Method for controlling a motor vehicle during a maneuver involving a risk of collision
The method addresses low-speed collision prevention by integrating emergency braking and opposite-direction acceleration, enhancing safety through existing vehicle systems during maneuvers.
Patent Information
- Authority / Receiving Office
- FR · FR
- Patent Type
- Applications
- Current Assignee / Owner
- STELLANTIS AUTO SAS
- Filing Date
- 2024-11-29
- Publication Date
- 2026-06-05
AI Technical Summary
Existing vehicle safety systems fail to effectively prevent collisions during low-speed maneuvers, particularly when visibility is poor, due to insufficient driver reaction time.
A method for controlling a vehicle during low-speed maneuvers that involves emergency braking, followed by acceleration in the opposite direction after assessing a safety distance, to avoid collisions, utilizing existing vehicle components like radar, ESP, and controllable gearboxes.
Enhances safety by automatically avoiding collisions without requiring additional components, leveraging existing vehicle systems to ensure timely maneuver adjustments.
Smart Images
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Abstract
Description
Title of the invention: Method for controlling a motor vehicle during a maneuver of said vehicle with a risk of collision
[0001] The present invention relates generally to the field of active safety of motor vehicles and relates more particularly to a method of controlling a vehicle in the event of a risk of collision during a low-speed maneuver exposing the lateral sides of the vehicle.
[0002] In the present invention, low-speed maneuvering is considered to be a maneuver at a speed of less than 10 km / h.
[0003] Many systems are known to allow the driver of a vehicle to be alerted during a maneuver of the vehicle, in particular, a maneuver of entering or exiting a parking space of the vehicle.
[0004] Motor vehicles today are increasingly equipped with various types and kinds of sensors for driver assistance purposes. These sensors have different functions, including preventing dangerous situations that could lead to accidents, freeing the driver from tasks that could reduce their vigilance, assisting them in their perception of the environment, enabling the vehicle to perceive risks via environmental sensors, and alerting the driver to draw their attention and allow them to react to the risk.
[0005] However, these warning systems have their limitations and do not always allow, depending on the situation, to avoid an imminent collision with a vehicle approaching one of the lateral sides of the vehicle being maneuvered at low speed, in particular a maneuver to exit a parking space with poor visibility, a U-turn, etc. When the driver realizes a risk and brakes, his reaction time may be insufficient to avoid a collision.
[0006] The objective of the present invention is to provide a safety solution to this situation of imminent collision detected by the vehicle during maneuvering, by an automatic takeover of said vehicle to avoid the collision going beyond a simple emergency braking of the vehicle.
[0007] To this end, the invention primarily relates to a method for controlling a motor vehicle during a low-speed maneuver, typically less than 10 km / h, comprising means for controlling the vehicle during the maneuver; said method, implemented by the control means, consists, after detecting an imminent risk of side collision with a third vehicle during the maneuver, of initiating emergency braking of the moving vehicle during the maneuver. according to a first determined direction, and after having assessed a determined safety distance, to be traveled in a second direction, opposite to the first, by the vehicle being maneuvered, free of any obstacle, to temporarily suspend the braking of the vehicle being maneuvered and to command a movement of the vehicle being maneuvered over the said safety distance along the said second direction, with a determined acceleration and a resumption of braking at the end of the determined safety distance allowing to avoid a collision and to secure the vehicle being maneuvered.
[0008] According to one feature, the method consists, after detecting a third vehicle approaching the vehicle being maneuvered, of estimating an imminent collision with the third vehicle from the respective speeds of the third vehicle and the vehicle being maneuvered and the distance separating the two vehicles.
[0009] According to another feature, the method consists of determining the acceleration as a function of the speed of the third vehicle and the distance separating the third vehicle from the vehicle being maneuvered.
[0010] According to another feature, the method consists, in parallel with emergency braking, of warning the approaching third vehicle of a risk of collision, by activating the hazard lights and the horn of the vehicle being maneuvered.
[0011] According to another feature, the method consists, in order to control the movement of the vehicle being maneuvered in the second direction, of controlling a device for changing the direction of travel of the vehicle being maneuvered to go from the first direction of movement to the second direction of movement and of controlling the acceleration of the vehicle being maneuvered in said second direction.
