HMI); - L corresponds to the sum of the lengths of the first object 'i' 11 (namely 1;) and the autonomous vehicle 10 (namely the); - Td corresponds to the time required to make a (first or second) comfortable lane change, i.e. with a comfortable acceleration ac; - T; corresponds to the time required for the autonomous vehicle to move forward on the adjacent traffic lane 102 between the end of the first lane change and before the start of the second lane change; - Tjim corresponds to the time required for the autonomous vehicle 10 to go from the initial or current speed ve to a final speed viim with a comfortable acceleration ac; and - Trest corresponds to the time corresponding to the distance traveled by the autonomous vehicle 10 with the speed vUm.

[0063] Figure 2 illustrates the overtaking maneuver at the following moments, with the position of the autonomous vehicle 10 and the first object 11 (for example, a first vehicle) on the traffic lanes 101 and 102: - to corresponding to the current or initial moment or the decision-making process is implemented to determine whether the overtaking maneuver can be triggered or not; - ti = Td, that is to say at a time following the first change of lane from the current traffic lane 101 to the adjacent traffic lane 102, when the autonomous vehicle 10 is traveling on the adjacent traffic lane 102; -12 = Td + T), that is, at a time preceding the second lane change from the adjacent traffic lane 102 to the current traffic lane 101, just before the autonomous vehicle 10 begins the second lane change; and -13 = Td + T; + Td, that is to say at a time following the second lane change when the autonomous vehicle 10 is back on the current traffic lane 101 in front of the first object 11 with a safety distance from the latter.

[0064] Calculation of the first indicator and the second indicator for the first type of overtaking maneuver

[0065] According to the first type, the autonomous vehicle 10 performs an overtaking maneuver with a comfortable acceleration while respecting the speed limit vUm (maximum authorized speed) on the section of road. The autonomous vehicle 10 reaches the speed vUm before the end of the maneuver and completes the overtaking at a constant speed. In this case, the TTOi (i refers to the index of the first object 11, for example a vehicle) is calculated, assuming that the first object z is traveling at a constant speed, by: [Math.1] TTOi-Td + Ti + Td-Tlim + Trcsti

[0066] [Math.2] ™ _ vlim've 1 lim ~ «c

[0067] Where Td, T„ vUm, TTresti represent respectively the time required to change the lane, the time required to move forward on the passing lane, the maximum authorized speed on the road, the time required to go from an initial speed ve to the speed vnm with a comfort accelerationüc and the time remaining to complete the maneuver carried out at the maximum speed vHm.

[0068] Since Tresti is unknown, it is first necessary to set up the equations that define DTOi in order to calculate Tresti^, namely:

[0069] [Math.3] DTOj — from 4- d^+d ।+dy + d3 + d4+L

[0070] By defining:

[0071] [Math.4] du - d{ + d2 + d3 - Vi (Td + Tj + Td)- VjTTOi

[0072] And

[0073] [Math.5] de = jacTd + (ve-Vi)Td

[0074] We obtain:

[0075] [Math.6] DT Oj = de + d^ + VjTT Oj + d4 + L

[0076] From the equations of motion, Td is calculated by:

[0077] [Math.7] — I ay^

[0078] That is:

[0079] [Math. 8]

[0080] The safety distances d^ and d4 can be calculated by:

[0081] [Math.9] d4 = ^limTir.dmin=TIV\

[0082] This distance can also correspond to:

[0083] [Math. 10] d4 = vîTIV*

[0084] where Td is the time required to perform a comfortable lane change. Aye and ay represent the transverse distance traveled by the autonomous vehicle 10 at each lane change and the comfortable transverse acceleration, respectively.

