Method for automatically managing the longitudinal speed of a vehicle - Patents.com

Abstract

The invention relates to a method for managing the longitudinal speed of a first vehicle (10), comprising: a step (E1) of detecting vehicles in the traffic around the first vehicle (10), said step (E1) comprising detecting at least one vehicle (401, 402, 411, 421) in front of the first vehicle and at least one vehicle (403, 412, 422) behind the first vehicle; a step (E2) of calculating reference speeds, said step (E2) comprising calculating at least one first reference speed depending on at least one vehicle in front of the first vehicle and calculating at least one second reference speed depending on at least one vehicle behind the first vehicle; a step (E3) of calculating a maximum speed setting (CMAX) depending on the first reference speed; a step (E4) of calculating a minimum speed setting (CMIN) depending on the second reference speed; The method is characterized by comprising a step (E5) of calculating a speed setting value of the first vehicle, wherein the speed setting value of the first vehicle (CVL) is equal to or less than a maximum speed setting value (CMAX) and equal to or greater than a minimum speed setting value (CMIN).

Description

[Technical field]

[0001] The present invention relates to a method for automated management of the longitudinal speed of a vehicle. Furthermore, the present invention relates to an apparatus for automated management of the longitudinal speed of a vehicle. The present invention also relates to a computer program for implementing the aforementioned method. Finally, the present invention relates to a recording medium on which such a program is recorded.

[0002] Driver assistance technology is becoming increasingly widespread and is no longer limited to high-spec vehicles.

[0003] These techniques make it possible to simplify the operation of a motor vehicle and / or to make the behavior of the driver of the motor vehicle more reliable. Documents DE102016213660, US20130297196, US20160159350 and US9272711 are examples of such techniques.

[0004] Some automated speed management systems are commonly installed in modern vehicles and they generally operate based on regulating the distance between the vehicle on which it is installed, also called the first vehicle, and the vehicle ahead of it in its travel lane, called the target vehicle or more simply the target.

[0005] These automated speed management systems are not able to provide a fluid and safe integration into the surrounding traffic, therefore the safe distance from the surrounding vehicles is not always optimal and the vehicle may be subjected to sudden acceleration or braking movements, which may affect the comfort and security of the vehicle occupants.

[0006] SUMMARY OF THE DISCLOSURE It is an object of the present invention to provide a system and method for automated management of the longitudinal speed of a vehicle which remedies the aforementioned drawbacks.

[0007] A first object of the invention is a method for managing longitudinal speed which results in a comfortable and secure adjustment for the occupants in the vehicle.

[0008] To this end, the invention relates to a method for managing the longitudinal speed of a first vehicle, said method comprising the following steps: - detecting vehicles in the surrounding traffic, the detecting step comprising a first vehicle detecting at least one vehicle in front of the first vehicle and at least one vehicle behind the first vehicle; - calculating a reference speed, the reference speed calculating step comprising: calculating at least a first reference speed based on at least one vehicle ahead of the first vehicle; and calculating at least a second reference speed based on at least one vehicle behind the first vehicle; - calculating a maximum speed setpoint based on a first reference speed; - calculating a minimum speed setpoint based on a second reference speed; - calculating a speed setpoint for a first vehicle, the speed setpoint for the first vehicle being less than or equal to said maximum speed setpoint and greater than or equal to said minimum speed setpoint.

[0009] The detection step may comprise detecting at least two vehicles ahead of the first vehicle, and the step of calculating the reference speed may comprise calculating a reference speed associated with each vehicle detected ahead of the first vehicle, and the maximum speed setting value may be equal to the minimum of the reference speeds associated with each vehicle detected ahead of the first vehicle.

[0010] Alternatively or additionally, the detecting step may comprise detecting at least two vehicles behind the first vehicle, and the step of calculating the reference speed may comprise calculating a reference speed associated with each vehicle detected behind the first vehicle, and the minimum speed setting value may be equal to a maximum of the reference speeds associated with each vehicle detected behind the first vehicle.

[0011] At least one of the vehicles detected in the traffic around the first vehicle may be traveling in a lane adjacent to the lane of the first vehicle, and the detection step may include a substep of assessing the risk of the at least one vehicle traveling in the adjacent lane encroaching on the lane of the first vehicle.

[0012] The adjacent travel lane may be an entry lane into the travel lane of the first vehicle.

[0013] The sub-step of assessing a risk of the at least one vehicle entering a lane of travel of a first vehicle includes: - calculating a crossing time of a boundary line located between the adjacent lane and a lane of travel of the first vehicle by the at least one vehicle traveling in the adjacent lane; - comparing the crossing time with a predefined threshold.