[0012] According to another feature, the method consists of controlling the vehicle during maneuvering, in particular entering or exiting a parking space.
[0013] The present invention has as its second object a computer program product comprising instructions which, when the program is executed by a computer, lead the latter to implement the steps of the process as described above.
[0014] The present invention has as its third object a motor vehicle comprising a driving assistance system of the type AD AS system which itself integrates, or is coupled to, at least one trajectory and stability control computer, of the type ESP, and control means implementing the method as described above; said vehicle further comprising detection means to provide a set of information on the environment of the vehicle during maneuvering, to the driving assistance system, coupled to components of the vehicle during maneuvering in relation to the dynamic behavior of the vehicle during maneuvering.
[0015] According to a feature of the vehicle, the components relating to the dynamic behavior of the vehicle during maneuvering are a vehicle engine control system allowing control of a determined acceleration of the vehicle during maneuvering, a system allowing control of a change of direction of travel of the vehicle during maneuvering, in particular a controllable gearbox allowing selection of a gearbox ratio allowing reversing the direction of travel of the vehicle, reverse gear for moving the vehicle in reverse, or a forward gear for moving the vehicle forward during the maneuver, and an emergency braking system.
[0016] According to another feature of the vehicle, the detection means include a radar at the front, a radar at the rear and a radar on each front left and right, and rear left and right corner of the vehicle.
[0017] The main advantage of the present invention is to increase safety without requiring additional components beyond those already existing on the vehicle, and therefore to enhance safety without additional cost.
[0018] Other advantages and features of the present invention will become clearer from the following description, given solely by way of non-limiting example and with reference to the drawings in which:
[0019] [Fig-1] illustrates a block diagram of a motor vehicle during maneuvering implementing a control method according to the invention;
[0020] [Fig.2] schematically illustrates a first phase of a first life situation capable of causing a side collision with a motor vehicle during maneuvers and implementing the control method according to the invention;
[0021] [Fig.3] schematically illustrates a second phase of the first life situation likely to cause a lateral collision with the motor vehicle during maneuvering and implementing the control method according to the invention;
[0022] [Fig.4] schematically illustrates a first phase of a second life situation capable of causing a side collision with the motor vehicle during maneuvering and implementing the control method according to the invention;
[0023] [Fig. 5] schematically illustrates a second phase of the second life situation likely to cause a side collision with the motor vehicle during maneuvering and implementing the method according to the invention; and
[0024] [Fig.6] illustrates in the form of a flowchart, the main steps of the control process according to the invention.
[0025] The present invention provides a solution for avoiding a collision in the context of a low-speed vehicle maneuver, combining emergency braking at the beginning of the maneuver and acceleration of the vehicle in in the opposite direction to that of the start of the maneuver, as quickly as possible, tending to bring the vehicle back to the initial position in which it was before the start of the maneuver, to completely secure the vehicle.
[0026] The present invention considers maneuvers aimed at getting a vehicle out of its parking space in forward or reverse, but is not limited to this type of maneuver and can address other types of situations for which maneuvers in restricted visibility, in areas with high vehicle density, are necessary, in particular a U-turn in a traffic lane, etc.
[0027] The control method according to the invention can be integrated into or complement a parking entry or exit assistance function which is generally managed by a vehicle driving assistance system, or ADAS system, (from the English "Advanced Driver-Assistance System" or in French "Système d'aide à la conduite avancé") and which acts on various components of the vehicle, including the braking system via a vehicle trajectory and stability control computer of the ESP type (from the English "Electronic Stability Program"), and vehicle acceleration both forward and reverse, which implies an interaction with a controllable gearbox (piloted manual or automatic gearbox) to control a change of direction of travel of the vehicle.
[0028] Fig. 1 illustrates a block diagram of a VHM motor vehicle which implements the control method according to the invention described below.
[0029] The vehicle includes a driver assistance system of the type AD AS, ADA system, which itself integrates, or is coupled to, MCM control means implementing the method according to the invention.
