FR3053650A1 - AUTONOMOUS DRIVING METHOD FOR A MOTOR VEHICLE - Google Patents

Abstract

An autonomous driving method for a motor vehicle (10), comprising: an initial step of autonomous driving in a taxiway (100), a lane change decision step, an informing step of informing the driver of said lane change, • a canceling step of taking into account a lane-canceling command ordered by the driver before or during the completion of said lane change, characterized in that the canceling step of the lane change step requires the motor vehicle to remain or return to the initial stage of autonomous driving.

Description

Holder (s): PEUGEOT CITROEN AUTOMOBILES SA Société anonyme.

Extension request (s)

Agent (s): PEUGEOT CITROEN AUTOMOBILES SA Public limited company.

YOU HAVE AUTONOMOUS DRIVING PROCEDURE FOR A MOTOR VEHICLE.

FR 3 053 650 - A1 (6 /) A method of autonomous driving for a motor vehicle (10), comprising:

an initial step of autonomous driving in a traffic lane (100), a lane change decision step, an information step consisting in informing the driver of said lane change, a cancellation step consisting in taking into account a lane change cancellation command ordered by the driver before or during said lane change, characterized in that the step of canceling the lane change step requires the motor vehicle to remain or return to the lane 'initial stage of autonomous driving.

Autonomous driving method for a motor vehicle The present invention relates generally to an autonomous driving method for a motor vehicle. The present invention also relates to a driving system and a motor vehicle capable of implementing an autonomous driving method.

It is known in the prior art vehicles having a certain degree of autonomy as vehicles which can change lanes to overtake a slower vehicle or a stopped vehicle.

Document US9096267 thus discloses a method allowing an autonomous vehicle to change lanes when the vehicle deems it necessary. In return, such a process does not allow the driver to intervene for example when the lane change is not desirable. The driver must therefore let his vehicle change lanes or completely deactivate the autonomous driving system, which can cause safety problems.

An object of the present invention is to overcome this drawback and in particular to provide an autonomous driving method allowing driver intervention in complete safety.

For this, a first aspect of the invention relates to an autonomous driving method for a vehicle, comprising:

• an initial stage of autonomous driving in a traffic lane, • a lane change decision stage, • an information stage consisting in informing the driver of said lane change, • a cancellation stage consisting in taking into account a lane change cancellation command ordered by the driver before or during the making of said lane change, characterized in that the lane change cancellation step requires the motor vehicle to remain or return to the initial step autonomous driving.

This method thus allows the driver to intervene in autonomous driving without deactivating the autonomous driving system. The autonomous driving process is therefore flexible and allows the driver to adapt the driving to his wishes or to circumstances not perceived by the autonomous driving system.

Advantageously, the cancellation command is taken into account only if the vehicle is still at least partially positioned in said traffic lane. In other words, once the lane change maneuver is carried out and the vehicle has completely left the lane in which it was traveling before changing lanes, the maneuver can no longer be canceled by the driver without deactivating the autonomous driving system. This is to avoid surprising other drivers with surprising or dangerous maneuvers.

Advantageously, the autonomous driving method further comprises a dialogue step in order to propose to the driver a new driving state as a result of returning to the initial step of autonomous driving. This step therefore allows an additional degree of interaction with the driver who is therefore involved in driving without actually performing it directly.

In addition, the autonomous driving method may include an adaptation step to adapt the driving state of the vehicle as a result of returning to the initial step of autonomous driving and / or as a result of the dialogue step. . Thus, the system reacts to the cancel command of the

-3 driver and can determine a new driving state taking into account this cancellation.

For example, the driving state of the vehicle is adapted during the adaptation stage as a function of a measurement of a traffic condition which led to the lane change decision. This measure can include the detection of a slower car located on the same traffic lane, the need to take an exit or an interchange to follow a preprogrammed route or the possibility of turning back to a normal traffic lane following a overshoot. The autonomous driving system therefore deduces a new driving state from the lane change cancellation command as well as from the cause that decided the lane change.

Alternatively or in combination, the driving state of the vehicle is adapted during the adaptation stage according to the instructions given by the driver during the dialogue stage. The driver can therefore give instructions to the autonomous driving system, which then reacts like a driver and adapts the driving state of the vehicle.

For example, the adapted driving state in the adaptation phase includes following a new route, following a slower vehicle or keeping the vehicle on an overtaking lane.

A second aspect of the invention is an autonomous driving system for a motor vehicle implementing an autonomous driving method according to the first aspect of the invention and comprising for this a logic unit, an information unit arranged for transmitting information to the driver and a control unit arranged to receive a cancellation command.

