FR3089924B1 - Procédé et système de controle de conduite préventive - Google Patents

Procédé et système de controle de conduite préventive Download PDF

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Publication number
FR3089924B1
FR3089924B1 FR1872896A FR1872896A FR3089924B1 FR 3089924 B1 FR3089924 B1 FR 3089924B1 FR 1872896 A FR1872896 A FR 1872896A FR 1872896 A FR1872896 A FR 1872896A FR 3089924 B1 FR3089924 B1 FR 3089924B1
Authority
FR
France
Prior art keywords
control process
behavior control
relates
vehicle
preventive
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
FR1872896A
Other languages
English (en)
Other versions
FR3089924A1 (fr
Inventor
Vicente Milanes
Bautista David Gonzalez
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.)
Renault SAS
Original Assignee
Renault SAS
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
Priority to FR1872896A priority Critical patent/FR3089924B1/fr
Application filed by Renault SAS filed Critical Renault SAS
Priority to PCT/EP2019/084450 priority patent/WO2020120484A1/fr
Priority to US17/413,386 priority patent/US20220073093A1/en
Priority to EP19832574.8A priority patent/EP3894296A1/fr
Priority to KR1020217022245A priority patent/KR20210094658A/ko
Priority to JP2021531737A priority patent/JP2022513713A/ja
Priority to CN201980082878.5A priority patent/CN113242826A/zh
Publication of FR3089924A1 publication Critical patent/FR3089924A1/fr
Application granted granted Critical
Publication of FR3089924B1 publication Critical patent/FR3089924B1/fr
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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • 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
    • B60W30/18145—Cornering
    • 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
    • B60W40/072—Curvature of the road
    • 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
    • B62D15/021—Determination of steering angle
    • 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
    • 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
    • B60W2552/30—Road curve radius
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)

Abstract

PROCÉDÉ ET SYSTÈME DE CONTROLE DE CONDUITE PRÉVENTIVE L’invention concerne un guidage d’un véhicule (1) autonome sur une voie (6), caractérisé en ce que le procédé comprend, lorsqu’on détecte une entrée (7) d’un virage, une première étape de guidage du véhicule (1) vers une partie extérieure de la voie (6). L’invention concerne également un système de guidage pour la mise en œuvre du procédé selon l’invention et un véhicule comprenant un tel système. L’invention concerne enfin un produit programme d’ordinateur et un support de données comprenant un tel programme. Figure pour l’abrégé : 2
FR1872896A 2018-12-14 2018-12-14 Procédé et système de controle de conduite préventive Expired - Fee Related FR3089924B1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
FR1872896A FR3089924B1 (fr) 2018-12-14 2018-12-14 Procédé et système de controle de conduite préventive
US17/413,386 US20220073093A1 (en) 2018-12-14 2019-12-10 Method and system for preventive driving control
EP19832574.8A EP3894296A1 (fr) 2018-12-14 2019-12-10 Procédé et système de controle de conduite préventive
KR1020217022245A KR20210094658A (ko) 2018-12-14 2019-12-10 예방적 운전 제어를 위한 방법 및 시스템
PCT/EP2019/084450 WO2020120484A1 (fr) 2018-12-14 2019-12-10 Procédé et système de controle de conduite préventive
JP2021531737A JP2022513713A (ja) 2018-12-14 2019-12-10 予防的運転制御のための方法およびシステム
CN201980082878.5A CN113242826A (zh) 2018-12-14 2019-12-10 用于预防性驾驶控制的方法和系统

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1872896A FR3089924B1 (fr) 2018-12-14 2018-12-14 Procédé et système de controle de conduite préventive

Publications (2)

Publication Number Publication Date
FR3089924A1 FR3089924A1 (fr) 2020-06-19
FR3089924B1 true FR3089924B1 (fr) 2021-09-10

Family

ID=67107530

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1872896A Expired - Fee Related FR3089924B1 (fr) 2018-12-14 2018-12-14 Procédé et système de controle de conduite préventive

Country Status (7)

Country Link
US (1) US20220073093A1 (fr)
EP (1) EP3894296A1 (fr)
JP (1) JP2022513713A (fr)
KR (1) KR20210094658A (fr)
CN (1) CN113242826A (fr)
FR (1) FR3089924B1 (fr)
WO (1) WO2020120484A1 (fr)

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2875022B1 (fr) * 2004-09-07 2006-11-24 Renault V I Sa Procede de determination en temps reel de la trajectoire cible d'un vehicule
DE102008022606A1 (de) * 2008-05-08 2009-11-12 Man Nutzfahrzeuge Aktiengesellschaft Spurführungssystem
US8315756B2 (en) * 2009-08-24 2012-11-20 Toyota Motor Engineering and Manufacturing N.A. (TEMA) Systems and methods of vehicular path prediction for cooperative driving applications through digital map and dynamic vehicle model fusion
DE102009047476A1 (de) * 2009-12-04 2011-06-09 Robert Bosch Gmbh Verfahren und Steuergerät zur Bestimmung einer Schnitttrajektorie eines Kurvenabschnitts einer Fahrbahn
JP5771930B2 (ja) * 2010-09-27 2015-09-02 トヨタ自動車株式会社 走行軌跡作成装置
US9045144B2 (en) * 2013-05-09 2015-06-02 Robert Bosch Gmbh Third-order polynomial-based course prediction for driver assistance functions
US9365218B2 (en) 2014-07-14 2016-06-14 Ford Global Technologies, Llc Selectable autonomous driving modes
FR3043975B1 (fr) * 2015-10-16 2018-09-21 Valeo Schalter Und Sensoren Gmbh Procede et systeme d'assistance au maintien d'une trajectoire de vehicule automobile a l'interieur d'une voie de roulage
JP2017100652A (ja) * 2015-12-04 2017-06-08 株式会社デンソー 走行軌跡生成装置、走行軌跡生成方法
JP6589658B2 (ja) * 2016-01-21 2019-10-16 株式会社デンソー 走行制御装置
US9849878B2 (en) * 2016-02-26 2017-12-26 GM Global Technology Operations LLC System and method for providing a corrected lane following path through a curve for trailering vehicles
DE102016007567A1 (de) * 2016-06-21 2017-12-21 Audi Ag Verfahren zum Betreiben eines zum Ermitteln einer zu befahrenden Trajektorie und/oder zum Durchführen von Fahreingriffen ausgebildeten Fahrzeugsystems, Verfahren zum Betreiben eines Steuerungssystems und Kraftfahrzeug
JP6642332B2 (ja) * 2016-08-23 2020-02-05 株式会社デンソー 運転支援制御装置
JP6666304B2 (ja) * 2017-06-02 2020-03-13 本田技研工業株式会社 走行制御装置、走行制御方法、およびプログラム
JP7081117B2 (ja) * 2017-11-06 2022-06-07 いすゞ自動車株式会社 操舵制御装置及び操舵制御方法

Also Published As

Publication number Publication date
CN113242826A (zh) 2021-08-10
US20220073093A1 (en) 2022-03-10
EP3894296A1 (fr) 2021-10-20
FR3089924A1 (fr) 2020-06-19
JP2022513713A (ja) 2022-02-09
KR20210094658A (ko) 2021-07-29
WO2020120484A1 (fr) 2020-06-18

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