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
  • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• • 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
  • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
  • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
• • 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
  • B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
  • B60T2220/02—Driver type; Driving style; Driver adaptive features
• • 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
  • B60W2050/0001—Details of the control system
  • B60W2050/0019—Control system elements or transfer functions
  • B60W2050/0028—Mathematical models, e.g. for simulation
  • B60W2050/0031—Mathematical model of the vehicle
• • 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
  • B60W2050/0001—Details of the control system
  • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
  • B60W2050/0052—Filtering, filters
• • 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
  • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
• • 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
  • B60W2540/30—Driving style
• • 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
  • B60W2554/00—Input parameters relating to objects
• • 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
  • B60W2554/00—Input parameters relating to objects
  • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
  • B60W2554/406—Traffic density
• • 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
  • B60W2554/00—Input parameters relating to objects
  • B60W2554/80—Spatial relation or speed relative to objects
  • B60W2554/801—Lateral distance
• • 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
  • B60W2554/00—Input parameters relating to objects
  • B60W2554/80—Spatial relation or speed relative to objects
  • B60W2554/802—Longitudinal distance
• • 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
• • 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
  • B60W2754/30—Longitudinal distance
• • 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
  • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
  • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
  • B60W40/09—Driving style or behaviour
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/93185—Controlling the brakes
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9319—Controlling the accelerator
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9321—Velocity regulation, e.g. cruise control
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9323—Alternative operation using light waves
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons

Definitions

• the invention relates to a method for regulating the distance between two moving vehicles traveling in the same direction, applying in particular to distance and speed regulating devices intended to improve driving comfort on road or motorway.
• Adaptive Cruise Control In distance regulation, or "Adaptive Cruise Control” (ACC), the regulator of the following vehicle allows it to maintain itself automatically at a set distance from a vehicle to follow or to reach a set speed set by the driver. -same, and this by controlling the acceleration of the vehicle by piloting the air intake throttle valve for gasoline engines, or the injection control for diesel engines, and the brake pressure, and possibly by managing the reports of the automatic gearbox.
• the control laws which allow the management of the different road situations encountered are rarely suitable for all drivers, who react differently during an approach phase on a vehicle or when passing it, for example. Indeed, in the approach phase of a follower vehicle on a tracked vehicle for example, a multitude of strategies are possible depending on the behavior of the drivers.
• Deceleration can be gradual or constant with different braking intensities and the distance to the vehicle followed can be more or less at the end of the approach.
• driving assistance systems of the ACC distance control type will only be well accepted by drivers if they are able to adapt automatically to their behavior or to their driving style, for each road situation.
• patent application GB 2 265 242 in the name of Daimler Benz AG, proposes a distance control method which takes into account the interventions of the driver of the following vehicle when he is in the tracking phase, that is to say - say that it maintains the set distance after having adapted its speed to that of the vehicle it is following, while it is driving with the distance regulator in operation.
• Information on the angle of the steering wheel, the turning on of the turn signal, the depressing of the brake or accelerator pedals by the driver and his reaction time are used to automatically estimate and apply an adaptive tracking distance.
• this tracking distance is then reduced if, in the stabilized monitoring phase, the driver accelerates or doubles the vehicle being followed, while it is increased, if he brakes.
• the described method therefore considers that a driver, who often overtakes or often regains control of the acceleration of his vehicle, wishes to follow the vehicles more closely than the distance instruction initially planned and that, on the other hand, a driver who brakes often wants to increase the tracking distance.
• This patent application only aims to make acceptable the set distance established by the ACC regulator which imposes it on the driver of the following vehicle, without solving the general problem of the acceptability by all drivers of a distance regulation process. which manages the accelerations and decelerations of the vehicle automatically according to preset and fixed laws.
• the purpose of the present invention is to take into account the driving behavior of a motor vehicle driver as a function of the type of road on which it circulates, the density of traffic, as well as different road scenarios, such as the approach on a slower tracked vehicle, the insertion of a target vehicle within the set distance of the vehicle equipped with the ACC regulator and driving faster than the latter, or even the danger phase during which the follower vehicle is within its setpoint zone with a speed greater than that of the target followed.
• the present invention also aims to establish a classification of the type of driver in order to configure the different control laws or to choose from several types of laws which can themselves be configured, with the aim of improving driving safety and comfort.
• the object of the invention is a method of regulating the distance between two mobile vehicles, traveling in the same direction, one of which serves target to the other called a tracking vehicle and comprising on-board detection means and tracking of moving targets, means for electronic control of the acceleration of the vehicle, and a control interface between the driver and the control means, characterized in what it comprises the following stages carried out by the control means of the follower vehicle S:
• FIG. 1 is a block diagram of the self-adaptation of the laws of control of the distance regulator according to the invention, equipping a motor vehicle;
• the following vehicle equipped with an ACC distance regulator 1, is provided with a range finder 2, of infrared or radar type, delivering information which is processed, in on-board electronic control means 10 such as an electronic computer, by a module 3 for monitoring and choosing a target.
• the role is first to track the various objects of the road scene in front of the vehicle on the different lanes of the road, constituted by the preceding vehicles, the edges of the road, the panels, ..., then calculate the distance and the relative speed of each of these objects, as well as their accelerations, to select the target to be taken into account among the different objects detected.
• This module also makes it possible to estimate the type of road network or type of road according to its number of lanes and its direction of traffic.
• the electronic computer is also connected to an on-board speed sensor 4 delivering information on the vehicle speed V ACC and on the acceleration r by processing the speed, and to a control interface 5 between the driver and the cruise control, allowing the driver to impose a set speed V c .
• the module 3 then calculates the relative distance D r of the vehicle with respect to the chosen target as well as its relative speed V r which, with the measured vehicle speed V ACC and the selected distance regulation law, makes it possible to set the set distance D c , also called the safety or tracking distance, which the vehicle must respect according to the target.
• This control law delivers a setpoint acceleration r c from the distance, the vehicle speed V ACC and its relative speed V r relative to the target, the setpoint distance, the law regulating the distance and the speed setpoint V c imposed by the driver.
• the electronic computer ensures the vehicle's acceleration control by acting on the engine torque and the brakes, by setting an opening setpoint ⁇ for the air intake throttle valve 6 or for controlling diesel injection, a setpoint brake pressure P applied to the brakes 7 and a setpoint of the ratio n of automatic gearbox 8 for vehicles fitted with this type of transmission.
• the laws governing vehicle acceleration must be adapted to the different driving behavior of drivers. This is why the regulation method according to the invention carries out a permanent analysis of the behavior of each driver, using a vehicle equipped with such a regulator, in order to establish a classification according to the measurements carried out in different road scenarios, after filtering and weighting.