A last aspect of the invention relates to a motor vehicle comprising at least one autonomous driving system according to the second aspect of the invention and / or implementing the autonomous driving method according to the first aspect of the invention.

Other features and advantages of the present invention will appear more clearly on reading the following detailed description of an embodiment of the invention given by way of non-limiting example and illustrated by the drawings annexed, in which:

FIG. 1 represents a diagram of a first part of an autonomous driving method according to the present invention,

FIG. 2 represents a diagram of a second part of an autonomous driving method according to the present invention,

- Figure 3 shows a driving diagram of an autonomous vehicle implementing the autonomous driving method according to the present invention.

Figure 3 shows a motor vehicle 10 equipped with a driving system implementing an autonomous driving method 100 according to the present invention. Vehicle 10 travels on a traffic lane autonomously, that is to say that vehicle 10 is capable of driving in traffic without intervention from the driver, who has previously indicated a desired destination.

In the context of this description, the term driver applies to the person located in the motor vehicle and who can take orders when the mood or the need arises. He is therefore a driver who is generally inactive when the vehicle is in autonomous driving mode.

An autonomous vehicle 10 comprises the technical components making it suitable for implementing the autonomous driving method according to the present invention. It is thus fitted with a microprocessor-based logic unit, a GPS and / or Glonass satellite positioning device, mapping data, radar sensors, proximity sensors and / or cameras, one or more information units to provide information to the driver and one or more units of

-5 command allowing the driver to enter commands, as is known from the state of the art.

A usual overshoot by an autonomous vehicle is explained with reference to Figure 1 (normal operating diagram of the lane change) and Figure 3 (block diagram). Initially, the autonomous vehicle 10 travels on a traffic lane 10, analyzes the environment (FIG. 1, step 1) by measuring the traffic conditions and detects a vehicle 20 traveling at reduced speed (FIG. 3). The autonomous vehicle then decides to change lanes in order to overtake vehicle 20 and indicates to the driver his intention (FIG. 1, step 2) by an information unit, for example a display on the screen or an audible or voice message.

After a few seconds of waiting (X s), for example between 2 and 5 seconds (period 3), the vehicle initiates the lane change maneuver along the path A (Figure 3 and step 6, Figure 1). The vehicle 10 requires a certain time (FIG. 1, period 4) before crossing the broken line 200 separating the taxiway 100 and the passing lane 300 (FIG. 3 and FIG. 1, step 7). In a step 9, the vehicle finishes the overtaking maneuver during period 5 (FIG. 1) along the path A (FIG. 3) and accelerates in the passing lane 300 in order to overtake the slower vehicle which is traveling in the lane. circulation 100 (Figure 3 and Figure 1, step 9).

The autonomous driving method according to the present invention allows the driver to interrupt the overtaking maneuver during periods 3 and 4 (Figure 1, step 8) by acting on a control unit. This control unit can be a control lever such as a flashing light or a dedicated control, a touch screen or even a voice control. If this cancellation command (step 8), that is to say the request to interrupt the overtaking maneuver, intervenes in period 3 in which the vehicle has not yet started the maneuver, the vehicle does not carry out no overtaking and therefore remains in the initial position, in autonomous driving on the taxiway 100 behind the slower vehicle 20 (FIG. 3).

If the cancellation command (step 8) occurs in period 4 (Figure 1), in which the vehicle has already started the overtaking maneuver, but has not yet completely crossed the broken line 200 (step 7 ), the vehicle cancels the maneuver in position X in FIG. 3 and comes back to its initial position in the lane 100 behind the slower vehicle 20 by following a path B and by adapting its speed and its distance from this vehicle independently.

Thus, the autonomous driving method according to the present invention allows the driver to intervene in autonomous driving without disconnecting the autonomous driving system, that is to say without going back to a fully manual driving mode .

Finally, if the cancellation command (step 8) occurs in period 5 (Figure 1) in which the vehicle has completely crossed the broken line 200 (step 7) and is positioned in the passing lane 300, the cancellation command is not taken into account and the vehicle continues the overtaking maneuver so as not to surprise other drivers. The driver can, however, resume control of the vehicle in manual mode, thereby deactivating the autonomous driving system.

Referring to Figure 2, the autonomous driving system will initiate a dialogue with the driver due to the cancel command. This dialogue is carried out by an adequate interface, for example by voice synthesis or by messages on a control screen, and according to the initial cause of the lane change decision during step 1. The purpose of this step dialogue is thus to propose a new driving state to the driver.