[0085] The minimum safety distances to be maintained with the leading vehicle dnin and d4 are indicative and not limiting. Other formulas are possible to take into account the acceleration of the vehicle during the first lane change, for example:

[0086] [Math. 11] d^TIV^+a^ )

[0087] And

[0088] [Math. 12] d^riV*

[0089] In this case, BTOt also corresponds to the sum of the distance BUm traveled by the vehicle with an acceleration üc and the distance Brest traveled at the maximum authorized speed vHm-

[0090] [Math. 13] DTOi = DUm + Drest

[0091] From the equations of motion, Blim is calculated by:

[0092] [Math. 14] 1 2

[0093] From equations Math 1, Math 6 and Math 9, Brest is calculated by:

[0094] [Math. 15] Brest — de+d^ + Vj- TUm + VjTrestl + d^ + L- Bnm

[0095] Brest also corresponds to:

[0096] [Math. 16] Brest — resti

[0097] From equations Math 15 and Math 16, Tresti is calculated by:

[0098] [Math. 17] (Vlim "Vf) Tresti ~ de dmjn + V / T+ d^ + L - D[ini

[0099] And

[0100] [Math. 18] rp _ de+d,nin+vi Km * resti ~ vimvi

[0101] Finally, TTOt can be expressed as a function of d^ dmin^e^ ac, L, d^ and rj.

[0102] [Math. 19] 'VT'rt '1' > T' VtmVe , Tlim+d IlUi-l lim + / resti - -ÔT +

[0103] Calculation of the first indicator and the second indicator for the second type of overtaking maneuver

[0104] According to the second type, the autonomous vehicle 10 performs the overtaking maneuver with a comfortable acceleration. At the end of this maneuver, the speed The final speed of autonomous vehicle 10, denoted , is less than the speed vi'm. In this case, to calculate TTOh, it is necessary to first calculate DTO, ;

[0105] [Math.20] DTO{ = ^acTTÔf + vJTO. I — C l t- J

[0106] That is:

[0107] [Math.21] DTOi — de + dltlin + v-^TTO^ d^ + L

[0108] From Math 20 and Math 21 onwards, TTOt and DTO^ can be expressed as a function of v«, de, dmirpc, L, d^ and vi:

[0109] [Math.22] 2 a c TT()j + v e TT O; = d e + d^j, + v^TTOf + ds+L

[0110] Either [YES] [Math.23] iacTT0}+(ve - v^TT O, - dMt -d^-L^Q

[0112] Hence:

[0113] [Math.24] 110^- Oc

[0114] Calculation of the first indicator and the second indicator for the third type of overtaking maneuver

[0115] According to the third type, the initial distance d0 between the autonomous vehicle 10 and the first object * 11 is insufficient for an accelerated lane change, i.e., to perform the first lane change with a non-zero acceleration value, the first lane change thus being performed with a zero acceleration value. In this case, the autonomous vehicle 10 must perform the first lane change at a constant speed in order to maintain a safe distance from the first object * 11. Then, the autonomous vehicle 10 accelerates in the adjacent traffic lane 102 until it reaches the maximum permitted speed before re-entering the initial lane (current traffic lane 101) via the second lane change in front of the first object * 11, thus with a final speed equal to the speed limit vHm. In this case, the TTOi is calculated by:

[0116] [Math.25] TTO—T^ + Tlim + T resti

[0117] Tlim is calculated by equation Math 2. DTOi is calculated by:

[0118] [Math.26] DT O;-=de + dtnifl+dLi+d4+L

[0119] By defining:

[0120] [Math.27] ^Li ~ + ^2 + ^3 = Vi ( Td + Tlim + Tresti )

[0121] And

[0122] [Math.28]

[0123] where dmin and TIV represent the relative safety distance at the end of the first lane change and minimum safe time, respectively. represents the minimum relative distance required for a comfortable lane change.

[0124] DTOt is also calculated by:

[0125] [Math.29] DT O{ = dMt + DUm + Dres[

[0126] [Math.30] d^vJHV*

[0127] where dinit is the distance travelled by the ego vehicle for the first lane change.

[0128] From equations Math 16, Math 26, Math 29 and Math 30, Trest is calculated by:

[0129] [Math.31] 1 resti — rimrvi

[0130] Finally, TTOt and DTOi are ultimately expressed as functions of Td, L. viim, ac ■

[0131] [Math.32] / 2¼ , W L 1 U

[0132] Calculation of the first indicator and the second indicator for the fourth type of overtaking maneuver

