EP4028298A1 - Procédé de démarrage de conduite autonome d'un véhicule automobile - Google Patents
Procédé de démarrage de conduite autonome d'un véhicule automobileInfo
- Publication number
- EP4028298A1 EP4028298A1 EP20757913.7A EP20757913A EP4028298A1 EP 4028298 A1 EP4028298 A1 EP 4028298A1 EP 20757913 A EP20757913 A EP 20757913A EP 4028298 A1 EP4028298 A1 EP 4028298A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- autonomous
- autonomous driving
- trajectory
- cruising
- 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.)
- Pending
Links
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Classifications
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- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
- B60W60/00186—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions related to the vehicle
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Definitions
- TITLE Process for starting autonomous driving of a motor vehicle.
- the invention relates to a method for autonomous driving or autonomous piloting of a motor vehicle.
- the invention also relates to a system for autonomous driving or autonomous piloting of a motor vehicle.
- the invention also relates to a motor vehicle comprising such an autonomous driving system or comprising hardware and / or software means implementing such an autonomous driving method.
- the invention also relates to a computer program product comprising program code instructions recorded on a medium readable by an electronic control unit to implement the steps of the autonomous driving method.
- the invention also relates to a data recording medium, readable by an electronic control unit, on which the program product is recorded.
- the invention relates to a signal from a data medium carrying the computer program product.
- the invention relates to a precise autonomous driving method for starting a journey in autonomous mode in a situation of low vehicle travel speed and whatever the situation surrounding the vehicle.
- This solution solves a problem of misalignment of the vehicle when starting or when cornering.
- the solution significantly increases the autonomous character of the vehicle.
- An autonomous motor vehicle is able to manage its travel path itself without any action on the part of a user of the vehicle, unless there is an indication of a point of arrival or end of the journey to the vehicle.
- a autonomous vehicle generally includes an autonomous driving mode, managed by an autonomous driving system, making it possible to guide it.
- the autonomous driving mode manages the control of various actuators allowing the movement of the vehicle according to a trajectory.
- These actuators are primarily the drive motor of the motor vehicle and a steering actuator for adequately orienting the steered wheels of the vehicle.
- An autonomous vehicle generally comprises an autonomous cruising driving mode, managed by an autonomous cruising driving system, making it possible to guide it at cruising speeds, for example speeds greater than 30 km / h, or even greater than 50 km / h. h. This mode is used in town on main streets and outside towns on roads or highways. The cruising autonomous driving mode is not activated until the autonomous vehicle is already at cruising speed.
- On-demand mobility services are designed to transport people from door to door in a way that offers the convenience of passengers to pick them up and drop them off wherever they want.
- these services require autonomous vehicles capable of managing automated maneuvers requiring extremely precise longitudinal and transverse controls, especially during docking or de-docking maneuvers to keep the vehicle sufficiently close to the sidewalk while avoiding injuring users or third parties or materially damage the autonomous vehicle, other surrounding vehicles or surrounding infrastructure.
- These maneuvers are complex because they require precise longitudinal and lateral positioning data at very low speed.
- Autonomous driving systems are in fact dedicated to extra-urban roads and can be activated once the vehicle is in motion. However, when the vehicle is stopped or traveling at low speed and the autonomous driving system is activated, the trajectory is poorly managed and there is a significant risk of injury or damage due to the movement of the vehicle.
- the vehicle may be stuck by unforeseen circumstances and requiring a call center operator to take control of the vehicle to resolve the problem.
- This problem is due to an (too) rough estimate of the state of the vehicle where, for example, the heading, the direction of the wheels or the lateral error of position can be neglected. This leads to the calculation of a trajectory which may be unreachable, for example outside the capabilities of the vehicle.
- a vehicle is not autonomous. This results in a need to be able to call on a driver within the vehicle, or even a teleoperator, in particular when arriving at a platform or sidewalk (docking) to drop off and / or pick up passengers, or during the departure from a quay or sidewalk (docking), or even to perform complex maneuvers.
- Document US9645577 presents a guidance system designed to autonomously guide the vehicle in a constrained environment.
- the system generates different spatiotemporal trajectory solutions such as different travel strategies, so that the vehicle chooses the one that appears optimal. Once the strategy is determined, the commands necessary to follow it are sent to the actuators of the vehicle.
