CN110997460A

CN110997460A - Method and apparatus for assisting automatic driving of vehicle by controlling lateral positioning by driver's operation

Info

Publication number: CN110997460A
Application number: CN201880052023.3A
Authority: CN
Inventors: 大卫·吉罗; 斯蒂芬·坎普; 马克·坎波; 杰里米·卡耶
Original assignee: PSA Automobiles SA
Current assignee: PSA Automobiles SA
Priority date: 2017-08-11
Filing date: 2018-07-20
Publication date: 2020-04-10
Also published as: EP3665067A1; FR3070031B1; WO2019030439A1; FR3070031A1

Abstract

The invention relates to a method for assisting a driver of a Vehicle (VA) which can be driven in an automated and manual manner on a traffic lane (VC) defined by a first boundary (L1) and a second boundary (L2). The method comprises the steps of driving the Vehicle (VA) in an automatic manner by causing the vehicle to follow a trajectory on the traffic lane (VC), the trajectory being located at a selected distance (d1) from one of the first boundary (L1) and the second boundary (L2), and changing the trajectory on the traffic lane (VC) when there is a first value representing that the driver desires to change the selected distance (d1), and stopping driving the Vehicle (VA) in an automatic manner when there is a second value representing that the driver desires to manually drive the Vehicle (VA).

Description

Method and apparatus for assisting automatic driving of vehicle by controlling lateral positioning by driver's operation

Technical Field

The present invention relates to an autonomous vehicle, optionally of the motor vehicle type, and more particularly to an aid for assisting a driver of the vehicle driving the vehicle.

Background

In the following, the term "autonomous vehicle" refers to a vehicle that can be driven in an automatic or autonomous manner during an automatic driving phase (thus without intervention by the driver of the vehicle), or in a manual driving phase (thus with intervention by the driver of the vehicle on the steering wheel and/or pedals).

Some autonomous vehicles, generally of the motor vehicle type, comprise an auxiliary device responsible for controlling the positioning of the vehicle with respect to a direction transverse to the chosen lane of travel and for temporarily driving the vehicle without the driver of the vehicle operating the steering wheel or pedals.

As is known to those skilled in the art, this type of auxiliary device ensures control of the vehicle, in particular on the basis of information relating to the environment outside the vehicle and provided at least by means of an on-board external environment analysis device. For this purpose, the auxiliary device continuously determines an optimal trajectory of the vehicle in the case of autonomous driving, and controls the angle of the steering wheel and the speed of the vehicle so that the vehicle better follows the determined optimal trajectory.

The optimal trajectory is defined laterally between two boundaries defining the selected traffic lane. The optimal trajectory typically passes substantially equidistant from the two boundaries. It should be noted that the boundary may be of any type. Thus, it may relate to, for example, straight lines, parts of sidewalks, low walls, grass clumps or gravel areas.

A disadvantage of this type of assistance device is that the driver is not allowed to select the position of the best trajectory between the two boundaries of the selected lane according to his preference or the preference of the passenger. As a result, the driver's operation on the steering wheel has not been considered for a long time during the automatic driving phase.

Of course, it has been proposed in patent document FR 3026708 to observe the angular position of the steering wheel, the torque exerted on the steering wheel by the driver, or the angular speed of rotation of the steering wheel by the driver, in order to detect a potentially dangerous situation caused by the driver suddenly causing the steering wheel to be operated. When this situation is detected, the action of the electric motor on the auxiliary steering of the vehicle is temporarily moderated, allowing the driver to modify the optimal trajectory (under control), even interrupting the automatic driving phase so that the driver enters manual driving.

However, the above-described assist type is only used to detect an abnormal situation that cannot be detected by a steering device loaded on the vehicle (outside or inside the cab) in the automatic driving phase. In particular, it does not allow the driver to simply select the lateral position of his vehicle's optimum trajectory between the two boundaries of the travelling lane, while keeping the fully autonomous driving and therefore driving safely.

Disclosure of Invention

In particular, it is an object of the invention to improve this situation.

To this end, the invention proposes, in particular, a method which, on the one hand, allows assisting the driver of a vehicle which is able to travel in an automatic and manual manner on a traffic lane defined by a first and a second boundary, and, on the other hand, comprises the following steps: in which the vehicle is driven in an automated manner by following a trajectory on the traffic lane located at a selected distance from one of the first and second boundaries.