For example, in Figure 2, if the cause of the lane change decision was to follow a route involving taking an exit route or a motorway interchange, the autonomous driving system offers the driver a new route and / or modify its itinerary to introduce a stage. If the driver does not give any new information, the autonomous driving system retries a lane change maneuver as soon as possible.

If the cause of the lane change decision was to overtake a slower vehicle as shown in Figure 3, the autonomous driving system offers to follow the vehicle by adjusting the speed. If the driver does not validate the slower vehicle tracking, the autonomous driving system retries an overtaking maneuver as soon as possible.

Finally, if the cause of the lane change decision was to return to a normal traffic lane while the vehicle was traveling on an overtaking lane, for example the left lane for countries where normal traffic is used on the right lane, the system offers to stay on the left lane and / or asks in how long or in kilometers it will be able to perform the folding maneuver. If the driver does not instruct, the autonomous driving system will attempt a folding maneuver as soon as possible.

The driver can instruct the autonomous driving system by any type of control unit including in particular a touch screen, a voice command, a dedicated joystick or a combination thereof. For example, several predetermined scenarios can be proposed to the driver so that he can easily instruct the autonomous driving system.

Following this dialogue step, the autonomous driving system adapts its driving state to the instructions given by the driver. The driver can thus adapt the autonomous driving of the

-8vehicle in a situation not envisaged or not perceivable by the autonomous driving process for example in order to avoid round trips between two traffic lanes when the normal traffic lane 100 is congested by a large number of slow vehicles, or else when the driver does not wish to fully follow the planned path.

It will be understood that various modifications and / or improvements obvious to those skilled in the art can be made to the various embodiments of the invention described in the present description without departing from the scope of the invention defined by the appended claims. In particular, reference is made to the vehicle which may include a manual or non-manual driving cockpit, or else be fitted with other complementary systems, managing for example vehicle acceleration, braking or driving on mountain roads or in city. In addition, a device making it possible to take into account the state of alertness of the driver can also be provided, for example by means of a camera or on the basis of the frequency of the driver's interactions with the vehicle. For example, the waiting time 3 between the lane change decision and the lane change, during which the vehicle has not yet maneuvered, can be adapted to the driver's estimated alertness.

In addition, the autonomous driving method according to the present invention can be adapted to any type of vehicle, such as an automobile, a bus or a utility vehicle. Finally, the autonomous driving process can be equipped with an artificial intelligence which makes it possible to search for the causes of the lane change cancellation directly by analyzing the environment, without going through a stage of dialogue with the driver.

Claims (9)

1. Method for autonomous driving for a vehicle (10), comprising: • an initial step of autonomous driving (1) in a traffic lane (100), • a lane change decision step (2), • an information step (2) consisting in informing the driver of said lane change A cancellation step (8) consisting in taking into account a lane change cancellation command ordered by the driver before or during the making of said lane change, characterized in that the cancellation step (8 ) of the lane change requires the motor vehicle to remain or return to the initial stage of autonomous driving (1). 2. Autonomous driving method according to the preceding claim, characterized in that the cancellation command (8) is taken into account only if the vehicle (10) is still at least partially positioned in said traffic lane (100). 3. Method of autonomous driving according to any one of the preceding claims, characterized in that it further comprises a dialogue step in order to propose to the driver a new driving state as a result of returning to the initial step of autonomous driving. (1). 4. Autonomous driving method according to the preceding claim, characterized in that it further comprises an adaptation step to adapt the driving state of the vehicle as a result of returning to the initial step of autonomous driving (1) and / or as a result of the dialogue step. -105. Autonomous driving method according to the preceding claim, characterized in that the driving state of the vehicle is adapted during the adaptation step as a function of a measurement of a traffic condition which led to the lane change decision. . 5 6. Autonomous driving method according to claim 4 or 5, characterized in that the driving state of the vehicle is adapted during the adaptation step according to the instructions given by the driver during the dialogue step. 7. Autonomous driving method according to any of the 10 claims 4 to 6, wherein the adapted driving state in the adaptation phase comprises following a new route, following a slower vehicle or keeping the vehicle on a passing lane. 8. Autonomous driving system for a motor vehicle implementing an autonomous driving method according to any one of 15 previous claims and comprising for this a logic unit, an information unit arranged to transmit information to the driver and a control unit arranged to receive a cancellation command. 9. Motor vehicle (10) having at least one driving system Autonomous driving according to the preceding claim and / or in the autonomous driving is carried out by the autonomous driving method of claims 1 to 7. 1/3