[0133] According to the fourth type, the initial distance d0 between the autonomous vehicle 10 and the first object 11 is insufficient for an accelerated lane change, i.e., to perform the first lane change with a non-zero acceleration value, the first lane change thus being performed with a zero acceleration value. In this case, the autonomous vehicle 10 must perform the first lane change at a constant speed in order to maintain a safe distance from the first object 11. Then, the autonomous vehicle 10 accelerates in the adjacent traffic lane 102 until it reaches a final speed ve2 lower than the maximum permitted speed vUm before re-entering the initial lane (current traffic lane 101) via the second lane change in front of the first object 11, thus with a final speed equal to. In this case, the TTOi is calculated by:

[0134] [Math.33] TTO^Td + Tresti

[0135] DTOt is calculated by:

[0136] [Math.34] DTOj - ve*Td + Drest

[0137] where Drest is obtained from the equations of motion:

[0138] [Math.35] 1 2 ^rest 2 ^c^resti resti

[0139] That is:

[0140] [Math.36] ^rest = dmin + VTresti + d^ + L

[0141] From equations Math 35 and Math 36, we obtain the following expression:

[0142] [Math.37] 2ü c T re ^i + - v^T res ti - dmin - d^ - L — 0

[0143] The solution to equation Math 37 gives:

[0144] v,)2+2a£dmin+(l4+L)) Tresti— ac

[0145] Finally, TTOt and HTO are expressed as a function of Td. ac Ve^ vi, L.

[0146] [Math.38] l2^ye ITO^ +-------âe-------

[0147] The process of controlling the overtaking maneuver of the first object 11 by the autonomous vehicle 10 uses the first indicator DTO; and the second indicator TTOi for decision-making, by the decision block 40, as to whether or not to trigger the overtaking maneuver at the current time (also called the initial time) t0.

[0148] In a first operation of the process, the current or initial speed ve of the autonomous vehicle 10 is compared to the current speed v of the first object 'i' 11, the speed ve being for example obtained from an odometer on board the autonomous vehicle 10 and the speed vi being determined from the data obtained from the sensors on board the autonomous vehicle 10 or received from the first object 11 according to a wireless communication mode of type V2X, for example V2V.

[0149] When ve is less than or equal to vi5 the process stops and the overtaking maneuver is not triggered.

[0150] When ve is greater than v;, the process continues with the following operations to decide whether or not to trigger the overtaking maneuver.

[0151] In a second operation of the process, a first comparison between the current (or initial) distance d0 between the autonomous vehicle 10 and the first object 11 is carried out with a first distance interval and a second distance interval. The first distance interval and the second distance interval are each defined by a lower bound and an upper bound.

[0152] The lower bound of the first interval of distances corresponds to the sum of the distance (called first lane change distance, and denoted de(ae — ac), i.e. the distance when the acceleration of the autonomous vehicle 10 is equal to the longitudinal acceleration of comfortüc) required for the autonomous vehicle 10 to make the first lane change (from the current traffic lane 101 to the adjacent traffic lane 102) with a determined value of longitudinal acceleration (called of comfort and denoted ac), and the minimum safety distance between the autonomous vehicle 10 and the first object 11 following the first lane change.

[0153] The upper bound of the first interval of distances corresponds to the sum of the first lane change distance and the maximum safety distance between the autonomous vehicle and the first object following the first lane change.

[0154] The lower bound of the second distance interval corresponds to the sum of the distance (called second lane change distance, and denoted de(ae = 0 ), i.e. the distance when the acceleration ae of the autonomous vehicle 10 is equal to 0) required for the autonomous vehicle 10 for the first lane change with a longitudinal acceleration value equal to 0, and the minimum safety distance.

[0155] The upper bound of the second interval of distances corresponds to the sum of the second lane change distance and the maximum safety distance.

[0156] Thus, the initial distance d0 between the autonomous vehicle 10 and the first object1 11 is compared to the distance of + dmin.

[0157] [Math.39] of = lajj+

[0158] The minimum safety distance dmi^nf is a function of the speed v« of the autonomous vehicle 10 and a first determined value of the inter-vehicle time (for example a minimum determined value of TIV*) and the maximum safety distance dmuKup is a function of the speed of the autonomous vehicle ve and a second determined value of the inter-vehicle time (for example a maximum determined value of TIV*), the second value of the inter-vehicle time being greater than the first determined value of the inter-vehicle time.

