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FR3070031B1 - Procede et dispositif d’assistance a la conduite automatisee d’un vehicule, avec controle du positionnement transversal par action du conducteur - Google Patents

Procede et dispositif d’assistance a la conduite automatisee d’un vehicule, avec controle du positionnement transversal par action du conducteur Download PDF

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Publication number
FR3070031B1
FR3070031B1 FR1757664A FR1757664A FR3070031B1 FR 3070031 B1 FR3070031 B1 FR 3070031B1 FR 1757664 A FR1757664 A FR 1757664A FR 1757664 A FR1757664 A FR 1757664A FR 3070031 B1 FR3070031 B1 FR 3070031B1
Authority
FR
France
Prior art keywords
vehicle
driver
assistance
action
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1757664A
Other languages
English (en)
Other versions
FR3070031A1 (fr
Inventor
David Giraud
Stephane Camp
Marc Campo
Jeremy Caillet
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Stellantis Auto Sas Fr
Original Assignee
PSA Automobiles SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by PSA Automobiles SA filed Critical PSA Automobiles SA
Priority to FR1757664A priority Critical patent/FR3070031B1/fr
Priority to PCT/FR2018/051867 priority patent/WO2019030439A1/fr
Priority to EP18755220.3A priority patent/EP3665067A1/fr
Priority to CN201880052023.3A priority patent/CN110997460A/zh
Publication of FR3070031A1 publication Critical patent/FR3070031A1/fr
Application granted granted Critical
Publication of FR3070031B1 publication Critical patent/FR3070031B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17557—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for lane departure prevention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/085—Changing the parameters of the control units, e.g. changing limit values, working points by control input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B62D1/286—Systems for interrupting non-mechanical steering due to driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/143—Touch sensitive instrument input devices
    • B60K2360/1438—Touch screens
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/175—Autonomous driving
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B60T2201/089—Lane monitoring; Lane Keeping Systems using optical detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/215—Selection or confirmation of options
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/20—Lateral distance

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Human Computer Interaction (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Un procédé est destiné à assister le conducteur d'un véhicule (VA) pouvant être conduit de façon automatisée et de façon manuelle sur une voie de circulation (VC) définie par des première (L1) et seconde (L2) délimitations. Ce procédé comprend une étape dans laquelle on conduit de façon automatisée le véhicule (VA) en lui faisant suivre une trajectoire sur la voie de circulation (VC) située à une distance choisie (d1) de l'une des première (L1) et seconde (L2) délimitations, et, soit on modifie cette trajectoire sur la voie de circulation (VC) lorsque l'on est en présence d'une première valeur représentative d'une volonté du conducteur de modifier la distance choisie (d1), soit on cesse de conduire le véhicule (VA) de façon automatisée lorsque l'on est en présence d'une deuxième valeur représentative d'une volonté du conducteur de conduire manuellement le véhicule (VA).
FR1757664A 2017-08-11 2017-08-11 Procede et dispositif d’assistance a la conduite automatisee d’un vehicule, avec controle du positionnement transversal par action du conducteur Active FR3070031B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
FR1757664A FR3070031B1 (fr) 2017-08-11 2017-08-11 Procede et dispositif d’assistance a la conduite automatisee d’un vehicule, avec controle du positionnement transversal par action du conducteur
PCT/FR2018/051867 WO2019030439A1 (fr) 2017-08-11 2018-07-20 Procédé et dispositif d'assistance à la conduite automatisée d'un véhicule, avec contrôle du positionnement transversal par action du conducteur
EP18755220.3A EP3665067A1 (fr) 2017-08-11 2018-07-20 Procédé et dispositif d'assistance à la conduite automatisée d'un véhicule, avec contrôle du positionnement transversal par action du conducteur
CN201880052023.3A CN110997460A (zh) 2017-08-11 2018-07-20 用于通过驾驶员的操作控制横向定位来辅助车辆自动驾驶的方法和设备

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1757664 2017-08-11
FR1757664A FR3070031B1 (fr) 2017-08-11 2017-08-11 Procede et dispositif d’assistance a la conduite automatisee d’un vehicule, avec controle du positionnement transversal par action du conducteur

Publications (2)

Publication Number Publication Date
FR3070031A1 FR3070031A1 (fr) 2019-02-15
FR3070031B1 true FR3070031B1 (fr) 2021-03-19

Family

ID=60382350

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1757664A Active FR3070031B1 (fr) 2017-08-11 2017-08-11 Procede et dispositif d’assistance a la conduite automatisee d’un vehicule, avec controle du positionnement transversal par action du conducteur

Country Status (4)

Country Link
EP (1) EP3665067A1 (fr)
CN (1) CN110997460A (fr)
FR (1) FR3070031B1 (fr)
WO (1) WO2019030439A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT202000011098A1 (it) * 2020-05-14 2021-11-14 Leitner Spa Impianto di trasporto ibrido aereo/terrestre e metodo di funzionamento di tale impianto di trasporto
FR3114787A1 (fr) 2020-10-07 2022-04-08 Psa Automobiles Sa Procédé et dispositif de conduite autonome d’un véhicule afin de maintenir le véhicule au centre d’une voie de circulation.

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100507449C (zh) * 2004-08-20 2009-07-01 爱信精机株式会社 停车辅助装置
DE102012002306A1 (de) * 2012-02-06 2013-08-08 Audi Ag Kraftwagen mit einer Fahrerassistenzeinrichtung und Verfahren zum Betreiben eines Kraftwagens
US8676431B1 (en) * 2013-03-12 2014-03-18 Google Inc. User interface for displaying object-based indications in an autonomous driving system
US9150224B2 (en) * 2013-09-24 2015-10-06 Ford Global Technologies, Llc Transitioning from autonomous vehicle control to to driver control to responding to driver control
DE102013019141A1 (de) * 2013-11-15 2015-05-21 Audi Ag Fahrmoduswechsel beim Fahrerassistenzsystem
FR3026708B1 (fr) 2014-10-07 2016-11-18 Jtekt Europe Sas Securisation d'une fonction d'aide a la conduite au sein d'une direction assistee
JP6237656B2 (ja) * 2015-01-19 2017-11-29 トヨタ自動車株式会社 車両システム
JP6425597B2 (ja) * 2015-03-26 2018-11-21 アルパイン株式会社 運転支援システム
JP6406141B2 (ja) * 2015-06-30 2018-10-17 トヨタ自動車株式会社 車両走行制御装置
KR101768115B1 (ko) * 2015-10-15 2017-08-14 현대자동차주식회사 컨트롤 패드, 그를 가지는 차량 및 그 제어 방법

Also Published As

Publication number Publication date
EP3665067A1 (fr) 2020-06-17
FR3070031A1 (fr) 2019-02-15
CN110997460A (zh) 2020-04-10
WO2019030439A1 (fr) 2019-02-14

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