[0014] The method comprises: - receiving a pace setting issued by a driver of the first vehicle; - comparing the pace set value with a maximum speed set value and a minimum speed set value. If the pace set value is greater than or equal to the minimum speed set value and less than or equal to the maximum speed set value, the longitudinal speed set value for the first vehicle (longitudinal speed set value) may be equal to the pace set value.

[0015] If the pace setting is strictly greater than the maximum speed setting, then the speed setting for the first vehicle may be equal to the maximum speed setting.

[0016] If the pace set point is strictly less than the minimum speed set point, the speed set point for the first vehicle may be equal to the minimum speed set point.

[0017] The method may comprise the step of comparing a maximum speed setpoint with a minimum speed setpoint. if the minimum speed setpoint is less than or equal to the maximum speed setpoint, then the speed setpoint for the first vehicle may be less than or equal to the maximum speed setpoint and greater than or equal to the minimum speed setpoint; If the minimum speed setting is strictly greater than the maximum speed setting, the speed setting for the first vehicle may be equal to the maximum speed setting.

[0018] The management method may comprise the step of warning vehicles around the first vehicle if the minimum speed setpoint is strictly greater than the maximum speed setpoint.

[0019] The warning step may comprise activating the brake lights of the first vehicle, and / or activating the hazard flashers of the first vehicle, and / or activating the horn of the first vehicle.

[0020] A reference speed associated with a vehicle detected in the first vehicle's environment may be equal to a speed at which the first vehicle should travel to maintain a predetermined following time with the detected vehicle.

[0021] All longitudinal reference velocities (longitudinal reference velocities) may be calculated using the same method.

[0022] The invention also relates to a system for automated management of the longitudinal speed of a vehicle, comprising means for detecting the vehicle, said system comprising hardware and / or software elements implementing the method as defined above.

[0023] The invention also relates to a motor vehicle equipped with an automated management system as defined above.

[0024] The invention also relates to a computer program product comprising said program code instructions recorded on a computer readable medium for performing the steps of the management method defined above, when said program is executed on a computer, or a computer program product capable of being downloaded from a communications network and / or recorded on a computer readable and / or computer executable data medium, characterized in that said program product comprises instructions, when said program is executed by a computer, for prompting said computer to perform the management method defined above.

[0025] The invention also relates to a computer readable data storage medium having recorded thereon a computer program comprising program code instructions for implementing the management method defined above, or a computer readable storage medium comprising instructions which, when executed by a computer, prompt said computer to implement the management method defined above.

[0026] The invention also relates to a signal from a data medium carrying a computer program product as defined above.

[0027] The accompanying drawings show, by way of example, an embodiment of an apparatus for automated management of longitudinal speeds according to the invention and one mode of execution of the method for automated management of longitudinal speeds according to the invention. [Brief description of the drawings]

[0028] [Figure 1] 1 shows a schematic representation of an embodiment of a vehicle equipped with means for implementing a method for automated management of the longitudinal speed of a motor vehicle; [Diagram 2] FIG. 2 shows a schematic diagram of a first traffic configuration taken into account by the method for managing the longitudinal speed of vehicles; [Diagram 3] FIG. 4 shows a schematic diagram of a second traffic configuration taken into account by the method for managing the longitudinal speed of vehicles; [Figure 4] 3 is a flow chart of one execution mode of the method for automated management of the longitudinal speed of a motor vehicle. [Diagram 5] FIG. 2 illustrates a trajectory planning module. [Figure 6] FIG. 4 illustrates a schematic diagram of an envelope of possible values ​​for a longitudinal speed setpoint applied to a first vehicle, in accordance with an embodiment of the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] An embodiment of a vehicle equipped with means for implementing a method for automated management of longitudinal speed is described below with reference to FIG.

[0030] The motor vehicle 10 is any type of motor vehicle, in particular a passenger car or utility vehicle. In this document, the vehicle equipped with the means for implementing the invention is called the "own" vehicle or the first vehicle. These names only allow it to be distinguished from other surrounding vehicles, and do not give the motor vehicle 10 any technical limitations as such.

[0031] The motor vehicle 10 or the ego vehicle 10 or the first vehicle is equipped with a system 1 for automated management of the longitudinal speed of the motor vehicle.

[0032] The system 1 for automated management of the longitudinal speed of a motor vehicle may form part of a more comprehensive driving assistance system 9.

[0033] In the remainder of this specification, a target vehicle refers to a vehicle located in traffic around the ego vehicle 10, whose trajectory parameters (including position and velocity) are taken into account when calculating the setpoint longitudinal velocity of the ego vehicle.

[0034] The target vehicle may be any type of motor vehicle, in particular a passenger car or utility vehicle or even a motorcycle.

