A method for safely overtaking a target by a vehicle

Abstract

A method for safely overtaking a target by a vehicle. One aspect of the invention relates to a method for safely overtaking a target implemented by a vehicle travelling in a lane, comprising a calculation step based on a set of parameters related to the vehicle, the target and the vehicle's environment, of an optimal distance with the target and lateral offset in the lane for overtaking the target as a function of a desired visibility distance on a lane adjacent to the lane, the adjacent lane being a lane on which the vehicle should travel to overtake the target.

Description

Title of the invention: Method for safely overtaking a target by a vehicle. TECHNICAL FIELD OF THE INVENTION

[0001] The technical field of the invention is that of vehicles, and more particularly that of overtaking maneuvers performed by vehicles.

[0002] The present invention relates to a method for a vehicle to overtake a target, and in particular to a safe method for a vehicle to overtake a target. The invention also relates to a vehicle and a computer program for implementing the method. TECHNOLOGICAL BACKGROUND OF THE INVENTION

[0003] When a driver attempts to overtake a target, particularly a large vehicle such as a truck or tractor, it is sometimes difficult to find the vehicle's position in the lane that maximizes the chances of success while minimizing risks to the driver, especially when driving on a two-way road.

[0004] Indeed, some drivers tend to get too close to the vehicle in front of them in order to minimize the maneuvering time. This case is illustrated in [Fig. 1] in which the driver of vehicle 200, wishing to overtake a large target 201, has his field of vision considerably reduced by the target 201 due to his proximity to it, to the point of not being able to see the oncoming road user in the adjacent lane into which he is about to move to overtake.

[0005] There is therefore a need to determine a positioning of a vehicle in its lane of traffic which maximizes the chances of success of an overtaking maneuver without endangering the driver. Summary of the invention

[0006] The invention offers a solution to the problems mentioned above, by allowing the calculation of a vehicle's positioning in its lane of travel enabling the overtaking of a target while minimizing the risks for the driver.

[0007] A first aspect of the invention relates to a method for safely overtaking a target implemented by a vehicle traveling in a lane, comprising a calculation step, based on a set of parameters related to the vehicle, the target, and the vehicle's environment, of an optimal distance to the target and a lateral offset in the lane for overtaking the target as a function of a distance desired visibility on a lane adjacent to the lane, the adjacent lane being a lane on which the vehicle would have to travel to overtake the target.

[0008] Thanks to the invention, a vehicle positioning that provides optimal visibility during an overtaking maneuver is automatically determined. The determined positioning takes into account not only the distance to the target but also the lateral offset of the vehicle from the center of its lane and minimizes the obstruction of the driver's field of vision by the target, thus ensuring the safe execution of the subsequent overtaking maneuver.

[0009] In addition to the characteristics mentioned in the preceding paragraph, the process according to the invention may have one or more additional characteristics from among the following, considered individually or according to all technically possible combinations.

[0010] According to one embodiment, the parameter set includes the speed of the target, the speed difference between the vehicle and the target, the speed limit, the lane width, the width of the target, the detection of a target on the adjacent lane, the weather conditions and / or the condition of the road surface.

[0011] According to an embodiment compatible with the previous embodiment, the method according to the invention comprises a step of placing the vehicle at a distance from the target equal to the calculated distance and / or a step of shifting the vehicle in the lane according to the calculated lateral shift.

[0012] Thus, the vehicle is positioned so as to allow the driver to have optimal visibility before the start of the overtaking maneuver.

[0013] According to a sub-variant of the previous embodiment, the offset step is implemented automatically by a vehicle positioning control function in the lane implemented on the vehicle and the placement step is implemented automatically by a vehicle speed regulation function implemented on the vehicle.

[0014] Thus, the vehicle is positioned automatically, without intervention from the driver, via safety functions implemented on the vehicle.

[0015] According to an embodiment compatible with the previous embodiments, the method according to the invention includes a preliminary step of verifying a set of conditions allowing the target to be overtaken, the calculation step being implemented if the set of conditions is verified, the set of conditions including at least one condition among the following conditions: the lane has markings on the ground which allow overtaking, no event prohibits overtaking, no target is detected on the adjacent lane, the difference in speed between the vehicle and the target is sufficient.