- a disadvantage of this solution is that, at low speed, it can choose an impractical trajectory given the current state of certain actuators.
- the aim of the invention is to provide an autonomous driving method overcoming the above drawbacks and improving the driving methods known from the prior art.
- the invention makes it possible to produce an autonomous vehicle capable of independently managing complex maneuvers carried out at a low speed of movement of the vehicle.
- the invention relates to an autonomous driving method for maneuvering a motor vehicle, in particular a method for autonomous driving maneuvering at low or zero speed of a motor vehicle, comprising a step of modifying the orientation of the steered wheels of the vehicle while the speed of the vehicle is zero or substantially zero or less than or equal to a threshold, in particular a threshold equal to 1 km / h.
- the step of modifying the orientation of the steered wheels of the vehicle can be implemented:
- the invention also relates to a method of autonomous driving of a motor vehicle comprising:
- an autonomous maneuvering mode comprising the implementation of the method as defined above,
- the operating logic of the maneuvering autonomous driving mode and of the cruising autonomous driving mode may be different; and / or the driving or movement of the vehicle in autonomous maneuvering mode can be carried out at a speed of less than 10 km / h, or even less than 5 km / h.
- the process can include:
- a step of definition in particular a step of iterative definition and / or by simulation, of the maneuver trajectory, in particular to reach the reference cruising trajectory from an initial position of the vehicle.
- the method may include a step of validating the maneuver trajectory with respect to:
- the process may include:
- - a step of determining or measuring the current position of the vehicle, in particular the current location and / or the current heading, - a step of comparing the current position of the vehicle and the positions making up the reference trajectory,
- the invention also relates to a system for autonomous driving of a motor vehicle, the system comprising hardware and / or software elements implementing the method as defined above, in particular hardware and / or software elements designed to implement the method as defined above, and / or on a system comprising means for implementing the method as defined above.
- the invention also relates to a motor vehicle, the vehicle comprising hardware and / or software elements implementing the method as defined above, in particular hardware and / or software elements designed to implement the method as defined above, and / or on a vehicle comprising means for implementing the method as defined above.
- the invention also relates to a computer program product comprising program code instructions recorded on a medium readable by an electronic control unit in order to implement the steps of the autonomous driving method as defined above when said program is running on an electronic control unit or on a computer program product downloadable from a communication network and / or recorded on a data medium readable by a computer and / or executable by a computer, comprising instructions which, when the program is executed by the computer, lead the latter to implement the method as defined above.
- the invention also relates to a data recording medium, readable by an electronic control unit, on which is recorded a computer program comprising program code instructions for implementing the method as defined above or on a computer-readable recording medium comprising instructions which, when they are executed by a computer, lead the latter to implement the method as defined above.
- the invention also relates to a signal from a data medium carrying the computer program product as defined above.
- Figure 1 is a schematic view of one embodiment of an autonomous vehicle.
- FIG. 2 Figure 2 is a partial schematic view of one embodiment of an autonomous driving system of the autonomous vehicle.
- FIG. 3 is another partial schematic view of the embodiment of the autonomous driving system of the autonomous vehicle.
- Figure 4 is a top view illustrating a trajectory of an autonomous vehicle equipped with the embodiment of the autonomous driving system in the context of a roundabout and a trajectory of a vehicle. autonomous not equipped with the embodiment of the autonomous driving system in the same context.
- Fig. 5a is a graph illustrating the angle of a steering wheel of an autonomous vehicle equipped with the embodiment of the autonomous driving system in the context of a roundabout and the angle of a steering wheel. an autonomous vehicle not equipped with the embodiment of the autonomous driving system in the same context.
- Fig. 5b is a graph illustrating the speed of an autonomous vehicle equipped with the embodiment of the autonomous driving system in the context of a roundabout and the speed of an autonomous vehicle not equipped with the embodiment of the. autonomous driving system in the same context.
- Fig. 5c is a graph illustrating the lateral error of an autonomous vehicle equipped with the embodiment of the autonomous driving system in the context of a roundabout and the lateral error of an autonomous vehicle not equipped with the. embodiment of the autonomous driving system in the same context.