[0035] The system 1 for automated management of the longitudinal speed of a motor vehicle mainly comprises the following elements: - means 3 for detecting vehicles traveling in a lane for vehicles 10, called the main lane, and in lanes located on either side of the main lane, called adjacent lanes; a human-machine interface 4 enabling the driver of the vehicle to provide a pace setpoint which contributes to the calculation of a speed setpoint for the vehicle; - a microprocessor 2; - The device has a memory 5.

[0036] The system 1 for automated management of the longitudinal speed of a motor vehicle, and in particular the microprocessor 2, comprises mainly the following modules: - a module 21 for detecting at least two target vehicles in the traffic around the ego-vehicle, said module 21 being able to communicate with the detection means 3; a module 22 for calculating a longitudinal reference speed associated with each of said target vehicles; - a module 23 for calculating a maximum longitudinal speed setpoint for the host vehicle on the basis of said longitudinal reference speed; - a module 24 for calculating a minimum longitudinal speed setting of the host vehicle based on said longitudinal reference speed; a module 25 for calculating a longitudinal speed setpoint for the host vehicle on the basis of said maximum and minimum longitudinal speed setpoints and a pace setpoint issued by the driver of the vehicle, said module 25 being capable of communicating with the human-machine interface 4.

[0037] The motor vehicle 10, in particular the system 1 for automated management of the longitudinal speed of the motor vehicle, preferably comprises all of the hardware and / or software elements configured to implement the methods described in the claims and / or hereinafter.

[0038] The detection means 3 may for example comprise a radar, and / or a lidar, and / or a camera, and / or any other type of sensor suitable for detecting objects in the environment of the ego-vehicle.

[0039] The detection means 3 may provide measurements to the microprocessor 2 including: - the longitudinal distance between the vehicle and the surrounding vehicles; - the longitudinal and lateral speeds of surrounding vehicles; - the longitudinal and lateral accelerations of surrounding vehicles; the relative longitudinal speed of the surrounding vehicles with respect to the ego vehicle.

[0040] The microprocessor 2 may furthermore receive information regarding the longitudinal speed of the ego vehicle, for example via a speed sensor of the ego vehicle connected to the system 1. The microprocessor 2 may also receive information regarding the lateral distance between the ego vehicle and surrounding vehicles and / or information for positioning the ego vehicle in a reference frame, in particular for positioning the ego vehicle with respect to boundary lines.

[0041] The module 25 for calculating the longitudinal speed setpoint is able to transmit control commands to the engine 6 or to the braking system 7 of the vehicle so as to control the longitudinal speed of the host vehicle.

[0042] The module 25 for calculating the longitudinal speed setpoints is capable of transmitting control commands to a visual warning device or horn 8 .

[0043] The system 1 for automated management of the longitudinal speed of a motor vehicle comprises a memory 5. The memory 5 constitutes a storage medium readable by a computer or processor and contains instructions which, when executed by the computer or processor, prompt the computer or processor to carry out a method as claimed or as described below.

[0044] With reference to FIG. 2, it is assumed that a motor vehicle 10, referred to as the ego vehicle, is traveling on a road with three driving lanes in the same direction. The driving lanes are parallel to one another. As a variant, the invention can also be implemented in configurations in which the ego vehicle is traveling on a road with any other number of driving lanes, in particular with a single driving lane, two driving lanes, or even four driving lanes, or even more. The ego vehicle 10 is positioned in a central lane 40, i.e. with a first driving lane 41 adjacent to the right of the ego vehicle and a second driving lane 42 adjacent to the left of the ego vehicle. As a variant, the invention can also be implemented when the ego vehicle is traveling in driving lanes 41 or 42.

[0045] With reference to Figure 2, definitions of terms used in the remainder of this specification are provided: An axis called longitudinal axis 101 of the ego vehicle is defined as its longitudinal axis of symmetry directed towards the front of the vehicle. An axis called transverse axis 102 of the ego vehicle intersects perpendicularly with the longitudinal axis 101 at a point located at the position of the ego vehicle's centre of gravity and is oriented to the left side of the ego vehicle. The velocity vector 103 of the ego vehicle in projection onto the longitudinal axis 101 defines a longitudinal component 104 of the velocity vector, called the longitudinal velocity. The velocity vector 103 of the ego vehicle in projection onto the lateral axis 102 defines a lateral component 105 of the velocity vector, called the lateral velocity. Similarly, the distance between two vehicles can be projected onto the longitudinal and lateral axes, thus defining the longitudinal and lateral distances. By convention, a vehicle is considered to be in a position in front of the ego vehicle if it is located at least partially (for example by at least 50%) within a half-space bounded by an axis 106 parallel to the transverse axis 102, passing through the front edge of the ego vehicle's front bumper and oriented in the direction of axis 101. This half-space therefore corresponds to an area 107 called traffic in a position in front of the ego vehicle. By convention, a vehicle is considered to be in a position behind the ego vehicle if it is located at least partially (for example by at least 50%) within a half-space bounded by an axis 108 parallel to the transverse axis 102, passing through the rear edge of the ego vehicle's back bumper and oriented in the opposite direction to the axis 101. This half-space therefore corresponds to an area 109 called traffic in a position behind the ego vehicle. The lane in which the host vehicle 40 is traveling is called the main lane. - The travel lanes 41 and 42 adjacent to the main lane and located on either side of this lane are called adjacent lanes.