[0159] The safety distance dmin can be calculated by:

[0160] [Math.40] dmin =veTIV*

[0161]

[0162]

[0163]

[0164]

[0165]

[0166]

[0167]

[0168]

[0169]

[0170]

[0171]

[0172]

[0173]

[0174]

[0175]

[0176] This distance can also correspond to: [Math.41] During the first comparison, it is checked whether the distance d$ belongs to the first interval of distances having a lower bound of ( ae — ac ) + dmimnf and an upper bound of ( ae — ac) + dinjnsUp, that is to say whether: [Math.42] d~ ^c) 4"dfnimnf — ^0 de( Cle — Uc) + dj^^p And : [Math.43] ^nùn The distance dmin is then defined by: [Math.44] d„ün = dQ-de(ae = ac) This condition or comparison presented in Math 32 allows us to verify if the relative distance at the initial time is adequate to trigger an accelerated, comfortable and safe lane change. [Math.45] Ve <Vum-acTd During the first comparison, it is also checked whether the distance d0 belongs to the second interval of distances having a lower bound of ( ae = 0 ) + dnùmnf and an upper bound of (ae = 0) + dminsup, that is to say whether: [Math.46] de ( Ue — 0 ) + d^ninf < dÿ < de ( — 0 ) 4- dtt^nsUp The minimum distance dmin is then defined by: [Math.47] d^^dQ-d^a^Q) The condition presented in equation Math 46 allows us to verify if the relative distance at the initial time dQ is adequate for a first non-accelerated lane change. In a third operation of the process, the type of overtaking maneuver is selected or determined from a determined set of overtaking maneuver types based on a result of the first comparison and a second comparison between a maximum speed of the autonomous vehicle during the overtaking maneuver and a maximum authorized speed vHm on a portion of road comprising the current traffic lane 101 and the adjacent traffic lane 102.

[0177] The second comparison amounts to comparing Trest to 0, Trest corresponding to the time during which the autonomous vehicle travels at the speed vUm.

[0178] The type of overtaking maneuver thus corresponds to: - first type when the result of the first comparison indicates that the current distance d0 belongs to the first interval of distances and when the maximum speed of the autonomous vehicle reaches the maximum authorized speed viim (or Trest is strictly greater than 0); - second type when the result of the first comparison indicates that the current distance dQ belongs to the first interval of distances and when the maximum speed of the autonomous vehicle is less than the maximum authorized speed vUm (or Trest is equal to 0); - third type when the result of the first comparison indicates that the current distance do belongs to the second interval of distances and when the maximum speed of the autonomous vehicle reaches the maximum authorized speed viim (or Trest is strictly greater than 0); or - fourth type when the result of the first comparison indicates that said current distance belongs to the second interval of distances and when the maximum speed of the autonomous vehicle is less than the maximum authorized speed vUm (or Trest is equal to 0).

[0179] In a fourth operation of the process, the first indicator DTO; and the second indicator TTO; are determined according to the type of overtaking maneuver determined in the third operation, as described previously.

[0180] When the result of the first comparison indicates that the current (or initial) distance d0 does not belong to either the first interval of distances or the second interval of distances, then the overtaking of the first object 11 by the autonomous vehicle 10 is not authorized and the decision taken by the decision block 40 corresponds to a decision not to trigger the overtaking maneuver.

[0181] The equations used to calculate the first DTO indicator and the second TTO indicator vary depending on the type of overtaking maneuver, the calculation of the first DTO indicator and the second TTO indicator being notably a function of the speed 've' of the autonomous vehicle 10 during the overtaking maneuver, the current speed 'v' of the first object 11 (considered constant during the maneuver), the length '1' of the first object 11, the width 'Aye' of the current traffic lane, a determined longitudinal acceleration value 'ac' corresponding to the comfort longitudinal acceleration value, and a determined lateral acceleration value 'ay' corresponding to the lateral acceleration value. comfort, the length 'le' of the autonomous vehicle 10 and a parameter representative of the TIV, noted TIV*.

[0182] In a fifth operation of the process, it is evaluated whether the final distance to a second object 12, denoted °, coming from the opposite direction of the autonomous vehicle 12 (or located on the adjacent traffic lane 102) meets the safety and acceptability criteria for the overtaking maneuver of the first object *11.

[0183] According to the example in Figure 3, the second object 0 12 corresponds to a second vehicle travelling in the opposite direction to that of the autonomous vehicle 10 on the adjacent traffic lane 12 used by the autonomous vehicle 10 to overtake the first object 11.