[0016] Thus, the calculation step is only carried out if the environment of the vehicle is conducive to an overtaking maneuver.

[0017] According to a sub-embodiment of the previous embodiment, the event is the presence of a no overtaking sign, a reduction in the speed limit, the presence of a bend.

[0018] According to an alternative embodiment of the previous sub-variant embodiment, the condition that no event prohibits overtaking depends on a distance located in front of the vehicle, calculated from the speed limit, the speed of the target, the length of the target and / or the distance between the vehicle and the target.

[0019] Thus, it is possible to determine the most suitable upcoming zone for an overtaking maneuver.

[0020] According to an embodiment compatible with the previous embodiments, the method according to the invention includes a step of displaying at least one piece of information related to the calculated distance and / or the calculated lateral offset and / or the possibility or not of carrying out an overtaking maneuver on a man / machine interface of the vehicle.

[0021] Thus, positioning advice can be given to the driver to optimize his subsequent overtaking maneuver or to indicate to him that an overtaking maneuver is not feasible given the current positioning of the vehicle or the detection of an element preventing overtaking.

[0022] According to an embodiment compatible with the previous embodiments, the method according to the invention further comprises a step of the vehicle overtaking the target.

[0023] A second aspect of the invention relates to a vehicle comprising means for implementing the method according to the invention.

[0024] A third aspect of the invention relates to 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 according to the invention.

[0025] The invention and its various applications will be better understood by reading the following description and examining the accompanying figures. BRIEF DESCRIPTION OF THE FIGURES

[0026] The figures are presented for illustrative purposes only and are in no way limiting of the invention. • The [Fig. 1], described with reference to prior art, shows a schematic representation of a vehicle preparing to overtake a target. • Fig. 2 is a synoptic diagram illustrating the sequence of steps of a process according to the invention. • Figure 3 shows a schematic representation of a vehicle on which is applied the process according to the invention. DETAILED DESCRIPTION

[0027] Unless otherwise specified, the same element appearing on different figures has a unique reference.

[0028] The invention relates to a method allowing a vehicle to safely overtake a target, that is to say, allowing the vehicle to carry out an overtaking maneuver of the target, which limits the risks for the driver of the vehicle.

[0029] The target is, for example, a road user, such as a vehicle, and preferably a vehicle of significant size, such as a truck or tractor. Alternatively, the target may more generally be a person or an object.

[0030] The sequence of steps of process 100 is illustrated in [Fig.2] and their effects on vehicle 200 are illustrated in [Fig.3].

[0031] Vehicle 200 and target 201 travel on a lane 202 with an adjacent lane 203 on which vehicle 200 should travel to pass target 201 in compliance with the highway code.

[0032] The direction of traffic on the adjacent lane 203 may be the same or the opposite of the direction of traffic on lane 202.

[0033] The method 100 according to the invention may include a first step 101 consisting of verifying that a set of conditions allowing the vehicle 200 to exceed the target 201 applies.

[0034] The set of conditions includes at least one condition.

[0035] The condition may be that lane 202 has 2020 markings on the ground which permit overtaking, for example a dotted line located between lane 202 and the adjacent lane 203, or that no future event prohibits overtaking, for example the presence of a no overtaking sign, a reduction in the speed limit, or the presence of a bend at a predefined distance upstream of vehicle 200, or that no target, for example a vehicle, is detected on the adjacent lane 203, or that the difference in speed between vehicle 200 and target 201 is sufficient, for example that vehicle 200 has a speed at least 20 km / h higher than the speed of target 201.

[0036] The predefined distance depends for example on the speed limit on lane 202, the speed of target 201, the length of target 201 and the distance between vehicle 200 and target 201.

[0037] The predefined distance is for example equal to an overtaking distance equal to the minimum distance to be respected in order to be able to carry out the overtaking maneuver safely according to the criteria of the highway code.

[0038] In this case, the predefined distance Dpredef in meters is, for example:

[0039] D^^V^+L dpredef-

[0040] With:

[0041] I^ego-àble ■ the distance between vehicle 200 and target 201 in meters,

[0042] Vdue: the speed of the target in meters / second; the length of the target 201 in meters,

[0043] Vnm: the speed limit in meters / second,

[0044] Vego: the speed of the vehicle 200 in meters / second.