The assistance method is characterized in that in its steps:

-changing the trajectory of the vehicle on the traffic lane when there is a first value representing the driver's desire to change the selected distance,

-stopping driving the vehicle in an automatic manner when there is a second value representing a driver's desire to drive the vehicle manually.

Thanks to the invention, the driver's specific and deliberate action now makes it possible to select a new lateral position of his vehicle's trajectory between the two boundaries of the chosen travel lane, while maintaining a fully automatic and therefore safe driving, or resuming manual driving of the vehicle.

The secondary method according to the invention may comprise other features that may be adopted individually or in combination, in particular:

in a step of the method, when there is a third value representing that the driver desires not to change the selected distance, the trajectory of the vehicle on the traffic lane may not be changed;

in a first embodiment, in the steps of the method, the value of the torque applied by the driver to the steering wheel of the vehicle during autonomous driving may be compared to a first threshold value and a second threshold value. In this case, when the torque value is between the first threshold and the second threshold, it may be considered that there is a first value representing the driver's desire to change the selected distance, and when the torque value is greater than the second threshold, it may be considered that there is a second value representing the driver's desire to manually drive the vehicle;

in the steps of the method, when the torque value is between the first threshold and the second threshold, a new selected distance that varies according to the torque value and the direction of torque application may be determined, and then the vehicle may be driven in an automated manner by following a trajectory on the lane, the trajectory being located at the new selected distance from one of the first boundary and the second boundary;

in a step of the method, when the torque value is less than the first threshold value, it may be assumed that there is a third value representing the driver's desire not to alter the selected distance;

in a second embodiment, in the steps of the method, in the event of actuation of a first control member associated with a change of the selected distance, a first value representative of the magnitude and direction of the actuation may be determined, and a new selected distance, which varies according to the first value, may be determined, and the vehicle may then be driven in an automatic manner by following a trajectory on the lane, which trajectory is located at a new selected distance from one of the first and second boundaries. On the other hand, in the case of actuation of the second control member associated with manual driving, it may be considered that the second value is present (and therefore stopping driving the vehicle in an automatic manner);

in a third embodiment, in the steps of the method, in the case where an area having a specific position is selected on the touch screen of the vehicle, a lateral distance that the position of the selected area is laterally separated from the reference point may be determined. Then, when the absolute value of the lateral distance is less than a threshold value, it may be considered that a first value exists, then a new selected distance that varies according to the first value equal to the lateral distance may be determined, and then the vehicle may be driven in an automatic manner by causing the vehicle to follow a trajectory on the lane, the trajectory being located at the new selected distance from one of the first boundary and the second boundary, or, when the absolute value of the lateral distance is greater than the threshold value, a second value exists, and then the driving of the vehicle in an automatic manner may be stopped.

The invention also proposes an apparatus for assisting a driver of a vehicle that is able to travel in an automatic manner and in a manual manner on a traffic lane defined by a first and a second boundary, on the one hand, and comprising control means for controlling the automatic driving of the vehicle by causing the vehicle to follow a trajectory on the traffic lane at a selected distance from one of the first and the second boundary, on the other hand.

The assistance device is characterized in that its control means alters the trajectory of the vehicle on the traffic lane when there is a first value representing that the driver desires to alter the selected distance, or stops controlling the driving of the vehicle in an automatic manner when there is a second value representing that the driver desires to drive the vehicle manually.

The invention also proposes a vehicle, optionally of the motor vehicle type, which is able to travel in an automatic manner and in a manual manner on a traffic lane defined by a first boundary and a second boundary, and which comprises an auxiliary device of the type described above.

Drawings

Other features and advantages of the present invention will become apparent upon review of the following detailed description and the accompanying drawings in which:

fig. 1 shows schematically and functionally a road comprising two traffic lanes on one of which an example of an autonomous vehicle is driving and which comprises means for analyzing an environment and a computer with an embodiment of an assistance device according to the invention, and

fig. 2 schematically shows an example of an algorithm implementing the assistance method according to the invention.

Detailed Description

In particular, it is an object of the present invention to provide an assistance method and a related assistance device DA for assisting a driver of an autonomous vehicle VA in driving the latter (VA).