[0030] For the detection of both moving and fixed obstacles in the immediate vicinity of the vehicle during the VHM maneuver, the VHM vehicle relies on detection means, or sensors, including one or more radars, for example millimeter radars, arranged on the VHM vehicle, as described in the example illustrated in [Fig.1]: a radar at the front, CAV, a radar at the rear, CAR and a radar on each front left and right corner CVG, CVD and rear left and right CRG, CRD of the VHM vehicle; the latter also being designated as "corner" radar or corner radar.
[0031] Each CAV, CAR, CVG, CVD, CRG, CRD radar is adapted to emit electromagnetic waves and to receive the echoes of these waves returned by one or more fixed or moving objects, in order to detect these objects and determine their speeds and distances from the vehicle during VHM maneuver.
[0032] These CAV, CAR, CVG, CVD, CRG, CRD radars are advantageously configured to provide a set of information on the vehicle's environment during VHM maneuver, to the driver assistance system, ADA, which can also implement a parking assistance function.
[0033] The AD AS, ADA system is coupled to various components of the vehicle during VHM maneuvers, including components related to the dynamic behavior of the vehicle during VHM maneuvers, and in particular an SFR braking system which may be an automatic emergency braking system also known by the acronym "FAU", and which automatically acts on the brakes of the VHM vehicle with the maximum braking force to avoid an imminent collision, via a CTS trajectory and stability control computer of the VHM vehicle of the "ESP" type (from the English "Electronic Stability Program").
[0034] The AD AS, ADA system is also coupled to a vehicle engine control system (ECU) of the vehicle (electric, thermal or hybrid engine) allowing a determined acceleration of the vehicle during the VHM maneuver, calculated by a computer of the control means MCM.
[0035] The AD AS, ADA system is also coupled to an SCS system allowing control of a change of direction of travel of the vehicle during VHM maneuver, in particular a pilotable gearbox (automatic gearbox, piloted mechanical gearbox, ...) allowing selection of a gearbox ratio allowing reversing the direction of travel of the VHM vehicle, reverse gear for a reverse movement of the VHM vehicle, or a forward gear for a forward movement of the VHM vehicle during the maneuver.
[0036] Figures 2 and 3 and Figures 4 and 5 schematically illustrate respectively two phases of two examples of the VHM vehicle during a maneuver, at low speed, less than 10 km / h, confronted with an imminent risk of side collision with a third vehicle VHT travelling on a VDC traffic lane in an urban area at regulated speed, typically 30 km / h.
[0037] In these figures 2 to 5, the CAV, CAR, CVG, CVD, CRG, CRD radars equipping the VHM vehicle introduced with reference to [Fig.1] are intentionally not shown so as not to overload the drawing but remain described with their respective references.
[0038] Figure 2 illustrates a first phase of a first life situation in which The vehicle VHM leaves its parking space PKG, parallel parked, along a sidewalk TRT, between two vehicles: a first vehicle parked in front of it VH1 and a second vehicle VH2 parked behind it.
[0039] The vehicle undergoing maneuver VHM, here a forward exit maneuver, following the direction Dl, has activated its left turn signals to indicate its maneuver and begins to exit its parking space PKG on its left to entering the VDC traffic lane, adjacent to his PKG location, without having seen that a third vehicle VHT was approaching him at a speed of for example 30 km / h (generally corresponding to the maximum speed allowed in the city centre) foreshadowing an imminent side collision.
[0040] As soon as the rear left corner radar CRG detects the third vehicle VHT, it sends a detection information to the control means MCM comprising at least one computer responsible for evaluating the imminence of the collision so as to command the ESP, CTS system, early enough to stop the vehicle VHM in its lane change maneuver by commanding the SFR braking system.
[0041] The SFR braking system, in particular an "SFU" automatic braking system, is activated and in parallel the MCM control means, or the SFR braking system itself, sends a command to activate the hazard lights and the horn (not shown) of the vehicle undergoing the maneuver VHM in order to warn the third vehicle VHT of the ongoing avoidance maneuver.
[0042] The MCM control means evaluate a safety distance "d" of "withdrawal" allowing the vehicle to reverse safely during the VHM maneuver, via information transmitted by the rear CAR radar possibly assisted by the rear left and right corner radars CRG and CRD.