[0045] The verification of a condition can be carried out from data acquired via a sensor of the vehicle 200, for example a camera, or from data obtained by consulting a map from the location of the vehicle 200.

[0046] A second step 102 of the process 100 consists of calculating a distance D between the vehicle 200 and the target 201, and a lateral offset A of the vehicle 200 in its lane 202 of travel, allowing the driver of the vehicle 200 to have visibility on the adjacent lane 203, over a desired distance.

[0047] The desired distance is, for example, the distance allowing maximum visibility on the adjacent lane 203 and allowing the overtaking maneuver to be carried out before the occurrence of an event preventing overtaking.

[0048] As illustrated in [Fig.3], the distance D is the distance between the vehicle 200 and the target 201 along an axis corresponding to the main axis of the lane 202, and the lateral offset A is a distance along an axis perpendicular to the main axis of the lane 202, relative to the center of the lane 202.

[0049] The calculation is carried out from a set of parameters related to the vehicle 200, the target 201 and the environment of the vehicle 200, in particular the traffic lane 202.

[0050] The parameter set includes, for example, the speed of target 201, the speed difference between vehicle 200 and target 201, the speed limit on lane 202, the width of lane 202 and / or the width of target 201.

[0051] The parameter set may also take into account information related to weather conditions or the state of the road surface.

[0052] The calculation takes into account, for example, the recommendations of the highway code concerning safety intervals between vehicles.

[0053] For example, if target 201 is a truck traveling at a speed close to the speed limit, the passing distance will be high. As target 201 has At a high speed, the distance D will therefore have to be high to follow the recommendations of the highway code, for example equal to 2 times the speed of target 201, and as the width of target 201 is high, the lateral offset A will have to be high, to ensure good visibility of the overtaking distance.

[0054] For example, if target 201 is a car that does not require a license, i.e., is small and traveling at a relatively low speed compared to the speed limit, the overtaking distance will be short. Since target 201 is traveling at a low speed, the distance D can be shorter than that recommended by the highway code, for example, equal to 1.5 times the speed of target 201, and since the width of target 201 is narrow, the lateral offset A can be small or even zero because the distance D already provides visibility of the overtaking distance.

[0055] For example, if target 201 is a tractor, i.e., a large vehicle traveling at a relatively low speed compared to the speed limit, the overtaking distance will be short. Since target 201 is traveling at a low speed, the distance D can be short, for example, equal to the speed of target 201. And since target 201 is wide, the lateral offset A must be large to ensure good visibility of the overtaking distance. Alternatively, the distance D can be increased to approach the safety distance recommended by the highway code, which is equal to twice the speed of target 201, and the lateral offset A can be small or even zero because the distance D already allows visibility of the overtaking distance.

[0056] In the case where the first step 101 of the process 100 according to the invention is carried out, the second step 102 is carried out only if the set of conditions has been verified during the first step 101.

[0057] The method 100 according to the invention may include a third step 103 consisting of displaying at least one piece of information to the driver, on a human / machine interface, for example a screen, of the vehicle 200.

[0058] The information can be linked to the distance D calculated during the second step 102, for example an indication of the actions to be implemented to position the vehicle 200 at the distance D from the target, or to the lateral offset A calculated during the second step 102, for example an indication of the actions to be implemented to position the vehicle 200 at a lateral distance from the center of the lane corresponding to the calculated lateral offset A, or even to the possibility or not of carrying out an overtaking maneuver depending on the environment of the vehicle 200, by signaling for example the presence of a vehicle on the adjacent lane 203, or of any element preventing overtaking.

[0059] A fourth step 104 of the process 100 consists of placing the vehicle 200 at the distance D from the target 201 calculated during the second step 102.

[0060] The fourth step 104 can be implemented manually by the driver, with or without the aid of information displayed during the third step 103, or automatically, for example via a vehicle speed control function 200, implemented on the vehicle 200.

[0061] The speed regulation function is, for example, a function that allows the speed of vehicle 200 to be automatically regulated according to a speed threshold and according to the speed of the vehicle in front of it.

