FR3074125B1 - METHOD AND DEVICE FOR ASSISTANCE FOR AUTOMATED DRIVING OF A VEHICLE IN THE EVENT OF SUBDIVISION IN PARTS OR MERGER OF PARTS OF THE TRAFFIC LANE - Google Patents

METHOD AND DEVICE FOR ASSISTANCE FOR AUTOMATED DRIVING OF A VEHICLE IN THE EVENT OF SUBDIVISION IN PARTS OR MERGER OF PARTS OF THE TRAFFIC LANE Download PDF

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Publication number
FR3074125B1
FR3074125B1 FR1761144A FR1761144A FR3074125B1 FR 3074125 B1 FR3074125 B1 FR 3074125B1 FR 1761144 A FR1761144 A FR 1761144A FR 1761144 A FR1761144 A FR 1761144A FR 3074125 B1 FR3074125 B1 FR 3074125B1
Authority
FR
France
Prior art keywords
parts
vehicle
traffic lane
subdivision
event
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
Application number
FR1761144A
Other languages
French (fr)
Other versions
FR3074125A1 (en
Inventor
David Giraud
Marc Campo
Stephane Camp
Jeremy Caillet
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.)
Stellantis Auto Sas Fr
Original Assignee
PSA 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 PSA Automobiles SA filed Critical PSA Automobiles SA
Priority to FR1761144A priority Critical patent/FR3074125B1/en
Priority to EP18819181.1A priority patent/EP3713803A1/en
Priority to PCT/FR2018/052805 priority patent/WO2019102100A1/en
Publication of FR3074125A1 publication Critical patent/FR3074125A1/en
Application granted granted Critical
Publication of FR3074125B1 publication Critical patent/FR3074125B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • 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
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

Un procédé est destiné à assister le conducteur d'un véhicule (VA) pouvant être conduit de façon automatisée sur une voie de circulation (VC) définie par des première (d1) et seconde (d2) délimitations. Ce procédé comprend une étape dans laquelle en cas de détection d'une prochaine subdivision de la voie de circulation (VC) en au moins deux parties (P1-P2), on conduit de façon automatisée le véhicule (VA) dans un mode absolu consistant à lui faire suivre une trajectoire située à une distance choisie (dc) de l'une des première (d1) et seconde (d2) délimitations, puis, lorsque le véhicule (VA) est placé sur l'une des parties (P1-P2), on le conduit de façon automatisée dans un mode relatif consistant à lui faire suivre une trajectoire, relative à la largeur de la voie de circulation, par rapport à une ligne médiane (Im) située à égale distance des première (d1) et seconde (d2) délimitations.A method is intended to assist the driver of a vehicle (VA) which can be driven automatically on a traffic lane (VC) defined by first (d1) and second (d2) delimitations. This method comprises a step in which, in the event of detection of an upcoming subdivision of the traffic lane (VC) into at least two parts (P1-P2), the vehicle is driven automatically (VA) in an absolute mode consisting of in making it follow a path located at a chosen distance (dc) from one of the first (d1) and second (d2) delimitations, then, when the vehicle (VA) is placed on one of the parts (P1-P2) ), it is driven in an automated manner in a relative mode consisting in making it follow a trajectory, relative to the width of the traffic lane, with respect to a center line (Im) located at an equal distance from the first (d1) and second (d2) boundaries.

FR1761144A 2017-11-24 2017-11-24 METHOD AND DEVICE FOR ASSISTANCE FOR AUTOMATED DRIVING OF A VEHICLE IN THE EVENT OF SUBDIVISION IN PARTS OR MERGER OF PARTS OF THE TRAFFIC LANE Active FR3074125B1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR1761144A FR3074125B1 (en) 2017-11-24 2017-11-24 METHOD AND DEVICE FOR ASSISTANCE FOR AUTOMATED DRIVING OF A VEHICLE IN THE EVENT OF SUBDIVISION IN PARTS OR MERGER OF PARTS OF THE TRAFFIC LANE
EP18819181.1A EP3713803A1 (en) 2017-11-24 2018-11-12 Method and device for assisting in the automated driving of a vehicle in the event of the traffic lane being subdivided into parts or parts thereof merging
PCT/FR2018/052805 WO2019102100A1 (en) 2017-11-24 2018-11-12 Method and device for assisting in the automated driving of a vehicle in the event of the traffic lane being subdivided into parts or parts thereof merging

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1761144A FR3074125B1 (en) 2017-11-24 2017-11-24 METHOD AND DEVICE FOR ASSISTANCE FOR AUTOMATED DRIVING OF A VEHICLE IN THE EVENT OF SUBDIVISION IN PARTS OR MERGER OF PARTS OF THE TRAFFIC LANE
FR1761144 2017-11-24

Publications (2)

Publication Number Publication Date
FR3074125A1 FR3074125A1 (en) 2019-05-31
FR3074125B1 true FR3074125B1 (en) 2021-06-04

Family

ID=60923765

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1761144A Active FR3074125B1 (en) 2017-11-24 2017-11-24 METHOD AND DEVICE FOR ASSISTANCE FOR AUTOMATED DRIVING OF A VEHICLE IN THE EVENT OF SUBDIVISION IN PARTS OR MERGER OF PARTS OF THE TRAFFIC LANE

Country Status (3)

Country Link
EP (1) EP3713803A1 (en)
FR (1) FR3074125B1 (en)
WO (1) WO2019102100A1 (en)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006047636A1 (en) * 2006-10-09 2008-04-10 Robert Bosch Gmbh Method for controlling a driver assistance system
JP5124875B2 (en) * 2008-03-12 2013-01-23 本田技研工業株式会社 Vehicle travel support device, vehicle, vehicle travel support program
JP5739460B2 (en) * 2013-02-14 2015-06-24 本田技研工業株式会社 Vehicle travel support device
JP6134276B2 (en) * 2014-03-03 2017-05-24 株式会社Ｓｏｋｅｎ Traveling line recognition device
US9830517B2 (en) * 2014-06-19 2017-11-28 Toyota Motor Engineering & Manufacturing North America, Inc. Road branch detection and path selection for lane centering
JP6344275B2 (en) 2015-03-18 2018-06-20 トヨタ自動車株式会社 Vehicle control device
JP6465730B2 (en) * 2015-04-21 2019-02-06 アルパイン株式会社 Electronic device, traveling lane identification system, and traveling lane identification method

Also Published As

Publication number Publication date
WO2019102100A1 (en) 2019-05-31
EP3713803A1 (en) 2020-09-30
FR3074125A1 (en) 2019-05-31

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