Recall that by "autonomous vehicle" is meant a vehicle that can be driven in an automatic manner (hence without intervention by the driver) under the control of the auxiliary devices during an automatic driving phase, or in a manual manner (hence with intervention by the driver on the steering wheel and/or at least one pedal (or similar).

In the following description, the vehicle VA is considered, as a non-limiting example, to be of the motor vehicle type. This relates to, for example, motor vehicles. However, the invention is not limited to this type of vehicle. In fact, the present invention relates to any type of autonomous vehicle that can travel on a road lane delimited by two boundaries.

Fig. 1 schematically and functionally shows a road comprising two traffic lanes, on which an autonomous vehicle VA travels on one (VC) of the two traffic lanes.

The vehicle VA is autonomous and comprises, in particular, a steering wheel VV, a device MA for analyzing the environment and an auxiliary device DA according to the invention.

Although not shown in fig. 1, the steering wheel VV is fixedly connected to the steering column in order to allow the driver to control the steering column by applying a torque vce on the steering column with at least one of his hands. The steering column may also be controlled by an electric motor controlled by an auxiliary device DA and is for example part of an auxiliary steering.

It should be noted that a sensor may be coupled to the steering column to measure the steering wheel angle.

The electric motor is responsible for applying an assistance torque to the steering column when it receives a command from the auxiliary device DA.

In practice, the auxiliary device DA is responsible, among other things, for controlling the positioning of the vehicle VA with respect to the transverse direction of the selected traffic lane VC and for driving in an automated manner by following the trajectory tv of the vehicle VA on this traffic lane VC, without the driver of the vehicle VA having to operate the steering wheel VV or pedals (or similar). The trajectory tv is located at a selected distance d1 from one of the first and second boundaries L1 and L2 of the traffic lane VC.

It should be noted that in the example shown in a non-limiting manner in fig. 1, the selected distance d1 is the distance separating the trajectory tv from the first boundary L1 (here the right boundary). In a variant, however, the selected distance d1 may be the distance separating the trajectory tv from the second boundary L2 (here the left boundary).

The determination of the trajectory tv and the above-mentioned control take place in particular on the basis of information relating to the environment outside the vehicle, which information is provided by an analysis device MA at least for analyzing the environment outside the vehicle. The auxiliary device DA can determine, from the information representative of the vehicle VA and its environment, the reference angle that the steering wheel VV should assume in order for the vehicle VA to follow the trajectory tv. Furthermore, the auxiliary device DA may determine the auxiliary torque that the electric motor should generate, for example, from the current angle of the steering wheel (measured by a sensor coupled to the steering column) and this reference angle (just determined). This assistance torque depends on any torque vce applied to the steering wheel VV by the driver and therefore on the angle of the steering wheel.

The assistance device DA thus constitutes, for example, an ADAS device (advanced driver assistance system — advanced driving assistance (assistance) system) known to the person skilled in the art.

The information representative of the vehicle VA can be provided, for example, by a computer loaded on the vehicle VA and responsible for analyzing its movements. For example, the information may represent the current geographic position of the vehicle VA and/or the current speed of the vehicle VA and/or the current acceleration of the vehicle VA.

The information representing the environment of the vehicle VA is determined by the analysis device MA. It should be noted that the latter (MA) must here determine at least the setting of the traffic lane VC traveled by the vehicle VA and thus the position of the first boundary L1 and the second boundary L2 of the traffic lane VC. The analysis means MA therefore comprise at least one camera able to acquire digital images of the environment at least in front of the vehicle VA and associated with digital image analysis means comprising shape recognition means. However, the analysis device MA may also comprise an ultrasonic sensor and/or at least one scanning laser and/or at least one radar or lidar, in particular for detecting obstacles in the environment of the vehicle VA, and/or a satellite positioning device (optionally of the GPS type) associated with a map database.

As mentioned above, the invention proposes an assistance method, in particular for assisting a driver of a vehicle VA in driving the latter (VA).

The auxiliary method according to the invention comprises the following steps: in this step, the trajectory tv of the vehicle VA is first determined in the case of autonomous driving (and therefore without intervention by the driver).

In the non-limiting example of an algorithm shown in fig. 2 and implementing the assistance method according to the invention, the trajectory tv is determined in sub-step 10.

Any technique known to those skilled in the art that allows the trajectory tv for the autonomous vehicle VA to be determined may be used here.