- Fig. 5d is a graph illustrating the heading error of an autonomous vehicle equipped with the autonomous driving system embodiment in the context of a roundabout and the heading error of an autonomous vehicle not. equipped with the embodiment of the autonomous driving system in the same context.
- FIG. 6 is a top view illustrating a trajectory of an autonomous vehicle equipped with the embodiment of the autonomous driving system in the context of a turn and a trajectory of an autonomous vehicle not equipped with the embodiment of the autonomous driving system in the same context.
- Fig. 7a is a graph illustrating the angle of a steering wheel of an autonomous vehicle equipped with the embodiment of the autonomous driving system in the context of a turn and the angle of a steering wheel of a vehicle. autonomous not equipped with the embodiment of the autonomous driving system in the same context.
- Fig. 7b is a graph illustrating the speed of an autonomous vehicle equipped with the embodiment of the autonomous driving system in the context of a turn and the speed of an autonomous vehicle not equipped with the embodiment of the autonomous driving system. autonomous driving in the same context.
- Fig. 7c is a graph illustrating the lateral error of an autonomous vehicle equipped with the embodiment of the autonomous driving system in the context of a turn and the lateral error of an autonomous vehicle not equipped with the embodiment. realization of the autonomous driving system in the same context.
- Fig. 7d is a graph illustrating the heading error of an autonomous vehicle equipped with the embodiment of the autonomous driving system in the context of a turn and the heading error of an autonomous vehicle not equipped with the. embodiment of the autonomous driving system in the same context.
- FIG. 8 is an illustration of an exemplary human-machine interface of the autonomous driving system embodiment.
- Fig. 9 is a functional flowchart of one embodiment of an autonomous driving method.
- FIG. 1 schematically illustrates an embodiment of a vehicle 300, in particular a motor vehicle.
- vehicle 300 can be for example a private vehicle, a utility vehicle, a truck or a bus.
- the vehicle 300 includes an autonomous driving system 200.
- the autonomous driving system makes it possible to manage a maneuvering autonomous driving mode.
- This autonomous maneuvering mode makes it possible to manage the autonomous movement of the motor vehicle at low speed, in particular during complex maneuvers such as docking maneuvers or de-docking maneuvers.
- the autonomous driving system also makes it possible to manage a second autonomous driving mode: an autonomous cruising driving mode.
- This autonomous cruising driving mode makes it possible to manage the autonomous movement of the motor vehicle at high speed, in particular during extra-urban journeys on the road or motorway or on main traffic axes in an urban environment.
- the autonomous driving system 200 includes:
- the autonomous driving system 200 can also include a man-machine interface 210.
- the man-machine interface makes it possible to inform a user, a passenger or a remote operator of the feasibility of an autonomous maneuver and / or the manner in which the vehicle actuator commands are corrected to adjust the trajectory.
- the set of actuators comprises in particular a steering actuator 221 or steering actuator for the steered wheels of the vehicle 300 and a drive motor 222 of the vehicle 300.
- the drive motor of the vehicle may be of the thermal type or of the type. hybrid or electric type.
- the set of elements providing vehicle state and environmental information 220 may include one or more of the following:
- One or more of the sensors can be replaced by an element providing equivalent information, for example replaced by an estimator.
- the position sensor 14 or a position estimator advantageously provides information on the location of the vehicle, such as GPS coordinates, and information on the orientation of the vehicle or the heading of the vehicle, such as for example the orientation of the longitudinal axis of the vehicle. vehicle.
- the calculator 100 therefore uses as main inputs:
- any perception system comprising a camera, a radar, an ultrasound device, a lidar device or a combination of these to detect any obstacle at short distance, and / or
- a vehicle positioning system capable of providing the current vehicle position and heading and a given reference path such as a series of points that the vehicle must follow.
- This area represents the limit that the vehicle must not exceed when starting the maneuver in autonomy. If the vehicle is outside this area, it means that a collision may occur.
- This information can be provided by the merger between the track detector or sensor 10 and obstacle detector or sensor 11. This information can then be used in a take-off 1 or start-up validation module (see below) to authorize or stop the maneuver.
- This current state includes the current orientation of the steered wheels, for example by measuring the current angle of the steering wheel. Not only the current heading of the vehicle, but also the orientation of the wheels of the steered wheels, play a key role in increasing the maneuverability of the vehicle.