• the method automatically chooses, among different types of pre-established control laws, that which is best suited to the driver in question, or else the method sets these control laws according to the driving behavior analyzed, within a pre-established range.
• D min correspond P on ⁇ to the set distance when the target speed is zero.
• the set distance is further reduced when the driver actuates his left turn signal to carry out an overtaking maneuver.
• the tracking time is determined in this stabilized tracking zone, at different speeds in ACC distance regulation by monitoring vehicle parameters such as the lighting of the turn signal to exceed or the action of the driver on the brake pedals or d 'accelerator.
• the tracking time outside ACC regulation is determined from the left flashing information and the previous formula E, for a stabilized speed.
• the pursuit time is further determined as a function of the road environment defined from different speed situations (ranges of 50 km / h for example), time slot (day or night), conditions road traffic (fluid, normal, dense) and atmospheric conditions (rain, frost, snow).
• the set distance D c is determined either from the speed of the vehicle equipped with the ACC distance regulator, or from the speed of the target vehicle.
• Another step in the process consists in identifying the road scenario, that is to say the unfolding of the scene between the two mobile vehicles considered, the first of which, equipped with a distance regulator, follows the second, qualified as a target.
• the abscissa axis is graduated as a percentage of intrusion within the set distance.
• a first observation scenario is defined as long as no target C is detected or if the detected target is outside the set distance with a progressive relative speed, that is to say that it moves away with a speed V c ⁇ greater than the speed V A CC of the follower vehicle S.
• Such a scenario occurs in a so-called phase plane observation zone, which is represented in the upper right quarter of FIG. 2.
• a second approach scenario corresponds to the approach by the follower vehicle S of a target C traveling on its lane, at lower speed, forcing it to decelerate to adapt its speed ACC to that of the target V c; : slower than him.
• a third scenario called insertion of a target C in front of a follower vehicle S occurs when a vehicle comes to insert itself in front of the vehicle S equipped with the distance controller, within its set distance D c , but while traveling faster than him.
• This scenario is characteristic either of an insertion behind a vehicle traveling faster during an overtaking maneuver, of an end of approach on a vehicle traveling very slowly, or of the case of a vehicle which performs an overtaking maneuver and folds immediately in front of the vehicle in distance control.
• the insertion area is shown in Figure 2 in the upper left quarter of the phase plane.
• a fourth so-called danger scenario corresponds to the fact that the follower vehicle S is within the set distance D c , with a speed V ACC greater than that of the target V c . It can occur between the approach and follow-up phases, or in the event of an overtaking by a target which suddenly falls back in front of the vehicle during a so-called "fishtail" maneuver, or braking of the target C under monitoring.
• the danger zone is shown in Figure 2 in the lower left quarter of the phase plane.
• a final road scenario concerns overtaking procedures, during which it is interesting to know the level of acceleration achieved as well as the tendency to enter the set distance which separates the following vehicle from the target.
• Another step is to identify the type of road in the road network on which the follower vehicle. This estimate is made by the rangefinder 2 and by a gyrometer 9 for example and other vehicle sensors, which detect the presence of vehicles in the left lane of the following vehicle traveling in opposite direction to deduce a two-way road, and which estimate the number of lanes that the road comprises on the one hand from the number of detected vehicles traveling in front of the following vehicle on adjacent lanes and on the other hand from the spacing of various objects detected on both sides 'other of the road, like the set rails for example.
• Another step of the method consists in identifying the driving behavior of the driver of the following vehicle, according to each road scenario, and in listing it in different classes, each determined by a sector of the phase plan zone corresponding to the scenario, defined sector. empirically.
• the method calculates the relative speed of this vehicle S with respect to the target vehicle C, at the moment when the percentage of insertion in the set distance D c is maximum for the two types of road situation mentioned, namely insertion and disengagement, and if the driver has not braked, he identifies class C j _ (J) in which the road behavior of this vehicle S, J being an integer between 1 and N equal to the maximum number of classes, ie 4 in the example illustrated.
• the classification of the behavior of the driver will be of type CJL (JI) if at the time of braking, he is classified in type C ⁇ (J).
• the braking of the driver is determined by the electric braking system or by sensors on the brake pedal for example.
• the analysis is made on the other hand when the ACC regulation is active. If the vehicle is in a disengagement situation, its relative speed with respect to the target is always measured at the moment when the percentage of insertion in the set distance is maximum, to identify the class of the driver's road behavior, but if the vehicle is in an integration situation, the identification of the class of road behavior will be established from the relative speed memorized only when the driver brakes.
• the classification of the behavior of the driver will be of type C ⁇ (Jl) if at the time of braking, it is in the type C ⁇ (J), which shows that the behavior of the driver may have been poorly estimated.
• Figure 3 represents the phase plan of the speeds and relative distances of a vehicle equipped with ACC regulation.
• the parameters relative speed V r and distance error D e form a pair of values which is associated with a class of conductor C ⁇ (J), an integer between 1 and 4 in the example chosen illustrated, for which the drivers are classified from the most careful to the most sporty.
• the occurrence of a scenario will therefore be memorized and assigned to a driver class for a given scenario.
• the method therefore accounts, over time, for the number of events occurring for a type C of driver and a type of scenario, distinguishing the cases where the ACC distance regulation is activated or not.
• Table 1 in the appendix shows an example of memorizing the occurrences to be made for the classification of driver behavior, for insertion scenarios. This table is established according to several parameters, including the speed range in which the vehicle travels with a width of 50 km / h for example, the type of road defined by the number of lanes and their direction, the hourly and weather conditions as well as road traffic.