[0184] Figure 3 illustrates the overtaking maneuver at the following times, with the position of the autonomous vehicle 10, the first object 11 (for example, a first moving vehicle) and the second object 12 (for example, a second moving vehicle) on the traffic lanes 101 and 102: - to corresponding to the current or initial moment when the decision-making is implemented to determine whether the overtaking maneuver can be triggered or not; and - tf corresponding to the final moment when the overtaking maneuver ends with the autonomous vehicle 10 back on the current traffic lane 101 in front of the first object 11 with a safety distance d4 between the first object 11 and the autonomous vehicle 10.

[0185] To verify the safety of the overtaking maneuver, the final distance dmf relative to the second vehicle ° is estimated using the following equation of motion, under the assumption that its speed vo is constant:

[0186] [Math.48] d^TTO;) =dovi-v^TTOi-DTOi

[0187] where dovi and dovf represent the initial distance (at the start or at the triggering of the overtaking maneuver, at time to) and the final distance (at the end of the overtaking maneuver, at time tf) between the autonomous vehicle 10 and the second vehicle 0 12.

[0188] The decision to overtake requires a significant visibility horizon. This horizon must be at least equal to the sum of DTOi and the minimum final distance df required between the autonomous vehicle 10 and the second vehicle 0 12. This distance df can correspond, for example, to the braking distance of the autonomous vehicle 10 calculated by:

[0189] [Math.49]

[0190] However, to allow sufficient time for both vehicles 10 and 12 to come to a comfortable stop, the threshold distance df must be greater. This distance can correspond, for example, to the sum of the braking distances of the autonomous vehicle 10 and the second vehicle 12. It is calculated by:

[0191] [Math.50] af~ 2ac ^^safety

[0192] Where vef corresponds to the final speed of the autonomous vehicle 10 at the end of the overtaking maneuver, variable according to the first type, the second type, the third type and the fourth type, dsafety corresponding to a constant and representing a determined safety distance.

[0193] Thus, the fifth operation corresponds to or includes a third comparison of a distance, called final distance dovj, at the end of the overtaking maneuver between the autonomous vehicle 12 and a second object 12 present on the adjacent traffic lane 102 to a threshold value, the final distance being a function of the first and second indicators, of a speed of the second object 12 and of an initial distance dmj at the beginning of the overtaking maneuver between the autonomous vehicle 10 and the second object 12.

[0194] The threshold value is for example a function of the braking distance of the autonomous vehicle 10 to bring it to a stop, for example greater than or equal to df.

[0195] The distance d5 corresponds to the distance traveled by the autonomous vehicle 10 during the entire overtaking maneuver and corresponds to:

[0196] [Math.51] d5 = DTOi

[0197] The distance d6 corresponds to the distance travelled by the second vehicle 0 12 during the entire overtaking maneuver and corresponds to:

[0198] [Math.52] dg ~ E) • TTOi

[0199] In a sixth operation of the process, the triggering of the overtaking maneuver is controlled according to a result of the third comparison.

[0200] The trigger control includes: - the transmission of an instruction to trigger the overtaking maneuver when the result of the third comparison indicates that the final distance is greater than or equal to the threshold value, for example dovf > df; and - a transmission of an instruction not to trigger the overtaking maneuver when the result of the third comparison indicates that the final distance is less than the threshold value, for example dovf < df.

[0201] The instruction to initiate the overtaking maneuver is, for example, transmitted to one or more computers controlling one or more on-board systems of the autonomous vehicle 10 that ensure the autonomous vehicle 10 is driven in autonomous mode, for example, a trajectory control system, an ACC system, etc. Such an instruction is transmitted, for example, with control parameters corresponding, for example, to at least some of the intermediate variables defined previously. According to this example, the process then includes a control operation of the autonomous vehicle 10 to implement the overtaking maneuver under the supervision of one or more computers.

[0202] The non-triggering instruction blocks and prohibits the overtaking maneuver, the possibility of implementing a new overtaking maneuver then being studied by the autonomous vehicle 10 when the conditions of its environment change (for example the speed of the first object 11, the presence or absence of a vehicle in the opposite direction, etc.).