[0046] As a variant, the axis 106, which specifies the boundary of the area called the traffic area 107 ahead, can be moved backwards to be able to select an object further upstream in the traffic (i.e. to the side of the ego-vehicle) in order to predict a potential vehicle in a cut-in or cut-out situation. For example, the axis 106 can be moved back to the rear edge of the back bumper of the ego-vehicle. Also, a vehicle can be considered as a potential object when it is located, for example, at least 10% within the traffic area 107 ahead. The method can therefore be carried out taking into account vehicles located to the side of the ego-vehicle.

[0047] The traffic around the ego-vehicle 10 includes seven vehicles 401, 402, 403, 411, 412, 421, 422, called target vehicles.

[0048] Of these vehicles, four are in a traffic position called the traffic ahead of the ego vehicle, i.e. A first target vehicle 401 is positioned immediately before the ego vehicle and in the same lane 40 as the ego vehicle. A second target vehicle 402 is positioned immediately before the first target vehicle 401 in the same driving lane 40 as the ego vehicle. A third target vehicle 411 is positioned to the right of the ego vehicle in the adjacent driving lane 41 . A fourth target vehicle 421 is positioned to the left of the host vehicle in the adjacent driving lane 42. The other three vehicles are in the traffic position called the rear traffic of the ego vehicle, i.e. A fifth target vehicle 403 is positioned immediately behind the ego vehicle and in the same driving lane 40 as the ego vehicle. A sixth target vehicle 412 is positioned behind the ego vehicle in the adjacent driving lane 41 to the right of the ego vehicle. A seventh target vehicle 422 is positioned behind the host vehicle, to the left of the host vehicle, in the adjacent driving lane 42.

[0049] The method described herein based on a configuration in which the surrounding traffic of the ego vehicle includes seven target vehicles may be implemented with any number of target vehicles, including two or more, including at least one vehicle in a position in front of the ego vehicle and one vehicle in a position behind the ego vehicle, as a variant. For example, the method may be implemented in a situation in which the surrounding traffic includes only target vehicles 401 and 403, or only target vehicles 411 and 412, or else target vehicle 401 and target vehicle 422, or else target vehicle 421 and target vehicle 403. Furthermore, compared to the configuration with seven target vehicles illustrated in FIG. 2, one to four target vehicles may be omitted. The surrounding traffic in a position in front of the ego vehicle may also include five or more target vehicles. Also, the surrounding traffic in a position behind the ego vehicle may also include four or more target vehicles.

[0050] With reference to Fig. 3, one execution mode of the method for automated management of longitudinal speeds is described below. The management method may also be considered as a method for operating a management system or for operating a motor vehicle equipped with a management system. The method comprises five steps E1, E2, E3, E4, E5, which are described below. As illustrated in Fig. 3, steps E1 and E2 are executed in parallel for each target vehicle 401, 402, 403, 411, 412, 421, 422. Each target is thus processed independently of the others. The following steps E3, E4 and E5 are executed in succession.

[0051] In a first step E1, a target vehicle is detected in the traffic around the ego vehicle.

[0052] For this purpose, the method processes data received from detection means 3 installed on the host vehicle.

[0053] The data from the detection means may make it possible to determine the location of the ego vehicle with respect to the driving lanes. In particular, they make it possible to determine whether there are driving lanes 41 and / or 42 adjacent to the main lane 40.

[0054] Adjacent lanes may be detected based on data received from the detection means 3 by analysing ground markings.

[0055] The purpose of taking adjacent lanes into account when detecting objects is to take into account vehicles that may be leaving the main lane (called a "cut-out" situation) or merging into the main lane (called a "cut-in" situation).

[0056] In substep E11, the risk of a cut-out or cut-in situation, or of an intrusion, associated with a vehicle traveling in an adjacent lane, may be assessed based on various criteria, including: a minimum threshold value applied to the Time to Line Crossing (TLC) of said vehicle, which corresponds to the time before said vehicle enters the lane of the host vehicle in case of a cut-in or before said vehicle leaves the lane of the host vehicle in case of a cut-out; and / or - detecting the presence of a flashing light on said vehicle; and / or - taking into account the lateral speed of said vehicle, and / or - a minimum threshold value applied to the longitudinal and / or lateral distance separating said vehicle from the ego-vehicle.