For example, the trajectory tv may be defined by N future positions of a point representing the vehicle VA traveling at a speed that is optionally considered constant for N positions and having a steering wheel angle that is optionally considered constant for N positions. Each future position is determined in the XY plane of the roadway VC between the first boundary L1 and the second boundary L2, and more precisely at a selected distance d1 from one of the first boundary L1 and the second boundary L2 (here L1). The X direction is a longitudinal direction of the traffic lane VC, and the Y direction is a lateral direction of the traffic lane VC (which is partially perpendicular to the first boundary L1 and the second boundary L2).

Each determination of the trajectory tv is made by an auxiliary device DA loaded on the vehicle VA and, more specifically, by a control means MC comprised by the auxiliary device DA and provided for this purpose.

It should be noted that in the example shown in a non-limiting manner in fig. 1, the auxiliary devices DA are installed in a computer CA of the vehicle VA, which may optionally perform at least one other function. The auxiliary device DA may comprise a computer. The auxiliary device DA may thus be realized as a software module (or information module, or "software"), an electric or electronic circuit, or an electric or electronic component (or "hardware"), or a combination of an electric or electronic circuit and a software module, or a combination of an electric or electronic component and a software module.

In a step of the method, the control device MC determines, in addition to the trajectory tv, whether the driver has performed a specific action defined by a first value v1 representative of a desire to modify the selected distance d1 during the trajectory tv, or by a second value v2 representative of a desire to manually drive the vehicle VA. This determination is made in sub-step 20 of the algorithm of fig. 2.

When the first value v1 is present, the auxiliary device DA changes the trajectory tv of the vehicle VA on its lane VC.

The determination of the first value v1 is performed in sub-step 30 of the algorithm of fig. 2.

The modification to the track tv includes: determining a new selected distance d 1; the predetermined trajectory tv is then repositioned between the first boundary L1 and the second boundary L2 according to the new selected distance d 1. The determination of the new selected distance d1 is made in sub-step 40 of the algorithm of fig. 2. The repositioning of the trajectory tv is performed in sub-step 10 of the algorithm of fig. 2.

When the second value v2 is present, the auxiliary device DA stops driving the vehicle VA in an automatic manner, so the driver has to drive the vehicle VA in a manual manner (at least for the manual manner involving controlling the steering wheel VV).

The determination of the second value v2 is performed in sub-step 50 of the algorithm of fig. 2.

The change from the (fully) automatic driving phase to the manual driving phase is performed in sub-step 60 of the algorithm of fig. 2.

Thus, the driver can, by a special and intentional action: selecting a new lateral position of the trajectory tv of its vehicle VA between the two boundaries L1 and L2 of the traffic lane VC, while remaining in a fully automatic and therefore safe driving; or to resume manual driving of its vehicle VA.

It should be noted that the control device MC may not change the trajectory tv of the vehicle VA on the traffic lane VC when there is a third value v3 that is different from v1 and v2 and that represents the driver's desire not to change the current selected distance d 1. This option then causes substep 10 of the algorithm of fig. 2 to be returned to after substep 50 has been performed, to update the trajectory tv.

Embodiments may be implemented to obtain one of the values v1 and v2 and optionally the value v 3.

In a first embodiment, in the steps of the method, the value of the torque vce exerted by the driver on the steering wheel VV during autonomous driving may be compared with a first threshold value s1 and a second threshold value s 2. When this torque value vce is between the first threshold value s1 and the second threshold value s2 (i.e. s1< vce < s2), the control device MC considers that there is a first value v1 representing the driver's desire to modify the selected distance d 1. When this torque value vce is greater than the second threshold value s2 (i.e. s2< vce), the control device MC considers that there is a second value v2 representative of the driver's desire to drive the vehicle VA manually.

For example, the first threshold s1 may be between 0.1n.m and 5 n.m. Also for example, the second threshold s2 may be between 0.5n.m and 10 n.m.