[0203] According to a particular embodiment, the process further includes a display or a display control of information representative of the decision taken regarding the triggering or not triggering of the overtaking maneuver on a screen of the autonomous vehicle 10 to inform the passenger(s) of the autonomous vehicle 10 of the decision taken and in particular of the triggering of the overtaking maneuver, if applicable.

[0204] Figure 5 schematically illustrates a device 5 configured for controlling an overtaking maneuver of a first object, for example the first object 11, by an autonomous vehicle, for example the autonomous vehicle 10, according to particular and non-limiting embodiments of the present invention. The device 5 corresponds, for example, to a device embedded in the autonomous vehicle 10, for example a computer.

[0205] Device 5 is, for example, configured to carry out the operations described opposite Figures 1 to 4 and / or the steps of the process described opposite [Fig. 6]. Examples of such a device 5 include, but are not limited to, embedded electronic equipment such as a vehicle's on-board computer, an electronic control unit such as an ECU (Electronic Control Unit), a TCU, a controller, a computer, or a mobile communication device (e.g., embedded in a vehicle and connected to that vehicle by wired or wireless communication). The elements of device 5, individually or in combination, may be integrated into a single integrated circuit, into several integrated circuits, and / or into discrete components. Device 5 may be implemented in the form of electronic circuits or software (or computer) modules, or a combination of electronic circuits and software modules.

[0206] The device 5 comprises one (or more) processor(s) 50 configured to execute instructions for carrying out the steps of the process and / or for executing instructions from the software embedded in the device 5. The processor 50 may include integrated memory, an input / output interface, and various circuits known to those skilled in the art. The device 5 further comprises at least one memory 51, for example, volatile and / or non-volatile memory, and / or includes a memory storage device that may include volatile and / or non-volatile memory, such as EEPROM, ROM, PROM, RAM, DRAM, SRAM, flash, magnetic disk, or optical disk.

[0207] The computer code of the embedded software(s) including the instructions to be loaded and executed by the processor is for example stored on memory 51.

[0208] According to various particular and non-limiting embodiments, the device 5 is coupled in communication with other similar devices or systems and / or with communication devices, for example a TCU (Telematic Control Unit), for example via a communication bus or through dedicated input / output ports.

[0209] According to a particular and non-limiting embodiment, the device 5 includes a block 52 of interface elements for communicating with external devices. The interface elements of the block 52 include one or more of the following interfaces: - radio frequency RF interface, for example of the Wi-Fi® type (according to IEEE 802.11), for example in the 2.4 or 5 GHz frequency bands, or of the Bluetooth® type (according to IEEE 802.15.1), in the 2.4 GHz frequency band, or of the Sigfox® type using UBN (Ultra Narrow Band) radio technology, or LoRa in the 868 MHz frequency band, LTE (Long-Term Evolution), LTE-Advanced; - USB interface (from the English "Universal Serial Bus" or "Universal Serial Bus" in French); - HDMI interface (from the English "High Definition Multimedia Interface", or "High Definition Multimedia Interface" in French); - LIN interface (from the English "Local Interconnect Network", or in French "Réseau interconnecté local").

[0210] According to another particular and non-limiting embodiment, the device 5 includes a communication interface 53 which enables communication with other devices (such as other computers in the embedded system) via a communication channel 530. The communication interface 53 corresponds by example to a transmitter configured to transmit and receive information and / or data via communication channel 530. Communication interface 53 corresponds for example to a wired network of type CAN (from the English "Controller Area Network" or in French "Réseau de contrôlers"), CAN FD (from the English "Controller Area Network Flexible Data-Rate" or in French "Réseau de contrôlers à débit de données flexible"), FlexRay (standardized by the ISO 17458 standard) or Ethernet (standardized by the ISO / IEC 802-3 standard).

[0211] According to a particular and non-limiting example of an embodiment, device 5 may provide output signals to one or more external devices, such as a display screen 540, touch or non-touch, one or more speakers 550 and / or other peripherals 560 (projection system) via output interfaces 54, 55 and 56 respectively. In one variant, one or more of the external devices is integrated into the device 5.

