FR3066627B1 - Systeme de planification de trajectoire de vehicule automobile - Google Patents
Systeme de planification de trajectoire de vehicule automobile Download PDFInfo
- Publication number
- FR3066627B1 FR3066627B1 FR1754502A FR1754502A FR3066627B1 FR 3066627 B1 FR3066627 B1 FR 3066627B1 FR 1754502 A FR1754502 A FR 1754502A FR 1754502 A FR1754502 A FR 1754502A FR 3066627 B1 FR3066627 B1 FR 3066627B1
- Authority
- FR
- France
- Prior art keywords
- vehicle
- function
- lane change
- signal
- trajectory
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 claims abstract description 21
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000013016 damping Methods 0.000 claims description 7
- 238000009499 grossing Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 3
- 238000011144 upstream manufacturing Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000010349 pulsation Effects 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- 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
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0255—Automatic changing of lane, e.g. for passing another 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
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/16—Type of output information
- B60K2360/175—Autonomous driving
-
- 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
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
- B60W2050/0011—Proportional Integral Differential [PID] controller
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims (10)
- Revendications1. Procédé de commande autonome de la direction d’un véhicule automobile (1 ) lors d’un changement de voie, comprenant les étapes suivantes : - réception d’un signal de changement de voie (3) vers une voie cible (n) ; - calcul (40) d’un signal de commande (51) de la direction du véhicule sur base du signal de changement de voie (3); caractérisé en ce que le calcul du signal de commande de la direction comprend, lors de la réception du signal de changement de voie (3), la détermination d’une fonction (Adn) de l’écart latéral du véhicule par rapport à la voie cible (n) et un lissage (45) de ladite fonction au moyen d’un filtre passe-bas (46).
- 2. Procédé selon la revendication 1, caractérisé en ce que le calcul du signal de commande de la direction (51) comprend, en outre, une boucle d’asservissement (8.b) dudit signal de commande, avec, pour consigne de régulation, la fonction de l’écart latéral cible lissée (Adfn).
- 3. Procédé selon la revendication 2, caractérisé en ce que la boucle d’asservissement comprend un régulateur du type PID (5).
- 4. Procédé selon la revendication 3, caractérisé en ce que la boucle d’asservissement comprend, en outre, une fonction représentative de la dynamique du véhicule (6).
- 5. Procédé selon la revendication 4, caractérisé en ce que la boucle d’asservissement (8.b) comprend, en outre, un signal de perturbation à l’entrée de la fonction représentative de la dynamique du véhicule (6).
- 6. Procédé selon l’une des revendications 2 à 5, caractérisé en ce que la boucle d’asservissement (8.b) comprend la mesure (y) de l’écart latéral du véhicule par rapport à une voie de référence et le calcul de la différence entre ledit écart mesuré (y) et l’écart latéral cible lissé (Adfn).
- 7. Procédé selon l’une des revendications 1 à 6, caractérisé en ce que le filtre passe-bas est exécuté (45) au moyen d’une fonction de transfert F(s) du deuxième ordre qui s’énonce : en fonction d’un opérateur de Laplace s, avec une fréquence de coupure wr et un coefficient d’amortissement
- 8. Procédé selon la revendication 7, caractérisé en ce que la fréquence de coupure est supérieure ou égale à 0.25 et/ou inférieure ou égale à 2.
- 9. Procédé selon l’une des revendications 7 ou 8, caractérisé en ce que le coefficient d’amortissement est supérieur ou égal à 0.85.
- 10. Véhicule automobile (1) comprenant un système de conduite autonome avec une direction à commande électrique et un calculateur relié électriquement à ladite direction, caractérisé en ce que le calculateur est configuré pour exécuter le procédé selon l’une des revendications 1 à 9.
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1754502A FR3066627B1 (fr) | 2017-05-22 | 2017-05-22 | Systeme de planification de trajectoire de vehicule automobile |
PCT/FR2018/051029 WO2018215709A1 (fr) | 2017-05-22 | 2018-04-24 | Systeme de planification de trajectoire de vehicule automobile |
EP18726206.8A EP3635499A1 (fr) | 2017-05-22 | 2018-04-24 | Système de planification de trajectoire de véhicule automobile |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1754502 | 2017-05-22 | ||
FR1754502A FR3066627B1 (fr) | 2017-05-22 | 2017-05-22 | Systeme de planification de trajectoire de vehicule automobile |
Publications (2)
Publication Number | Publication Date |
---|---|
FR3066627A1 FR3066627A1 (fr) | 2018-11-23 |
FR3066627B1 true FR3066627B1 (fr) | 2019-06-14 |
Family
ID=61802000
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR1754502A Active FR3066627B1 (fr) | 2017-05-22 | 2017-05-22 | Systeme de planification de trajectoire de vehicule automobile |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3635499A1 (fr) |
FR (1) | FR3066627B1 (fr) |
WO (1) | WO2018215709A1 (fr) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114877911B (zh) * | 2022-07-08 | 2022-10-04 | 小米汽车科技有限公司 | 路径规划方法、装置、车辆及存储介质 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8428843B2 (en) * | 2008-06-20 | 2013-04-23 | GM Global Technology Operations LLC | Method to adaptively control vehicle operation using an autonomic vehicle control system |
US8849515B2 (en) * | 2012-07-24 | 2014-09-30 | GM Global Technology Operations LLC | Steering assist in driver initiated collision avoidance maneuver |
-
2017
- 2017-05-22 FR FR1754502A patent/FR3066627B1/fr active Active
-
2018
- 2018-04-24 WO PCT/FR2018/051029 patent/WO2018215709A1/fr active Application Filing
- 2018-04-24 EP EP18726206.8A patent/EP3635499A1/fr not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
WO2018215709A1 (fr) | 2018-11-29 |
EP3635499A1 (fr) | 2020-04-15 |
FR3066627A1 (fr) | 2018-11-23 |
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Owner name: UNIVERSITE DE BORDEAUX, FR Effective date: 20240423 Owner name: INSTITUT POLYTECHNIQUE DE BORDEAUX, FR Effective date: 20240423 Owner name: CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE, FR Effective date: 20240423 Owner name: STELLANTIS AUTO SAS, FR Effective date: 20240423 |