[0057] Objects are selected in the region consisting of the main lane 40 and the two adjacent lanes 41 and 42. For each selected object, the method determines whether it is located in front of or behind the ego-vehicle 10.

[0058] In one embodiment, the selection criteria for objects located in front of the ego-vehicle may be: - at least one and at most four subjects are selected by the method, - an object is selected in the traffic area 107 in a position in front of the ego vehicle, - object 401 and object 402 are selected in the main lane 40; - the selected objects in the main lane 40 are a vehicle 401 ahead of the host vehicle and a vehicle 402 ahead of the vehicle 401; In each of the adjacent lanes 41 and 42 an object is selected, provided that the object is detected as being at risk of cutting in.

[0059] Additionally, in this embodiment, the selection criteria for the object located behind the vehicle may be as follows: - at least one and at most three objects are selected, - an object is selected in the traffic area 108 behind the ego vehicle, - an object 403 is selected to follow the vehicle in the main lane 40; In each of the adjacent lanes 41 and 42 an object is selected, provided that the object is detected as being at risk of cutting in.

[0060] Thus, in the traffic configuration shown in FIG. 2, the first step of the method is to automatically identify vehicle 401, vehicle 402, vehicle 403 as being of interest and to assess their risk of intrusion to determine whether each of vehicle 411, vehicle 412, vehicle 421 and vehicle 422 constitutes a interest.

[0061] A first step E1 considers different configurations regarding the traffic lanes: - if the number of lanes going in the same direction exceeds three, preferably only at most two lanes adjacent to the main lane are taken into account, - if the vehicle is traveling in the left or right most lane of the road, preferably only one adjacent lane is taken into account; On a single lane road, preferably only three objects located within the lane, called the main lane, will be detected.

[0062] Advantageously, the first step E1 also takes into account the detection of objects in the incoming lane 43, in other words a lane for merging into the ego vehicle's lane, as illustrated in Fig. 3. Thus, when the ego vehicle travels in the slowest lane 41 and passes the incoming lane 43 adjacent to the ego vehicle's lane, two object vehicles traveling in the incoming lane 43 can be taken into account, one in a position in front of the ego vehicle and the other in a position behind the ego vehicle.

[0063] The first step E1 also takes into account the detection of objects at turns. In particular, at turns, the trajectory of a vehicle traveling in the adjacent lane 41 or 42 may briefly intersect with the longitudinal axis of the ego vehicle, even if this vehicle remains in the lane adjacent to the longitudinal axis of the ego vehicle. The method is capable of analyzing this situation in a known manner so that the vehicle is correctly considered to be traveling in the adjacent lane.

[0064] Lane changes performed by vehicles in the traffic positions around the ego vehicle are dynamically analyzed during the execution of the method, in particular when modifying the selection of objects. For example, if vehicle 421 moves between the ego vehicle and object 401 located directly ahead of the ego vehicle, vehicle 421 will displace object 401, which in turn will displace object 402, which is therefore no longer taken into account by the method.

[0065] During the transition phase of a lane change performed by a vehicle in the traffic surrounding the ego vehicle, the method applies criteria for determining the lane in which the vehicle is in the process of crossing the boundary line, these criteria may include the lateral distance of crossing the boundary line.

[0066] Alternatively, an embodiment could handle more than seven objects.

[0067] In a second step E2, for each object selected by step E1, the method calculates a so-called longitudinal reference velocity. Said longitudinal reference velocity associated with an object is determined by the following time T h For an object located in front of the vehicle 10, the following time T h corresponds to the time it takes for the ego-vehicle, moving at a longitudinal reference speed, to reach the position currently occupied by said object. For an object located behind the ego-vehicle 10, the following time T h corresponds to the time it takes for the target to reach the host vehicle 10, which is moving at a longitudinal reference speed. h The larger the value of , the greater the longitudinal distance between the host vehicle 10 and the object.

[0068] Follow-up time T h The first value of T may be set to a safety standard, e.g., 2 seconds, and in the remainder of this specification, this first value is referred to as the safe T h In one embodiment, the security T h THSEC may depend on the speed of the host vehicle 10.