• Day or night driving is determined from the "position or low beam lights on" information.
• the atmospheric conditions are qualified for example of good, average or bad according in particular to the outside temperature and the operation of the wipers or a humidity sensor on the windshield.
• the traffic density it is qualified as fluid, dense or normal from the information delivered by the rangefinder.
• This table 1 will be duplicated to differentiate the road environment, for example in the case of night driving, heavy traffic or bad weather.
• the two operating modes of the vehicle are differentiated, outside and with ACC distance regulation.
• two special cases may arise.
• the method measures the distance error D e and the relative speed V r of the vehicle and thus lists the behavior of the driver according to his belonging to class C a (J).
• the method comprises a step of calculating the distance error D e , as well as the relative speed V r at the time when the set distance D c is reached, then defines the membership class C a (J) of the road behavior thus analyzed.
• Approaches to the target by a follower vehicle whose deceleration is greater than a fixed threshold, for example - 3m / sec 2 are not counted.
• the process also distinguishes two cases of driver maneuvers, braking during approach and exceeding the target during approach with acceleration. It consists, in the case of braking during approach, to calculate and memorize the relative speed and distance of the vehicle with respect to the target.
• a driver who brakes while he was listed in class C a (J) at the time of braking for example is counted as having a behavior of type C a (Jl), that is to say more careful or less sporty, and so on.
• the process memorizes this occurrence to classify the road behavior. If the driver's behavior is classified as type C a (J), the event is counted as type C a (J + l), that is to say more sporty.
• a table similar to the previous one is created, using the same classification parameters, such as the speed range for example and the same data processing mode.
• the method consists in measuring the maximum percentage of intrusion of the vehicle into the set distance which separates it from the target vehicle to list its behavior in a class C (fJ). However, the occurrence is not taken into account if the driver brakes the vehicle with a deceleration greater than a threshold set at - 3m / s 2 for example.
• the method consists in counting the occurrences during which the driver brakes the vehicle. Consequently, the conductor will be classified into a type immediately below its position in the phase plane shown in FIG. 2. Thus, if a conductor brakes in the range corresponding to a type of conductor C (j (J), the event will be counted in class C d (Jl).
• the method according to the invention consists in measuring and memorizing on the one hand the maximum acceleration level reached during passing and on the other hand, the percentage of intrusion into the within the set distance, when the flashing light is switched on.
• This step makes it possible to classify the behavior of the driver in a table 2, appearing in appendix.
• the Driver class allows you to adjust the templates for the acceleration control laws when overtaking, as well as the percentage of intrusion into the set distance when the distance is regulated by the process and the flashing light is activated.
• This table 2 is duplicated according to the time slot, traffic or atmospheric conditions to take into account the road environment.
• the identification of the road behavior therefore consists of ACC distance control mode or not, recording the classification of the driver behavior in several different groups, in number equal to 4 as in the example described, established according to several scenarios, of several speed ranges, according to different types of road, according to the commands and actions carried out by the driver on the vehicle, in particular on the steering wheel, the activation of the turn signal, the speed of depressing the accelerator pedal, the mode sport or normal of the automatic gearbox and the measurement of parameters significant for the control laws, such as the longitudinal acceleration of the vehicle, the outside temperature, the lights on, the fog lights on.
• the distance regulation method according to the invention comprises another step of temporal filtering and permanent weighting of the different criteria used to establish the classification of the driving behavior of the driver of the following vehicle.
• This filtering and weighting makes it possible to classify the behavior of the driver, by scenario, into several very characteristic categories, ie of a type of law, or of a type of adjustment of a control law. For example, some drivers may prefer to manage a comfortable approach to a target vehicle with moderate braking and thus accept a momentary intrusion into the so-called phase zone danger zone. On the contrary, other drivers, considered to be very careful, may not accept this intrusion and prefer greater braking occurring earlier.
• the method according to the invention comprises an ACC appraisal step, that is to say of automatic selection and configuration of the laws for controlling the acceleration of the vehicle, by action on the engine torque and the brakes, and possibly the automatic gearbox.
• the classification of the behavior of the driver for a given situation allows, when he activates the ACC system to take as much as possible into account his behavior in the self-adaptation of laws.
• its behavior identified during the last activation of the ACC system which can date back several days, is weighted by the identification made since the vehicle was put into service to establish a first set of control laws chosen from an existing series.
• the laws retained are also configured to best match the driver when the system is first activated.
• the driver analysis procedure continues to continuously adapt the system to its behavior depending on the situation. When the system is switched off, this configuration will be memorized.

Landscapes

• Engineering & Computer Science (AREA)
• Radar, Positioning & Navigation (AREA)
• Transportation (AREA)
• Mechanical Engineering (AREA)
• Remote Sensing (AREA)
• Automation & Control Theory (AREA)
• Physics & Mathematics (AREA)
• Electromagnetism (AREA)
• Chemical & Material Sciences (AREA)
• Computer Networks & Wireless Communication (AREA)
• General Physics & Mathematics (AREA)
• Combustion & Propulsion (AREA)
• Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
• Traffic Control Systems (AREA)

Applications Claiming Priority (3)

Publications (1)

Family

ID=9512388

Family Applications (1)

Country Status (3)

Cited By (2)

Families Citing this family (18)

Family Cites Families (6)

• 1997
  • 1997-10-17 FR FR9713063A patent/FR2770016B1/fr not_active Expired - Lifetime
• 1998
  • 1998-10-16 EP EP98949069A patent/EP1023195A1/de not_active Withdrawn
  • 1998-10-16 WO PCT/FR1998/002223 patent/WO1999020481A1/fr not_active Application Discontinuation

Non-Patent Citations (1)

Also Published As

Similar Documents

Legal Events