- This reference trajectory is for example provided by an autonomous driving route forecasting module or by a teleoperator in the event that the vehicle is in assistance mode due to an unknown environment.
- Calculator 100 includes:
- a take-off 1 or start-up validation module making it possible to determine the feasibility of a maneuver in autonomous maneuver mode and / or to determine whether the vehicle can be started or taken off independently with sufficient safety conditions
- a command simulation module 2 making it possible to simulate commands for controlling the actuators of the vehicle, in particular a command for controlling the drive motor of the vehicle and a command for controlling the steering wheel steering actuator of the vehicle,
- trajectory tracking module 3 making it possible to correct the actuator control commands, in particular during the execution of the maneuver in autonomous maneuver mode.
- an embodiment of the command simulation module 2 comprises:
- an embodiment of the trajectory following module 3 comprises:
- a module 39 of autonomous cruising driving mode is a module 39 of autonomous cruising driving mode.
- the trajectory following module 3 and more precisely the control regulator 30 is attacked at the input by the following signals and / or information:
- the motor vehicle in particular the autonomous driving system and / or the computer, include the hardware and / or software means suitable or configured to implement the method which is the subject of the invention.
- the hardware and / or software means can include software modules.
- An embodiment of an autonomous driving method is described below with reference to FIG. 9. This embodiment can also be seen as an embodiment of a method of operating the vehicle or the system. autonomous driving. This mode of execution is here described in detail as one embodiment of a method of operating the autonomous driving system
- the vehicle is assumed to be initially stationary after one or more passengers have rejoined the vehicle and boarded to be driven by the vehicle to a destination of their choice. It is also assumed that the vehicle is in an environment presenting obstacles and therefore requiring a complex maneuver for its start-up or take-off or de-docking.
- the vehicle or autonomous driving system has a reference path or has calculated a reference path.
- the reference trajectory is a trajectory allowing to go from a starting point to an ending point along the axes of the taxiways or substantially.
- a vehicle follows a reference path, it is centered or substantially centered on the traffic lane.
- Such a trajectory is incompatible with a state of the vehicle parked near a sidewalk, in an interior courtyard or in a parking lot, that is to say that, in these situations, the position of the vehicle (location and heading) does not matches any of the positions defined by the reference path.
- the autonomous driving system operates in a maneuvering autonomous driving mode and simulates the state of the vehicle, the vehicle actuator controls and a maneuvering path.
- the maneuver path is a path of the vehicle allowing the vehicle to reach the reference path from its initial state, such as for example a state of parking near a sidewalk, in an interior courtyard or in a parking lot.
- various information is supplied to the command simulation module 2.
- This allows the creation of a virtual vehicle model corresponding to the current state of the vehicle.
- the vehicle model is created with the same position as the real vehicle, but a minimum speed is assigned to the vehicle model making it possible to calculate actuator commands, in particular a steering wheel orientation actuator command, to follow. the reference trajectory.
- the orientation of the steered wheels (and therefore the position of the steering wheel) is constantly corrected until the moment when the trajectory tracking module 3 indicates that determined commands for controlling the actuators make it possible to start correctly.
- maneuver or that an actuator control has reached a physical limit of the vehicle (for example a maximum steering wheel angle value on the right or on the left).
- Steps of an embodiment of this first phase 110 are described in more detail below.
- the actuator command simulation module 2 receives all or part of the following information as input:
- - Vehicle speed information (sensor 13). This information can come from on-board sensors to confirm that the vehicle is totally or substantially stopped. For example, the maneuvering autonomous driving mode is deactivated when the vehicle is traveling at cruising speed. In this case, an autonomous cruising driving mode can be activated, this autonomous cruising driving mode making it possible to manage the errors with respect to the reference trajectory.
- - Vehicle position information which can be provided both locally (for example using a camera) and globally (for example based on a GPS) (sensor 14). This makes it possible to know the current position of the vehicle and its heading. This information is of course linked to the orientation of the steered wheels of the vehicle.
- This module can form part of the system making it possible to implement the autonomous cruising driving mode which uses this reference trajectory.
- this reference trajectory can be transmitted by a teleoperator in the event of vehicle assistance.
- the reference trajectory is used to virtually model the vehicle using the vehicle modeling module 4, providing the vehicle with a minimum speed but without virtually changing the position of the vehicle.