[0212] Figure 6 illustrates a flowchart of the different steps in a method for controlling an overtaking maneuver of a first object by an autonomous vehicle, for example vehicle 10, according to a particular and non-limiting embodiment of the present invention. The method is implemented, for example, by a device onboard the autonomous vehicle 10 or by device 5 of Figure 5. The method is implemented when the current speed of the autonomous vehicle is greater than the current speed of the first object at a given time.

[0213] In a first step 61, a first comparison of a current distance between the autonomous vehicle and the first object is performed with a first distance interval and a second distance interval. A lower bound of the first distance interval corresponds to the sum of the distance required for the autonomous vehicle to change lanes from the current lane to an adjacent lane with a determined longitudinal acceleration value, referred to as the first lane change distance, and a minimum safety distance between the autonomous vehicle and the first object following the lane change. An upper bound of the first distance interval corresponds to the sum of the first lane change distance and a maximum safety distance between the autonomous vehicle and the first object following the lane change.The lower bound of the second distance range corresponds to the sum of the distance required by the autonomous vehicle to change lanes with a longitudinal acceleration value of 0, known as the second lane change distance, and the minimum safety distance. The upper bound of the second distance range corresponds to the sum of the second lane change distance and the maximum safety distance.

[0214] In a second step 62, a type of overtaking maneuver is determined from a determined set of overtaking maneuver types based on a result of the first comparison and a second comparison between a maximum speed of the autonomous vehicle during the overtaking maneuver and a maximum authorized speed on a portion of road comprising the current traffic lane and the adjacent traffic lane.

[0215] In a third operation 63, a first indicator and a second indicator are calculated as a function of the type of overtaking maneuver and as a function of a speed of the autonomous vehicle during the overtaking maneuver, the current speed of the first object, a length of the first object, a width of the current traffic lane, the determined longitudinal acceleration value, a determined lateral acceleration value, a length of the autonomous vehicle and a parameter representing an inter-vehicle time between the autonomous vehicle and the first object, the first indicator and the second indicator being respectively representative of a distance and a time required for the autonomous vehicle to perform the overtaking maneuver.

[0216] In a fourth operation 64, a third comparison of a distance, called the final distance, at the end of the overtaking maneuver between the autonomous vehicle and a second object present on the traffic lane adjacent to a threshold value is implemented, the final distance being a function of the first and second indicators, of a speed of said second object and of an initial distance at the beginning of the overtaking maneuver between the autonomous vehicle and the second object.

[0217] In a fifth operation 65, the triggering of the overtaking maneuver is controlled according to a result of the third comparison.

[0218] According to one variant, the variants and examples of the operations described in relation to Figures 1 to 4 apply to the steps of the process in [Fig.6].

Claims

1. Demands Method for controlling a maneuver to overtake a first object (11) by an autonomous vehicle (10), said first object (11) being on a current traffic lane (101) of said autonomous vehicle (10) and in front of said autonomous vehicle (10) in a direction of travel of said autonomous vehicle (10), said method being implemented by at least one processor of said autonomous vehicle (10) and comprising the following steps when a current speed of said autonomous vehicle (10) is greater than a current speed of said first object (11) at a current time: - first comparison (61) of a current distance between said autonomous vehicle (10) and said first object (11) to a first interval of distances and to a second interval of distances, a lower bound of said first interval of distances corresponding to a sum of a distance, said first lane change distance,necessary for the autonomous vehicle (10) for a lane change from said current traffic lane (101) to an adjacent traffic lane (102) to said current traffic lane (101) with a determined longitudinal acceleration value and a minimum safety distance between said autonomous vehicle (10) and said first object (11) following said lane change and an upper bound of said first interval of distances corresponding to a sum of said first lane change distance and a maximum safety distance between said autonomous vehicle (10) and said first object (11) following said lane change, a lower bound of said second interval of distances corresponding to a sum of the distance necessary for the autonomous vehicle (10) for the lane change with a longitudinal acceleration value equal to 0, said second lane change distance,and the minimum safety distance and an upper limit of said second interval of distances corresponding to a sum of said second lane change distance and the maximum safety distance; - determination (62) of a type of said overtaking maneuver from among a set of types of overtaking maneuvers determined according to a result of said first comparison and a second comparison between a maximum speed of the vehicle autonomous (10) during the overtaking maneuver and a maximum authorized speed on a portion of road comprising said current traffic lane (101) and said adjacent traffic lane (102);- calculation (63) of a first indicator and a second indicator as a function of the type of overtaking maneuver and as a function of a speed of the autonomous vehicle (10) during the overtaking maneuver, the current speed of the first object (11), a length of the first object (11), a width of the current traffic lane (101), the determined longitudinal acceleration value, a determined lateral acceleration value, a length of the autonomous vehicle (10) and a parameter representing an inter-vehicle time between the autonomous vehicle (10) and the first object (11), said first indicator and second indicator being respectively representative of a distance and a time required by said autonomous vehicle (10) to perform the overtaking maneuver;- third comparison (64) of a distance, called the final distance, at the end of the overtaking maneuver between said autonomous vehicle (10) and a second object (12) present on said adjacent traffic lane (102) to a threshold value, said final distance being a function of the first and second indicators, of a speed of said second object and of an initial distance at the beginning of the overtaking maneuver between the autonomous vehicle (10) and the second object (12); - control (65) of triggering said overtaking maneuver as a function of a result of said third comparison (64).