[0043] Then, in a second phase, illustrated in [Fig.3], in the absence of an obstacle detected on the safety distance “d”, the MCM control means command the cessation of the emergency braking to the SRF braking system followed immediately by a command to move the vehicle VHM, in reverse, in a second direction D2, opposite to the first D1, by controlling the SCS system, a controllable gearbox: an automatic gearbox or a controllable manual gearbox, and with an acceleration command determined by the MCM control means so as to transmit to the engine control system SCM the request for acceleration until reaching the end of the safety distance “d” then, at the end of the safety distance “d”, to command a resumption of the braking of the vehicle VHM for its safety at the end of the avoidance maneuver.
[0044] Figure 4 illustrates a first phase of a second life situation in which the vehicle VHM reverses out of a parking space PKG, perpendicular to a curb TRT, between two vehicles: a first vehicle parked on its left VH1 and a second vehicle parked on its right VH2. In this second life situation, the vehicle being maneuvered VHM was parked facing forward (front of the vehicle VHM towards the curb TRT).
[0045] The vehicle undergoing maneuver VHM, here a reversing maneuver, following the direction Dl, begins to pull out of its parking space PKG on its right to enter the traffic lane VDC without having seen that a third-party vehicle (VHT) was approaching at a speed of, for example, 30 km / h (generally corresponding to the maximum speed allowed in the city center), suggesting an imminent collision.
[0046] As soon as the right rear corner radar CRD detects the third vehicle VHT, it sends a detection information to the control means MCM including the computer responsible for evaluating the imminence of the collision so as to command the ESP, CTS, early enough to stop the vehicle VHM in its lane change maneuver by commanding the braking system SFR.
[0047] The SFR braking system, in particular the SFU automatic braking system, is activated and in parallel the MCM control means send a command to activate the hazard lights and the horn (not shown) of the vehicle undergoing the maneuver VHM in order to warn the third vehicle VHT of the ongoing avoidance maneuver.
[0048] The MCM control means evaluate a safety distance "d" to avoid collision, between the front of the vehicle during the VHM maneuver and a possible obstacle present in front of the vehicle during the VHM maneuver, here the edge of the TRT curb, via information transmitted by the CAV front radar.
[0049] Then, in a second phase, illustrated in [Fig.5], in the absence of an obstacle in the safety distance "d", the MCM control means command the cessation of emergency braking to the SRF braking system and immediately command a movement of the vehicle VHM, forward, in a second direction D2, opposite to the first D1, by piloting the SCS gearbox, and with an acceleration determined by the MCM control means so as to transmit to the engine control system SCM, the request for acceleration until reaching the end of the safety distance "d" then, at the end of distance "d", command a resumption of braking of the vehicle VHM for its safety at the end of the avoidance maneuver.
[0050] Figure 6 illustrates, by way of a flowchart, the main steps of the control process according to the invention.
[0051] The control method, implemented by the MCM control means, consists, after detecting 100 a third vehicle VHT, of estimating 110 an imminent risk of side collision between the third vehicle VHT and the vehicle during the maneuver VHM, from the respective speeds of the third vehicles VHT and during the maneuver VHM and the distance separating the two vehicles VHT, VHM.
[0052] Then, after estimating the risk, 110, to order an emergency braking of the vehicle during the maneuver VHM moving in a first determined direction DL
[0053] The method then consists, after evaluating 300 a determined safety distance "d" to be travelled in a second direction D2, opposite to the first D1, by the vehicle being maneuvered VHM, free of any obstacle, in temporarily suspending 400 the braking of the vehicle being maneuvered VHM and in commanding 500 a movement of the vehicle being maneuvered VHM over said safety distance "d" along said second direction D2, with a determined acceleration 600 and a resumption of braking 700 at the end of the determined safety distance "d" allowing to avoid a collision and to secure the vehicle being maneuvered.
[0054] The method consists of determining the acceleration as a function of the speed of the third vehicle VHT and the distance separating the third vehicle VHT from the vehicle being maneuvered VHM.
[0055] The method consists, in parallel with the emergency braking 200, of warning 210 the approaching third vehicle VHT of a risk of collision, by activating the hazard lights and the horn of the vehicle during the maneuver VHM.
[0056] It consists, in order to control 500 the movement of the vehicle during maneuver VHM along the second direction D2, of controlling 510 a device for changing the direction of travel of the vehicle during maneuver VHM to go from the first direction D1 of movement to the second direction of movement D2 and of controlling the acceleration 600 of the vehicle during maneuver.