- the modeled virtual vehicle is always in the same virtual position (eg identical longitude, latitude and heading values).
- control modeling module 5 corrects the steering wheel orientation error existing between the current orientation of the steered wheels and the orientation necessary to follow the reference path. As a result, the control modeling module 5 generates a steering control actuator for steering the steering wheels of the vehicle.
- this command generated in the third step is supplied to the steering modeling module 6 which makes it possible, on this basis, to generate a future evolution of the position of the virtual vehicle in order to verify the future values of the positions (longitude, latitude and heading) of the vehicle vis-à-vis the limits of the driving area available in the vicinity of the vehicle. It is then checked whether the last command generated results in a virtual orientation of the steered wheels making it possible to reach a desired point on the reference path or if the command generated goes beyond the physical capacity of the vehicle in terms of the angle of orientation of the wheels of the vehicle. If this is not the case, we loop through the third step and the third and fourth steps are repeated until:
- the last command generated results in virtual orientation of the steered wheels making it possible to reach a desired point on the reference path, or
- the method comprises a step of validating the maneuvering trajectory with respect to the physical maneuvering capacities of the vehicle.
- the autonomous driving system could not find an actuator control to perform the maneuver. Consequently, the autonomous driving system informs a user of the vehicle or a teleoperator. This information is for example carried out via the man-machine interface 210.
- the process comprises:
- the autonomous driving system tests whether the complex maneuver can be carried out in autonomous mode or whether the maneuver can be carried out with a sufficient level of safety for people and property in the vehicle and in the environment. outside near the vehicle. If this is the case, the autonomous driving system implements a phase 130. If this is not the case, the autonomous driving system implements a phase 140.
- the control system. autonomous driving evaluates the vehicle and the actuator commands determined previously (by the command simulation module 2) to generate the virtual trajectory that the vehicle must cover.
- the virtual trajectory is verified by the take-off or start-up validation module 1 to guarantee a safe start (for example the planned future positions of the vehicle will be inside the driving area).
- a vehicle speed is used to simulate the future evolution of the position of the virtual vehicle during the maneuver. This speed can be set. It is for example fixed at 2 m / s.
- the autonomous driving system can order that some of the iterations or all of the iterations (until or not a feasible maneuver is found) to be displayed and / or illustrated on the man-machine interface.
- the autonomous driving system can order that is displayed, on the man-machine interface, information on the performance of the autonomous driving system, for example a simultaneous display of the last virtual trajectory retained and of the reference trajectory provided. by the module 15 or a simultaneous display of the last calculated initial orientation of the steered wheels of the vehicle and of the current orientation of the steered wheels of the vehicle.
- the autonomous driving system can command that the following be displayed, on the man-machine interface:
- a safe start indicator to indicate that piloting actuator to independently perform a safe or collision-free maneuver has been found
- help indicator signaling to a user and / or a call center operator that manual / external intervention is useful.
- the method comprises a step of validating the maneuver path with regard to the safety of goods and / or people in the vehicle and / or in the vicinity of the vehicle.
- the autonomous driving system In phase 130, the autonomous driving system generates and executes the actual control commands for the actuators of the vehicle so as to execute the complex maneuver.
- a validation indicator signals that a safe starting maneuver is possible
- the autonomous driving system activates the path following module 3.
- This module receives the virtual commands determined by the command simulation module 2 and making it possible to execute the maneuver according to the determined virtual trajectory.
- the validation indicator thus ends the iterations of calculation of module 2 for simulating vehicle actuator commands by taking the last simulated actuator command values. Then, a three-step procedure is implemented by the trajectory following module 3:
- the last simulated commands of the actuators are considered as the initial commands which are applied to the actuators at the start of the execution of the maneuver. However, these commands are applied with the vehicle stationary, that is to say at zero speed.
- the autonomous driving system defines here the initial steering value or the initial orientation value of the steered wheels that the vehicle must have while maintaining zero speed. This step minimizes the difference between virtual wheel steering control steerers and the actual deflection of the steered wheels when starting the maneuver. When this difference is below a given threshold, the autonomous driving system can perform the maneuver and the vehicle can start its journey independently.