In the case of the first embodiment, when the torque value vce is between the first threshold value s1 and the second threshold value s2, the control device MC may determine a new selected distance d1, the distance d1 varying according to the torque value vce and the direction of application of the torque on the steering wheel VV. The auxiliary device DA may then drive the vehicle VA in an automated manner by following the trajectory tv of the vehicle VA on the traffic lane VC, which trajectory tv is located at a new selected distance d1 from one of the first boundary L1 and the second boundary L2 (here L1). Indeed, it is considered here that as long as the torque value vce is less than the second threshold value s2, it represents a lateral offset that the driver wishes to provide to the position of the trajectory tv between the boundary L1 and the boundary L2, but when this torque value vce becomes greater than the second threshold value s2, the driver wishes to manually resume control of the trajectory of the vehicle VA. A torque value vce between the first threshold value s1 and the second threshold value s2 represents a right lateral offset when it corresponds to a rotation in a clockwise direction or a left lateral offset when it corresponds to a rotation in a counter-clockwise direction.

It should be noted that in this first embodiment, when the torque value vce is less than the first threshold value s1, the control device MC may consider that there is a third value v3 representative of the driver's desire not to modify the current selected distance d 1. In fact, it is considered here that as long as the torque value vce is less than the first threshold value s1, it is too low to characterize the driver's intention to laterally offset the trajectory tv.

This first embodiment is particularly advantageous because it avoids providing a special interface for the driver to perform his specific actions. In practice, the steering wheel VV acts here as a driver-acting device (by means of an applied torque) to indicate that the driver wishes to laterally shift the trajectory tv (and how much to move) or to manually resume control of the trajectory of the vehicle VA.

In the second embodiment, the first control part and the second control part are equipped to the cab of the vehicle VA such as the dash panel PB or the center console. The first control component is associated with a change of the current selected distance d1, while the second control component is associated with manual driving.

In this case, in a step of the method, in the case of actuation of the first control component, the control device MC determines a first value v1 representative of the magnitude and direction of the actuation. The control means MC then determines a new selected distance d1 according to the first value v 1. The auxiliary device DA then drives the vehicle VA in an automated manner by causing the vehicle VA to follow a trajectory tv on the traffic lane VC that is located at the newly selected distance from one of the first and second boundaries L1 and L2 (here L1). On the other hand, in the event of actuation of the second control, the control device MC assumes that the second value v2 is present and therefore the auxiliary device DA stops driving the vehicle VA in an automatic manner, so that the driver manually resumes control of the trajectory of the vehicle VA.

For example, if the first control member is rotating, the rotation on the selected angular region represents a lateral shift that varies according to the angular region, and the right lateral shift when rotating in the clockwise direction, or the left lateral shift when rotating in the counterclockwise direction.

For example, the first control component may have a first state associated with activation of autonomous driving and a second state associated with deactivation of autonomous driving.

In the third embodiment, the vehicle VA should include a touch display screen. This may for example relate to a screen of the center package CC mounted in or on the dashboard PB. In this case, the touch screen acts as a driver-acting means to indicate by a finger that the driver wants to move the trajectory tv (and how much) laterally or to manually control the trajectory of the vehicle VA after activating the automatic driving function.

More specifically, in the steps of the method, if an area having a specific position is selected on the touch screen, the control means MC determines a lateral distance that the position of the selected area is laterally separated from the reference point. Then, when the absolute value of this determined transverse distance ds is smaller than a threshold value s '(i.e. | ds | < s'), the control means MC deems that there is a first value v1, and in this case determines a new selected distance d1, which is equal to this transverse distance ds, which varies according to this first value v1, and the auxiliary device DA then drives the vehicle VA in an automatic manner by causing it to follow a trajectory tv on the traffic lane VC, which is located at a new selected distance d1 from one of the first boundary L1 and the second boundary L2 (here L1). On the other hand, when the absolute value of the lateral distance ds is greater than the threshold value s '(i.e. | ds | > s'), the control device MC considers that the second value v2 is present, in which case the auxiliary device DA stops driving the vehicle VA in an automatic manner, so that the driver manually resumes control of the trajectory of the vehicle VA.

For example, the center of the screen may embody the current lateral position of the vehicle VA relative to the boundaries L1 and L2 of the traffic lane VC, which constitutes a reference point. In this case, selecting a region located at a lateral distance ds from the screen center indicates a lateral offset that varies according to the lateral distance ds, and the lateral offset is rightward when the region is located on the right side of the screen center or leftward when the region is located on the left side of the screen center.

Also for example, the threshold s' may be between 1cm and 20 cm.

In a variant, the control device MC may be arranged to take into account the maximum lateral offset that does not move the trajectory tv outside the boundary L1 and the boundary L2 of the traffic lane VC.