[0069] Follow-up time T h The second value of can be set by the so-called driver pace request, i.e., in the remainder of this specification, this second value is referred to as the driver T hThe pace requirement set by the driver may be defined, for example, by three target following levels: a near following level, a middle following level, and a far following level. Each following level is determined by the driver T, which may further depend on the speed of the host vehicle 10. h The pace demands are associated with the THCOND value. Pace demands can be established and viewed via the human machine interface 4 available on the driver's dashboard. For example, pace demands can be determined by the distal tracking pace and high driver T h Three bars corresponding to THCOND, medium following pace and medium driver T h Two bars corresponding to THCOND, as well as proximal following pace and low driver T h It may be displayed in the form of bars with one bar corresponding to THCOND.

[0070] Driver T h THCOND is preferably a safe T h THCOND is greater than or equal to THSEC. Alternatively, the driver may decide to select THCOND that is strictly less than THSEC. In this case, an alert should alert the driver to the dangers associated with his choice.

[0071] In the embodiment described below, the driver does not have the option of selecting THCOND strictly less than THSEC, in other words, THCOND is greater than or equal to THSEC.

[0072] In the first substep E21, the safety T h Using THSEC, calculate the longitudinal reference speed associated with the object. Substep E21 makes it possible to associate to each object a so-called safe longitudinal reference speed, also called safe reference speed VREFSEC.

[0073] For an object located in front of the host vehicle 10, the safe reference speed VREFSEC corresponds to a maximum threshold below which the speed of the host vehicle must be in order to implement a following time of at least the safe following time THSEC for said object.

[0074] For an object located behind the ego vehicle 10, the safe reference speed VREFSEC corresponds to the minimum threshold above which the speed of the ego vehicle must be to enforce a following time equal to or greater than the safe following time THSEC for said object.

[0075] In this first embodiment, the calculation of the safety reference speed VREFSEC associated with the object may integrate the trajectory planning module 80, whose role is to maintain a substantially constant longitudinal distance between said object and the host vehicle in steady state.

[0076] In one embodiment of the trajectory planning module 80 shown in FIG. 5, a second-order servo control may be used to smooth out any velocity fluctuations caused by objects whose driving modes may be erratic.

[0077] In this embodiment, a trajectory planning module 80, an example of which is shown in Figure 5, takes as input the longitudinal velocity 31 of the object and produces as output three parameters: a longitudinal reference distance 81 to be maintained between the vehicle and the object; a relative longitudinal reference speed 82 that the ego vehicle must maintain with respect to the object; - a pre-servo control variable 83 called feedforward.

[0078] The method for calculating these parameters is illustrated in FIG. - s is the Laplace variable (frequency dependent variable), - ξ is the desired damping coefficient for second order dynamics (dimensionless), - ω is the undamped natural angular frequency for second-order dynamics (expressed in radians per second), - ω p is the engine time constant (expressed in radians per second), - T h is the tracking time (expressed in seconds), more specifically, in substep E21, T his equal to the safe follow-up time THSEC, The function f() is a function of the vertical distance calculated by the vertical distance calculation module 811 and the minimum vertical distance D min For example, the function f() may return the maximum of the two aforementioned vertical distances.

[0079] In the described embodiment, the longitudinal reference distance 81, the relative longitudinal reference velocity 82 and the pre-servo control variable 83 are then supplied as inputs to a so-called regulation loop, which calculates a safe reference velocity VREFSEC associated with the target based on these parameters.

[0080] Then, in substep E22, the method also calculates, for each object located in front of the host vehicle, a reference speed VREFCOND of the driver T h Calculate the longitudinal reference velocity associated with

[0081] For an object located in front of the ego vehicle 10, the driver reference speed VREFCOND corresponds to a maximum threshold below which the speed of the ego vehicle should be in order to implement a following time of at least the driver following time THCOND for said object.

[0082] When calculating the driver reference speed VREFCOND, objects located behind the ego vehicle are not taken into account.

[0083] In this second substep E22, the calculation of the driver reference speed VREFCOND associated with the object may integrate the trajectory planning module 80 as described above in substep E21. The following time Th used in the trajectory planning module is then the driver following time THCOND.

[0084] In a third step E3, a maximum longitudinal speed setpoint CMAX for the ego vehicle is calculated making it possible to maintain a given safe following time THSEC between the ego vehicle and all objects located in front of it and identified in step E1.

[0085] The calculation of the maximum longitudinal speed setpoint CMAX will take into account only objects located in front of the ego vehicle. The setpoint CMAX will be calculated by selecting the minimum speed among all the safety reference speeds VREFSEC calculated in step E2 for objects located in front of the ego vehicle.

[0086] In a fourth step E4, the method comprises determining a minimum longitudinal speed setpoint CMIN for the host vehicle. It then becomes possible to calculate and maintain a given safe following time THSEC between the ego vehicle and all objects located behind the ego vehicle and identified in step E1.