- This phase is important since it makes it possible to correct alignment errors (for example a vehicle with a lateral position error and / or a significant heading error with respect to the virtual trajectory, and / or an orientation error of the steering wheels) before moving the vehicle, allowing maneuver to be started in the right direction.
- alignment errors for example a vehicle with a lateral position error and / or a significant heading error with respect to the virtual trajectory, and / or an orientation error of the steering wheels
- a minimum speed (for example 1 km / h, even 10 km / h) is set for the vehicle to gently correct any misalignment errors.
- - Angular and / or lateral error thresholds are determined and provided to define the moment when it is considered that the vehicle has now correctly corrected its initial position and that it is in a situation where a cruising autonomous driving mode can then be activated.
- the trajectory following module 3 in particular the control regulator 30, receives as an input all or part of the following information:
- a steering control model information item 32 contains the last steering actuator command for the steered wheels of the vehicle, calculated during the last iteration of the third step of the first phase 110.
- This information contains the difference between the current orientation of the steered wheels of the vehicle and the orientation of the steered wheels of the virtual vehicle.
- An error information 35 of the lateral position of the vehicle contains a distance value separating the reference path from the vehicle's center of gravity.
- This information contains an angle value between the longitudinal axis of the vehicle and the tangent to the reference path.
- the initial steering control correction module 37 aims to minimize the error value 34 of the steering control model. It imposes zero or substantially zero vehicle speed as long as the orientation of the vehicle's steered wheels are corrected in order to reach the orientation determined at the end of the first phase.
- the method therefore includes a step of modifying the orientation of the steered wheels of the vehicle while the speed of the vehicle is:
- a threshold in particular a threshold equal to 1 km / h.
- the regulator 30 deactivates the module 37.
- the regulator 30 activates the position correction module 38.
- This module 38 sets a given speed (for example 2 m / s and / or for example identical to the speed used in the first phase 110).
- a given speed for example 2 m / s and / or for example identical to the speed used in the first phase 110.
- the vehicle actually moves driven by its drive motor in order to correct position errors, in particular in order to correct the heading error and the existing lateral position error with respect to the point of the reference path. to join.
- the maneuver is therefore carried out in autonomous mode.
- Driving or moving the vehicle in autonomous maneuvering mode is preferably carried out at a speed of less than 10 km / h, or even less than 5 km / h.
- the vehicle position error values are preferably constantly measured and / or estimated, then compared to their respective predetermined thresholds (typically 30 cm for the lateral position error and 0.1 radians for the heading error). When all the position error values are below their predefined thresholds, the regulator 30 deactivates the module 38. The maneuver is completed.
- their respective predetermined thresholds typically 30 cm for the lateral position error and 0.1 radians for the heading error.
- the regulator 30 activates the module 39 of autonomous cruising driving mode.
- the process therefore comprises:
- - a step of determining or measuring the current position of the vehicle, in particular the current location (latitude, longitude) and / or the current heading,
- the autonomous driving method allows the automatic and / or without action of a user to switch from a maneuvering autonomous driving mode to a cruising autonomous driving mode.
- the process therefore comprises:
- an autonomous maneuver driving mode comprising in particular the implementation of the first step of the third phase 130, and
- the drive or movement of the vehicle in autonomous maneuvering mode is carried out at a speed of less than 10 km / h, or even less than 5 km / h, and / or
- the drive or movement of the vehicle in autonomous cruising mode is normally (except disturbance, in particular except disturbance related to traffic) carried out at a speed equal or substantially to the speed limit authorized on the traffic lane.
- a phase 150 the autonomous driving system tests whether the vehicle is on a path defined by a cruising autonomous driving mode, if this is the case the autonomous driving system exits the maneuvering autonomous driving mode and switches automatically in this cruising autonomous driving mode.
- the autonomous driving system did not find an actuator command making it possible to perform the maneuver with sufficient criteria.
- the autonomous driving system notifies the vehicle user or an operator. This information is for example carried out via the man-machine interface.
- the actuators of the vehicle are then controlled by the user of the vehicle or by the operator, in particular a teleoperator, to perform the maneuver.
- the autonomous cruising driving mode can be activated.
- This autonomous cruising driving mode is activated by user or operator action.
- the autonomous driving system is able to recognize and take into account misalignments between the position of the vehicle, the state of an actuator and the desired trajectory before starting any maneuver.
