FR3062833B1 - METHOD OF AUTONOMOUS DRIVING A MOTOR VEHICLE - Google Patents

METHOD OF AUTONOMOUS DRIVING A MOTOR VEHICLE Download PDF

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Publication number
FR3062833B1
FR3062833B1 FR1751095A FR1751095A FR3062833B1 FR 3062833 B1 FR3062833 B1 FR 3062833B1 FR 1751095 A FR1751095 A FR 1751095A FR 1751095 A FR1751095 A FR 1751095A FR 3062833 B1 FR3062833 B1 FR 3062833B1
Authority
FR
France
Prior art keywords
autonomous driving
speed
motor vehicle
vehicle
predetermined threshold
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.)
Expired - Fee Related
Application number
FR1751095A
Other languages
French (fr)
Other versions
FR3062833A1 (en
Inventor
Ahmid El Hamdani
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
PSA Automobiles SA
Original Assignee
Peugeot Citroen Automobiles SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Peugeot Citroen Automobiles SA filed Critical Peugeot Citroen Automobiles SA
Priority to FR1751095A priority Critical patent/FR3062833B1/en
Publication of FR3062833A1 publication Critical patent/FR3062833A1/en
Application granted granted Critical
Publication of FR3062833B1 publication Critical patent/FR3062833B1/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • B60W40/02—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 ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • 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
    • B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
    • 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
    • B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/22—Strain gauge
    • 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
    • B60W2530/10—Weight
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/12—Lateral speed

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Controls For Constant Speed Travelling (AREA)

Abstract

L'invention porte sur un procédé de conduite autonome d'un véhicule automobile circulant sur une voie de circulation à une vitesse initiale, ledit procédé comprenant une étape de commande de l'augmentation de la vitesse initiale dudit véhicule jusqu'à une vitesse de consigne, une étape (E4) de détermination de la capacité du véhicule à atteindre la vitesse de consigne sur la voie de circulation, et une étape (E6) d'augmentation de la vitesse initiale jusqu'à la vitesse de consigne si la capacité déterminée du véhicule est supérieure à un seuil prédéterminé, ledit seuil prédéterminé étant supérieur ou égal à ladite vitesse de consigne.The invention relates to a method of autonomous driving of a motor vehicle traveling on a lane at an initial speed, said method comprising a step of controlling the increase of the initial speed of said vehicle to a set speed. , a step (E4) for determining the vehicle's capacity to reach the target speed on the taxiway, and a step (E6) for increasing the initial speed to the set speed if the determined capacity of the vehicle is greater than a predetermined threshold, said predetermined threshold being greater than or equal to said set speed.

FR1751095A 2017-02-10 2017-02-10 METHOD OF AUTONOMOUS DRIVING A MOTOR VEHICLE Expired - Fee Related FR3062833B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1751095A FR3062833B1 (en) 2017-02-10 2017-02-10 METHOD OF AUTONOMOUS DRIVING A MOTOR VEHICLE

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1751095 2017-02-10
FR1751095A FR3062833B1 (en) 2017-02-10 2017-02-10 METHOD OF AUTONOMOUS DRIVING A MOTOR VEHICLE

Publications (2)

Publication Number Publication Date
FR3062833A1 FR3062833A1 (en) 2018-08-17
FR3062833B1 true FR3062833B1 (en) 2019-04-05

Family

ID=58501707

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1751095A Expired - Fee Related FR3062833B1 (en) 2017-02-10 2017-02-10 METHOD OF AUTONOMOUS DRIVING A MOTOR VEHICLE

Country Status (1)

Country Link
FR (1) FR3062833B1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113039110B (en) * 2018-12-28 2023-12-15 康明斯有限公司 System and method for controlling overtaking maneuver of vehicle

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19725656B4 (en) * 1996-06-27 2014-11-20 Volkswagen Ag Security Überholsystem
US6554091B2 (en) * 2000-09-08 2003-04-29 Visteon Global Technologies, Inc. Engine output controller
DE102007054095A1 (en) * 2007-11-13 2009-05-14 Robert Bosch Gmbh Driver assistance system for motor vehicles
DE202012101687U1 (en) * 2012-05-08 2012-05-29 Deutsches Zentrum für Luft- und Raumfahrt e.V. Lane change assistance system
US10166980B2 (en) * 2013-02-28 2019-01-01 Ford Global Technologies, Llc Vehicle mass computation
JP6031066B2 (en) * 2014-06-17 2016-11-24 富士重工業株式会社 Vehicle travel control device

Also Published As

Publication number Publication date
FR3062833A1 (en) 2018-08-17

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