[0087] The calculation of the minimum longitudinal speed setpoint CMIN will take into account only objects located behind the ego vehicle. The setpoint CMIN will be calculated by selecting the maximum speed among all the safety reference speeds VREFSEC calculated in step E2 for objects located behind the ego vehicle.

[0088] In a fifth step E5, the method calculates a longitudinal speed setpoint CVL for the host vehicle.

[0089] In a first substep E51, the maximum longitudinal speed setting CMAX is compared with the minimum longitudinal speed setting CMIN.

[0090] If the maximum longitudinal speed setpoint CMAX is strictly smaller than the minimum longitudinal speed setpoint CMIN, this means that it is not possible to determine a longitudinal speed setpoint CVL that allows to follow the safe following time THSEC for both the object in front of the ego-vehicle and the object in the rear of the ego-vehicle. In other words, the most converged object speed of the objects in the rear of the ego-vehicle is too large compared to the most converged object speed of the objects in the front of the ego-vehicle 10. In this case, the longitudinal speed setpoint CVL for the ego-vehicle is set to the maximum longitudinal speed setpoint CMAX. This scenario is illustrated in FIG. 6 between times t2 and t3.

[0091] This selection makes it possible to avoid, as a priority, an accident for which the ego vehicle is responsible, with an object located in front of the ego vehicle.

[0092] In order to limit the risk of an accident due to an object located behind the host vehicle, the method commands the activation of the host vehicle's brake lights and / or the activation of the host vehicle's hazard warning lights and / or the activation of the host vehicle's horn.

[0093] If the maximum longitudinal speed setpoint CMAX is greater than or equal to the minimum longitudinal speed setpoint CMIN, then in substep E52 the method calculates a pace setpoint CALL which makes it possible to maintain a given driver following time THCOND between the host vehicle and all objects located in front of the host vehicle and identified in step E1.

[0094] The calculation of the pace setpoint CALL will take into account only objects located in front of the host vehicle. The setpoint CALL will be calculated by selecting the minimum speed among all the driver reference speeds VREFCOND for objects located in front of the host vehicle calculated in step E2.

[0095] In substep E53, the driver pace setpoint CALL - calculated so as to comply with the following time THCOND determined by the driver of the host vehicle - is then compared with a minimum longitudinal setpoint CMIN and a maximum longitudinal speed setpoint CMAX calculated so as to comply with a safe following time THSEC with objects located in front and behind the host vehicle.

[0096] The various possible cases are illustrated in Figure 6: between t0 and t1, then between t4 and t5, the driver pace setpoint CALL is between the minimum speed setpoint CMIN and the maximum speed setpoint CMAX, in which case the longitudinal speed setpoint CVL for the host vehicle takes on the value of the driver pace setpoint CALL; between times t1 and t2, then between times t3 and t4, then beyond time t5, the driver pace setpoint CALL is less than the minimum speed setpoint CMIN, in which case the longitudinal speed setpoint CVL for the host vehicle takes on the value CMIN; Between t2 and t3, the minimum speed setpoint CMIN is greater than the maximum speed setpoint CMAX, in which case the longitudinal speed setpoint CVL for the host vehicle takes on the value CMAX.

[0097] Thus, the implementation of the present invention has the effect of maintaining the longitudinal speed of the ego vehicle within an envelope of the longitudinal speed EVL (shown in FIG. 6 ), which is determined by applying the safe following time THSEC with respect to a target vehicle located in front of the ego vehicle on the one hand and behind the ego vehicle on the other hand, said target vehicle being possibly located in the lane 40 of the ego vehicle or in lanes 41, 42 adjacent to the ego vehicle's lane.

[0098] In the described embodiment, with the following time set by the driver THCOND being equal to or greater than the safe following time THSEC, the longitudinal speed setpoint CALL is either within or below the envelope EVL.

[0099] If the driver sets a longitudinal speed setpoint CALL that is in a position within the envelope EVL, then the pace setpoint set by the driver is applied.

[0100] If the pace set value set by the driver determines a longitudinal speed set value CALL that is located below the non-empty envelope EVL, then the method implements the determined maximum longitudinal speed set value CMIN by applying a safe following time with respect to an object located behind the host vehicle.

[0101] If the envelope EVL is empty, i.e. if it is not possible to implement the safe following time for both the target vehicle located in front of the host vehicle and the target vehicle located behind the host vehicle, the method will implement the determined maximum longitudinal speed set value CMAX by applying the safe following time with respect to the target located in front of the host vehicle and will activate warning means for warning the vehicle located behind the host vehicle of the dangerous situation.