[0062] A fifth step 105 of the process 100 consists of shifting the vehicle 200 in the lane 202 according to the lateral shift A calculated during the second step 102.

[0063] The fifth step 105 can be implemented manually by the driver, with or without the aid of information displayed during the third step 103, or automatically, for example via a function for controlling the positioning of vehicle 200 in lane 202, implemented on vehicle 200.

[0064] The vehicle positioning control function 200 in lane 202 is, for example, the function allowing vehicle 200 to automatically move to one side of its lane to clear a space between lanes in certain predefined situations, for example so that motorcycles or emergency vehicles can pass.

[0065] According to one embodiment, the function of controlling the positioning of vehicle 200 in lane 202 can only be activated if a lane centering function implemented on vehicle 200, which allows the vehicle to be automatically centered in its lane, is activated.

[0066] In [Fig. 3], vehicle 200 is located at a distance D from target 201 and is offset laterally by a distance A from the center of lane 202. This significantly increases the driver's visibility of the adjacent lane 203 and allows them to see an oncoming vehicle in the adjacent lane 203, unlike the situation illustrated with reference to the prior art in [Fig. 1]. Indeed, the portion of the road located inside the dashed cone, corresponding to the portion of the road not visible to the driver, is much smaller in [Fig. 3] than in [Fig. 1] thanks to the optimized positioning of vehicle 200.

[0067] A sixth step 106 of the process 100 consists for the vehicle 200, to exceed the target 201.

[0068] The overtaking maneuver can be carried out manually, i.e. by the driver of vehicle 200, or automatically, via a lane change function implemented on vehicle 200.

Claims

Demands

1. A method (100) for safely overtaking a target (201) implemented by a vehicle (200) travelling in a lane (202), comprising a calculation step (102) based on a set of parameters related to the vehicle (200), the target (201) and the vehicle's environment (200), of an optimal distance (D) with the target (201) and lateral offset (A) in the lane (202) for overtaking the target (201) as a function of a desired visibility distance on a lane adjacent (203) to the lane (202), the adjacent lane (203) being a lane in which the vehicle (200) should travel to perform an overtaking of the target (201).

2. A method (100) according to the preceding claim, wherein the parameter set includes the speed of the target (201), the speed difference between the vehicle (200) and the target (201), the speed limit, the lane width (202), the width of the target (201), the detection of a target on the adjacent lane (203), the weather conditions and / or the condition of the road surface.

3. Method (100) according to any one of the preceding claims, comprising a step (104) of placing the vehicle (200) at a distance from the target (201) equal to the calculated distance (D) and / or a step (105) of shifting the vehicle (200) in the lane (202) according to the calculated lateral shift (A).

4. Method (100) according to the preceding claim, wherein the offset step (105) is automatically implemented by a vehicle positioning control function (200) in the lane (202) implemented on the vehicle (200) and the placement step (104) is automatically implemented by a vehicle speed control function (200) implemented on the vehicle (200).

5. A method (100) according to any one of the preceding claims, comprising a preliminary step (101) of verifying a set of conditions allowing the target (201) to be overtaken, the calculation step (102) being carried out if the set of conditions is met, the set of conditions comprising at least one of the following conditions: the lane (202) has markings (2020) on the ground that permit overtaking, no event prohibits overtaking, no target is detected on the adjacent lane (203), the speed difference between the vehicle (200) and the target (201) is sufficient.

6. Method (100) according to the preceding claim, wherein the event is the presence of a no overtaking sign, a reduction in the speed limit, the presence of a bend.

7. Method (100) according to the preceding claim, wherein the condition that no event prohibits overtaking depends on a distance located in front of the vehicle (200), calculated from the speed limit, the speed of the target (201), the length of the target (201) and / or the distance between the vehicle (200) and the target (201).

8. Method (100) according to any one of the preceding claims, comprising a step (103) of displaying at least one piece of information related to the calculated distance (D) and / or the calculated lateral offset (A) and / or the possibility or not of carrying out an overtaking maneuver on a human / machine interface of the vehicle (200).

9. Method (100) according to any one of the preceding claims, further comprising a step (106) of overtaking the target (201) by the vehicle (200).

10. Vehicle (200) comprising means for implementing the method (100) according to any one of the preceding claims.

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