Claims

1. A method for assisting a driver of a Vehicle (VA) adapted to travel in an automatic and manual manner on a traffic lane (VC) defined by a first boundary (L1) and a second boundary (L2), the method comprises the step of driving the Vehicle (VA) in an automatic manner by following the trajectory of the vehicle on the traffic lane (VC), the trajectory being located at a selected distance (d1) from one of the first boundary (L1) and the second boundary (L2), characterized in that, in said step, when there is a first value representative of said driver's desire to modify said selected distance (d1), -changing the trajectory of the Vehicle (VA) on the traffic lane (VC), stopping driving the Vehicle (VA) in an automatic manner when there is a second value representing the driver's desire to drive the Vehicle (VA) manually.

2. A method according to claim 1, characterized in that in said step, when there is a third value representative of a desire by said driver to not change said selected distance (d1), the trajectory of said Vehicle (VA) on said traffic lane (VC) is not changed.

3. A method according to claim 1 or 2, characterized in that in said step, the torque value exerted by the driver on the steering wheel (VV) of the Vehicle (VA) during said autonomous driving is compared with a first threshold value and a second threshold value, and when this torque value is between said first threshold value and said second threshold value, it is considered that there is a first value representative of the driver's desire to modify said selected distance (d1), and when this torque value is greater than said second threshold value, it is considered that there is a second value representative of the driver's desire to manually drive the Vehicle (VA).

4. A method according to claim 3, characterized in that in said step, when said torque value is between said first and second threshold values, a new selected distance (d1) that varies according to this torque value and the direction of application of said torque is determined, and then said Vehicle (VA) is driven in an automatic manner by making it follow a trajectory on said traffic lane (VC) that is located at said new selected distance (d1) from one of said first and second boundaries (L1, L2).

5. The method of claim 2 in combination with claim 3 or 4, characterized in that in said step, when said torque value is less than said first threshold value, it is considered that there is a third value representative of said driver's desire not to alter said selected distance (d 1).

6. Method according to claim 1 or 2, characterized in that in said step: i) -in the case of actuation of a first control member associated with a change of said selected distance (d1), determining a first value representative of the magnitude and direction of said actuation, then determining a new selected distance that varies according to this first value, then driving the Vehicle (VA) in an automatic manner by making it follow a trajectory on the lane (VC) that is located at this new selected distance (d1) from one of said first (L1) and second (L2) boundaries; ii) whereas in case of actuation of a second control member associated with manual driving, a second value is considered to be present.

7. Method according to claim 1 or 2, characterized in that in said step, in the case of selection of an area with a specific position on the touch screen of the Vehicle (VA), a transverse distance is determined, the position of said selected area being transversely separated from a reference point, then: i) -considering the presence of a first value when the absolute value of said lateral distance is less than a threshold value, then determining a new selected distance (d1) that varies according to this first value equal to said lateral distance, then driving in an automatic manner said Vehicle (VA) by making it follow a trajectory on said lane (VC) that is located at this new selected distance (d1) from one of said first (L1) and second (L2) boundaries; ii) when the absolute value of the lateral distance is greater than the threshold value, a second value is present and then the driving of the Vehicle (VA) in an automatic manner is stopped.

8. A Device (DA) for assisting a driver of a Vehicle (VA) adapted to travel in an automatic manner and in a manual manner on a traffic lane (VC) defined by a first boundary (L1) and a second boundary (L2), the arrangement (DA) comprises a control device (MC) which controls the autonomous driving of the Vehicle (VA) by causing the Vehicle (VA) to follow a trajectory on the traffic lane (VC) at a selected distance (d1) from one of the first boundary (L1) and the second boundary (L2), characterized in that said control Means (MC) changes said trajectory of said Vehicle (VA) on said traffic lane (VC) when there is a first value representative of said driver's desire to change said selected distance (d1), or to stop controlling the driving of the Vehicle (VA) in an automatic manner when there is a second value representative of the driver's desire to drive the Vehicle (VA) manually.

9. A Vehicle (VA) adapted to travel in an automatic manner and in a manual manner on a traffic lane (VC) defined by a first boundary (L1) and a second boundary (L2), characterized in that it comprises an auxiliary Device (DA) according to claim 8.

10. Vehicle according to claim 9, characterized in that it is of the motor vehicle type.