[0057] The invention also relates to a computer program product comprising instructions which, when the program is executed by a computer, and in particular by one or more computers of the MCM control means, lead the latter to implement the steps of the process as described above.
Claims
Demands
1. Method of controlling a motor vehicle (MV) during maneuvering at low speed, typically less than 10 km / h, comprising control means (CMM) of the vehicle during maneuvering (MV);said method implemented by the control means (MCM), consisting, after detecting (100) an imminent risk of side collision with a third vehicle (VHT) during the maneuver, of ordering (200) an emergency braking of the vehicle being maneuvered (VHM) moving in a first determined direction (D1), and after evaluating (300) a determined safety distance (d) to be covered in a second direction (D2), opposite to the first (D1), by the vehicle being maneuvered (VHM), free of any obstacle, of temporarily suspending (400) the braking of the vehicle being maneuvered (VHM) and of ordering (500) a movement of the vehicle being maneuvered (VHM) over said safety distance (d) in said second direction (D2), with a determined acceleration (600) and a resumption of braking (700) at the end of the determined safety distance (d) allowing to avoid a collision and to bring the vehicle being maneuvered (VHM) to safety.;
2. A method according to the preceding claim, consisting of, after detecting (100) a third vehicle (VHT) approaching the vehicle being maneuvered (VHM), estimating (110) an imminent collision with the third vehicle (VHT) from the respective speeds of the third vehicle (VHT) and the vehicle being maneuvered (VHM) and the distance separating the two vehicles (VHT, VHM)
3. A method according to any one of the preceding claims, consisting of determining (600) the acceleration as a function of the speed of the third vehicle (VHT) and the distance separating the third vehicle (VHT) from the vehicle being maneuvered (VHM).
4. A method according to any one of the preceding claims, consisting in parallel with emergency braking (200), of warning (210) the approaching third vehicle (VHT) of a risk of collision, by activating the hazard lights and the horn of the vehicle being maneuvered (VHM).
5. A method according to any one of the preceding claims, consisting of, for controlling (500) the movement of the vehicle in during maneuver (VHM) along the second direction (D2), to control (510) a device for changing the direction of travel of the vehicle during maneuver (VHM) to go from the first direction (D1) of movement to the second direction of movement (D2) and to control the acceleration (600) of the vehicle during maneuver (VHM) in said second direction (D2).
6. A method according to any one of the preceding claims, consisting of controlling the vehicle (VHM) during maneuvering, in particular entering or exiting a parking space (PKG).
7. Product computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the steps of the process according to any one of claims 1 to 6.
8. Motor vehicle (MV) comprising a driving assistance system of the type AD AS (ADA) which itself integrates, or is coupled to, at least one stability and trajectory control (STC) computer, of the type ESP, and control means (CMM) implementing the method according to any one of claims 1 to 6; said vehicle (MV) further comprising detection means (CAV, CAR, CVG, CVD, CRG, CRD) for providing a set of information on the environment of the vehicle during maneuvering (MV), to the driving assistance system, (ADA) coupled to components (SCM, SCS, SFR) of the vehicle during maneuvering (MV) related to the dynamic behavior of the vehicle during maneuvering (MV).
9. Vehicle (VHM) according to the preceding claim, wherein the components relating to the dynamic behavior of the vehicle during maneuvering (VHM) are a vehicle (VHM) engine control system (SCM) for controlling a predetermined acceleration of the vehicle during maneuvering (VHM), a system (SCS) for controlling a change of direction of travel of the vehicle during maneuvering (VHM), in particular a controllable gearbox for selecting a gearbox ratio for reversing the direction of travel of the vehicle (VHM), a reverse gear for moving the vehicle (VHM) backward, or a forward gear
10. for forward movement of the vehicle (VHM) during the maneuver, and an emergency braking system (SFR). Vehicle (VHM) according to any one of claims 8 or 9, wherein the detection means comprise a radar at the front (CAV), a radar at the rear (CAR) and a radar on each front left and right corner (CVG, CVD) and rear left and right corner (CRG, CRD) of the vehicle (VHM).