FR3104519B1 - Method for determining a speed profile of a motor vehicle - Google Patents

Method for determining a speed profile of a motor vehicle Download PDF

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Publication number
FR3104519B1
FR3104519B1 FR1914464A FR1914464A FR3104519B1 FR 3104519 B1 FR3104519 B1 FR 3104519B1 FR 1914464 A FR1914464 A FR 1914464A FR 1914464 A FR1914464 A FR 1914464A FR 3104519 B1 FR3104519 B1 FR 3104519B1
Authority
FR
France
Prior art keywords
phase
determining
speed
jerk
speed profile
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
FR1914464A
Other languages
French (fr)
Other versions
FR3104519A1 (en
Inventor
François Bordelais
Vakanga Fadiga
Maud Peyret
Raphaël Quilliard
Antoine Simonin
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.)
Renault SAS
Nissan Motor Co Ltd
Original Assignee
Renault SAS
Nissan Motor Co Ltd
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 Renault SAS, Nissan Motor Co Ltd filed Critical Renault SAS
Priority to FR1914464A priority Critical patent/FR3104519B1/en
Priority to PCT/EP2020/083822 priority patent/WO2021121913A1/en
Publication of FR3104519A1 publication Critical patent/FR3104519A1/en
Application granted granted Critical
Publication of FR3104519B1 publication Critical patent/FR3104519B1/en
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
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • 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
    • B60W50/0097—Predicting future conditions
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/103—Speed profile
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Electric Motors In General (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Controls For Constant Speed Travelling (AREA)

Abstract

Procédé de détermination d’un profil de vitesse à suivre d’un véhicule automobile, le procédé comprenant des étapes d’acquisition de données d’évènement comprenant au moins une distance d’évènement (D) et une vitesse cible (V3) à cet évènement pour ledit véhicule, de fourniture d’une vitesse initiale (V0) mesurée dudit véhicule, de détermination d’un profil de vitesse à suivre en fonction du temps, entre ladite vitesse initiale et ladite vitesse cible en trois phases distinctes successives, respectivement une première phase (Phase_1) où on fixe constant le jerk à une valeur de jerk maximale prédéterminée pour atteindre une valeur d’accélération maximale prédéterminée à la fin de la première phase, une deuxième phase (Phase_2) où on maintient constante ladite valeur d’accélération maximale prédéterminée pendant toute la deuxième phase et une troisième phase (Phase_3) où on fixe à nouveau constant le jerk pour atteindre une valeur d’accélération nulle à la fin de la troisième phase. Figure à publier avec l’abrégé : Fig. 1A method of determining a speed profile to follow of a motor vehicle, the method comprising steps of acquiring event data comprising at least an event distance (D) and a target speed (V3) at this. event for said vehicle, of providing a measured initial speed (V0) of said vehicle, of determining a speed profile to be followed as a function of time, between said initial speed and said target speed in three successive distinct phases, respectively a first phase (Phase_1) where the jerk is fixed constant at a predetermined maximum jerk value to reach a predetermined maximum acceleration value at the end of the first phase, a second phase (Phase_2) where said acceleration value is kept constant maximum predetermined throughout the second phase and a third phase (Phase_3) where the jerk is again set constant to reach a zero acceleration value at the end of the third phase. Figure to be published with the abstract: Fig. 1

FR1914464A 2019-12-16 2019-12-16 Method for determining a speed profile of a motor vehicle Active FR3104519B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR1914464A FR3104519B1 (en) 2019-12-16 2019-12-16 Method for determining a speed profile of a motor vehicle
PCT/EP2020/083822 WO2021121913A1 (en) 2019-12-16 2020-11-30 Method for determining a motor vehicle speed profile

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1914464A FR3104519B1 (en) 2019-12-16 2019-12-16 Method for determining a speed profile of a motor vehicle
FR1914464 2019-12-16

Publications (2)

Publication Number Publication Date
FR3104519A1 FR3104519A1 (en) 2021-06-18
FR3104519B1 true FR3104519B1 (en) 2021-11-05

Family

ID=69743515

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1914464A Active FR3104519B1 (en) 2019-12-16 2019-12-16 Method for determining a speed profile of a motor vehicle

Country Status (2)

Country Link
FR (1) FR3104519B1 (en)
WO (1) WO2021121913A1 (en)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5417386B2 (en) * 2011-07-01 2014-02-12 日立オートモティブシステムズ株式会社 Vehicle motion control device
DE102014215671A1 (en) * 2014-08-07 2016-02-11 Bayerische Motoren Werke Aktiengesellschaft Driver assistance system in a motor vehicle
EP3144197B1 (en) * 2015-09-15 2021-07-14 Ford Global Technologies, LLC Method for automatically adapting acceleration in a motor vehicle
JP6330791B2 (en) * 2015-11-19 2018-05-30 トヨタ自動車株式会社 Vehicle control device
US9932038B1 (en) * 2016-11-30 2018-04-03 Baidu Usa Llc Speed control for a full stop of an autonomous driving vehicle
DE102017212899B4 (en) * 2017-07-27 2019-04-18 Audi Ag Method for trajectory calculation and regulation for a driver assistance system and a control unit and motor vehicle
US11453393B2 (en) 2017-10-09 2022-09-27 Magna Electronics Inc. Autonomous vehicle with path planning system

Also Published As

Publication number Publication date
WO2021121913A1 (en) 2021-06-24
FR3104519A1 (en) 2021-06-18

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