Claims

1. A method for managing a longitudinal speed of a first vehicle (10), said method comprising the steps of: a detection step (E1) of detecting vehicles in the surrounding traffic, comprising said first vehicle (10) detecting at least one vehicle (401, 402, 411, 421) in front of said first vehicle and at least one vehicle (403, 412, 422) behind said first vehicle; a step (E2) of calculating a reference speed, comprising calculating at least a first reference speed based on the at least one vehicle ahead of the first vehicle and calculating at least a second reference speed based on the at least one vehicle behind the first vehicle; - a step (E3) of calculating a maximum speed setting (CMAX) on the basis of said first reference speed; a step (E4) of calculating a minimum speed setpoint (CMIN) based on said second reference speed; a step (E5) of calculating a speed setpoint for said first vehicle, said speed setpoint (CVL) being less than or equal to said maximum speed setpoint (CMAX) and greater than or equal to said minimum speed setpoint (CMIN).

2. the step of detecting (E1) comprises detecting at least two vehicles ahead of the first vehicle, the step of calculating a reference speed (E2) comprises calculating a reference speed associated with each of the vehicles detected ahead of the first vehicle, and the maximum speed setpoint is equal to the minimum of the reference speeds associated with each of the vehicles detected ahead of the first vehicle; and / or wherein the detection step (E1) comprises detecting at least two vehicles behind the first vehicle, and wherein the step (E2) of calculating a reference speed comprises calculating a reference speed associated with each of the vehicles detected behind the first vehicle, and wherein the minimum speed set value is equal to the maximum of the reference speeds associated with each of the vehicles detected behind the first vehicle.

3. 3. The method according to claim 1 or 2, characterized in that at least one of the vehicles detected in the traffic around the first vehicle is traveling in a driving lane (41, 42) adjacent to the driving lane (40) of the first vehicle, and the detection step (E1) comprises a substep (E11) of assessing the risk of the at least one vehicle traveling in the adjacent driving lane encroaching on the driving lane (40) of the first vehicle.

4. 4. The method according to claim 3, characterized in that the adjacent driving lane is an entrance lane (43) to the driving lane (40) of the first vehicle.

5. The substep (E11) of assessing the risk of at least one vehicle entering the lane of travel (40) of the first vehicle comprises: - calculating the crossing time (TLC) of a boundary line located between said adjacent lane (41, 42) and said lane (40) of said first vehicle by said at least one vehicle traveling in said adjacent lane; A method according to claim 4, characterized in that it comprises: comparing said crossing times (TLC) with a predefined threshold value.

6. - receiving a pace setting (CALL) issued by a driver of said first vehicle; comparing said pace set value with said maximum speed set value (CMAX) and said minimum speed set value (CMIN); 6. A method according to claim 1, characterized in that the longitudinal speed setpoint (CVL) for the first vehicle is equal to the pace setpoint (CALL) if the pace setpoint is greater than or equal to the minimum speed setpoint and less than or equal to the maximum speed setpoint.

7. if said pace setting (CALL) is strictly greater than said maximum speed setting (CMAX), then said speed setting for said first vehicle is equal to said maximum speed setting; and / or, if the pace setpoint is strictly less than the minimum speed setpoint (CMIN), then the speed setpoint for the first vehicle is equal to the minimum speed setpoint.

8. A step (E51) of comparing said maximum speed setting value (CMAX) with said minimum speed setting value (CMIN), if the minimum speed setpoint (CMIN) is less than or equal to the maximum speed setpoint (CMAX), then the speed setpoint (CVL) for the first vehicle is less than or equal to the maximum speed setpoint (CMAX) and greater than or equal to the minimum speed setpoint (CMIN); A method according to any one of claims 1 to 7, characterized in that if the minimum speed setpoint (CMIN) is strictly greater than the maximum speed setpoint (CMAX), then the speed setpoint (CVL) for the first vehicle is equal to the maximum speed setpoint (CMAX).

9. Method according to claim 8, characterized in that it comprises a step (E52) of warning the vehicles around the first vehicle if the minimum speed setting is strictly greater than the maximum speed setting.

10. 10. A method according to any one of claims 1 to 9, characterized in that the reference speed associated with a vehicle detected in the environment of the first vehicle is equal to the speed at which the first vehicle should travel in order to maintain a predetermined following time (Th) with the detected vehicle.

11. Management method according to any one of claims 1 to 10, characterized in that all said longitudinal reference velocities are calculated using the same said method.

12. A system (1) for automated management of the longitudinal speed of a vehicle (10) comprising means (3) for detecting the vehicle, said system comprising hardware and / or software elements implementing the management method according to any one of claims 1 to 11.

13. A motor vehicle (10) comprising an automated management system (1) according to claim 12.

14. A computer program product comprising program code instructions recorded on a computer readable medium for performing the steps of the management method according to any one of claims 1 to 11, when the program is run on a computer.

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