- the autonomous driving system controls and modifies the response of the vehicle (if necessary) when the autonomous maneuvering mode is engaged and / or the speed is low so as to detect and correct dangerous situations when the vehicle starts up while its state is not. is not consistent with the trajectory.
- the autonomous driving system continuously monitors the condition of the vehicle and compares it to a reference course to determine its feasibility, modifying the control commands of the actuators accordingly to improve the following of the trajectory and reduce the risks.
- the autonomous driving system embodiment described above has been coded and integrated into a vehicle of the holder (ZOE® robot taxi) and tests have made it possible to provide the following results.
- the system has been track tested in different initial states and different orientations of the vehicle. The results were compared with those obtained with the same vehicle without implementing the invention. These results show a significant improvement in the vehicle's autonomy capabilities.
- FIG. 4 shows a first situation in which the initial situation of the vehicle with respect to the reference path is characterized by a small alignment error on the lane used (right lane) and the steering wheel is turned completely to the right near the lane. entrance to a roundabout.
- the sought trajectories TR1 and the limits L1 of the road are represented respectively. The times are indicated from zero (starting point) up to 25 seconds by following the same representation.
- a curve B represents the trajectory of the vehicle obtained with the autonomous driving mode without the proposed invention, while a curve A represents the trajectory of the vehicle obtained with the autonomous driving mode provided with the autonomous maneuvering system described above.
- curve B immediately goes out of the way.
- the trajectory remains out of the way for a long time before returning to follow the desired reference trajectory (to make a U-turn in the roundabout).
- curve A remains in the way.
- the steered wheels of the motor vehicle are first oriented, before the motor vehicle is moved. This allows the vehicle to correctly enter the roundabout from the same initial configuration.
- Figures 5a, 5b, 5c and 5d show the performance of the vehicle during the two tests described above.
- Figure 5a shows the changes in the angle of the steering wheel from an initial value of -430 degrees during the two tests. It is noted that the steering wheel angle A1 converges rapidly to unsaturated values (around the 7 th second) while the vehicle is always stopped and only the steering wheel is in motion. On the contrary, it will be noted that without the system according to the invention (curve B1), the vehicle requires further correction of the steering wheel to achieve proper control and precisely follow the reference path.
- Figure 5b shows the changes in speed during the two tests.
- the speed signal B2 is non-zero even before the cruise control begins to change the angle of the steering wheel, following the speed given by the navigation system.
- curve A2 with the system according to the invention, one waits until the steering wheel has reached a correct angle before starting, which means that it follows the method described above, by first activating the module 37 for correcting initial steering control and then checking the conditions to activate the other modules.
- the navigation speed is exceeded directly (the position correction module 38 is neglected) from the moment when the conditions for activating the cruise autonomous driving mode module 39 are obtained (for example the error lateral direction is less than 0.3 m and the heading or orientation error is less than 5 degrees).
- FIG. 5c shows the changes in the lateral error during the two tests.
- the vehicle (curve A3) reaches less than 0.25 m of lateral error even in difficult contexts such as as roundabouts, whereas, without the invention, the vehicle (curve B3) exceeds a lateral error of 2.8 m with respect to the roadway.
- Similar results are shown in figure 5d concerning the heading error in which with the proposed invention (curve A4) the vehicle maintains a heading error of less than 0.2 radians, which is not the case without the invention. proposed (curve B4).
- FIG. 6 shows the trajectory that the vehicle uses in both cases (trajectory C for the vehicle equipped with the autonomous driving system described above and trajectory D for the vehicle not equipped with the invention), the limits L2 of the traffic lanes and the desired reference trajectories TR2 on each channel.
- the two trajectories are represented, only the trajectory C can be carried out without exceeding the limits (in particular by occupying the opposite traffic lane).
- the path C is executed by the vehicle equipped to implement the invention.
- the trajectory C converges rapidly towards the desired reference trajectory, without overlapping the opposite lane, bringing the vehicle to normal behavior after approximately 11 seconds.
- the trajectory D represents a vehicle which does not implement the invention and which stabilizes after about 15 seconds after starting and after having clearly overlapped the other lane, in other words by going outside the set limits.
- FIGS. 7a, 7b, 7c and 7d represent the performance of the vehicle during the two tests described above.