2. A method according to claim 1, wherein said set of overtaking maneuver types comprises: - a first type in which the autonomous vehicle (10) performs the lane change with a non-zero longitudinal acceleration value until it reaches said maximum authorized speed; - a second type in which the autonomous vehicle (10) performs the lane change with a non-zero longitudinal acceleration value until it reaches a first maximum speed lower than said maximum authorized speed; - a third type in which the autonomous vehicle (10) performs the lane change with a longitudinal acceleration value zero and then continues said overtaking maneuver with a non-zero longitudinal acceleration value until it reaches said maximum authorized speed; and - a fourth type in which the autonomous vehicle (10) makes the lane change with a zero longitudinal acceleration value and then continues said overtaking maneuver with a non-zero longitudinal acceleration value until it reaches a second maximum speed lower than said maximum authorized speed.

3. A method according to claim 2, wherein the type of said overtaking maneuver corresponds to: - the first type when the result of the first comparison indicates that said current distance belongs to the first interval of distances and when the maximum speed of the autonomous vehicle (10) reaches the maximum authorized speed; - the second type when the result of the first comparison indicates that said current distance belongs to the first interval of distances and when the maximum speed of the autonomous vehicle (10) is less than the maximum authorized speed; - the third type when the result of the first comparison indicates that said current distance belongs to the second interval of distances and when the maximum speed of the autonomous vehicle (10) reaches the maximum authorized speed;or - fourth type when the result of the first comparison indicates that said current distance belongs to the second interval of distances and when the maximum speed of the autonomous vehicle (10) is less than the maximum authorized speed.;

4. A method according to any one of claims 1 to 3, wherein the overtaking maneuver triggering control comprises: - a transmission of an instruction to trigger the overtaking maneuver when the result of the third comparison (64) indicates that the final distance is greater than or equal to the threshold value; and - a transmission of an instruction not to trigger the overtaking maneuver when the result of the third comparison (64) indicates that the final distance is less than the threshold value.

5. A method according to any one of claims 1 to 4, wherein said threshold value is a function of a braking distance of said autonomous vehicle (10) subject to immobilize said autonomous vehicle (10).

6. A method according to any one of claims 1 to 5, wherein said minimum safety distance is a function of said speed of the autonomous vehicle (10) and of a first determined value of the inter-vehicle time and said maximum safety distance is a function of said speed of the autonomous vehicle (10) and of a second determined value of the inter-vehicle time, the second value of the inter-vehicle time being greater than the first determined value of the inter-vehicle time.

7. A method according to any one of claims 1 to 6, wherein the first object (11) and the second object (12) each correspond to a vehicle, the current traffic lane (101) being in a first direction of travel and the adjacent traffic lane (102) being in a second direction of travel opposite to the first direction of travel.

8. Computer program comprising instructions for carrying out the method according to any one of claims 1 to 7, when such instructions are executed by at least one processor.

9. Device (5) for controlling a maneuver of overtaking a first object by an autonomous vehicle, said device (5) comprising a memory (51) associated with at least one processor (50) configured for the implementation of the steps of the method according to any one of claims 1 to 7.

10. Autonomous vehicle (10) comprising the device (5) according to claim 9.

Images