- FIG. 7a shows the changes in the angle of the steering wheel from an initial value during the two tests. It is clear that the vehicle implementing the invention and along curve C1 converges more rapidly towards an unsaturated behavior than the vehicle not implementing the invention and along curve D1.
- FIG. 7b shows the changes in speed during the two tests.
- the curve C2 of the speed of the vehicle implementing the invention follows the commands given by the trajectory following module 3, that is, firstly, a zero speed to converge towards a correct steering wheel angle, then, secondly , a speed of 2 m / s is applied and finally, thirdly, the autonomous cruising driving mode 39 is activated if the orientation and lateral position errors are below predefined thresholds.
- the speed curve D2 immediately increases up to 2m / s. This does not leave time for the vehicle to allow it to converge towards a stable state.
- FIG. 7c shows the changes in lateral position errors during the two tests.
- the initial error of a little less than 2 m during the initialization is corrected, then the error no longer exceeds 0.2 m then that, according to the curve D3, relating to the vehicle not implementing the invention, the error reaches approximately 3 m.
- FIG. 7d shows the changes in heading errors during the two tests.
- the initial error converges rapidly while, according to the curve D4, relating to the vehicle not implementing the invention, the error increases before converging later towards normal behavior of the vehicle.
- a general illustration of an exemplary human-machine interface 210 is shown in Figure 8. The interface may inform the passenger or the remote operator about feasibility of maneuvering paths and vehicle response with correction. to adapt to the given trajectory.
- the trajectory that the vehicle will follow with the initial position and the angle of the initial steering wheel (trajectory A 'represented on a map with the sought trajectory TR' and the driving area) is compared with the trajectory B 'that the vehicle would follow without implementing the invention.
- the virtual vehicle corrects the orientation of the vehicle's steered wheels and then the vehicle is moved.
- the angular position of the virtual steering wheel can be indicated on the interface 210, as can the current angular position of the steering wheel.
- an indication 211 such as an indicator 211, can be displayed on the interface.
- an indication 212 such as an indicator 212, may be displayed on the interface.
- an indication 213, such as a 213 light, may be displayed on the interface.
- the interface therefore makes it possible to indicate how the vehicle will manage a complex maneuvering situation independently.
- the advantage of the solutions described above is to increase the capacities of vehicles, in particular of the robot taxi type. Such vehicles present difficulty starting in curved areas or with a consequent lateral position or orientation error with respect to a reference trajectory provided by a cruising autonomous driving system.
- the solutions described above also make it possible to manage a docking, de-docking or remote operation maneuver, which represents a complex maneuver to be managed by an autonomous vehicle.
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FR1909974A FR3100622B1 (fr) | 2019-09-10 | 2019-09-10 | Procédé de démarrage de conduite autonome d’un véhicule automobile. |
PCT/EP2020/073484 WO2021047890A1 (fr) | 2019-09-10 | 2020-08-21 | Procédé de démarrage de conduite autonome d'un véhicule automobile |
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EP (1) | EP4028298A1 (fr) |
JP (1) | JP2022547455A (fr) |
KR (1) | KR20220056243A (fr) |
CN (1) | CN114650939A (fr) |
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DE102010045694A1 (de) * | 2010-09-16 | 2012-03-22 | Daimler Ag | Verfahren zur Vermeidung von Kollisionen eines Fahrzeugs mit Hindernissen |
DE102013013867A1 (de) * | 2013-08-20 | 2015-03-12 | Audi Ag | Kraftfahrzeug und Verfahren zur Steuerung eines Kraftfahrzeugs |
JP2016132421A (ja) * | 2015-01-22 | 2016-07-25 | トヨタ自動車株式会社 | 自動運転装置 |
US9645577B1 (en) | 2016-03-23 | 2017-05-09 | nuTonomy Inc. | Facilitating vehicle driving and self-driving |
JP6593241B2 (ja) * | 2016-04-05 | 2019-10-23 | 株式会社デンソー | 電子制御装置 |
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FR3100622A1 (fr) | 2021-03-12 |
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KR20220056243A (ko) | 2022-05-04 |
CN114650939A (zh) | 2022-06-21 |
JP2022547455A (ja) | 2022-11-14 |
US20220194417A1 (en) | 2022-06-23 |
FR3100622B1 (fr) | 2021-09-17 |
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