FR3096327B1 - Appareil de contrôle de conduite pour véhicule - Google Patents
Appareil de contrôle de conduite pour véhicule Download PDFInfo
- Publication number
- FR3096327B1 FR3096327B1 FR2004232A FR2004232A FR3096327B1 FR 3096327 B1 FR3096327 B1 FR 3096327B1 FR 2004232 A FR2004232 A FR 2004232A FR 2004232 A FR2004232 A FR 2004232A FR 3096327 B1 FR3096327 B1 FR 3096327B1
- Authority
- FR
- France
- Prior art keywords
- vehicle
- lane
- predetermined area
- test device
- adjacent
- 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
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
-
- 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
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
-
- 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
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
- B60W60/00276—Planning or execution of driving tasks using trajectory prediction for other traffic participants for two or more other traffic participants
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3691—Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
-
- 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
- B60W2552/10—Number of lanes
-
- 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
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
Abstract
L’invention concerne un appareil de contrôle de conduite pour un véhicule, comprenant :une partie d’estimation de conditions environnantes (11) pour repérer des voies spécifiques et des véhicules alentour, et obtenir l’état de déplacement du véhicule ;une partie de génération de trajectoire (12) générant une trajectoire cible ; une partie de contrôle du véhicule (13) pour amener le véhicule à suivre la trajectoire cible, et apte à :effectuer un changement de voie automatisé vers une voie adjacente lorsqu'il n'y a aucun autre véhicule dans une zone prédéterminée de la voie adjacente ; etdéterminer s’il convient de poursuivre un changement de voie lorsqu’il est déterminé qu’un autre véhicule se trouve dans une zone prédéterminée autour du véhicule. Figure de l'abrégé : Figure 4
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019-095192 | 2019-05-21 | ||
JP2019095192A JP7316542B2 (ja) | 2019-05-21 | 2019-05-21 | 車両の走行制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
FR3096327A1 FR3096327A1 (fr) | 2020-11-27 |
FR3096327B1 true FR3096327B1 (fr) | 2022-11-18 |
Family
ID=73453262
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR2004232A Active FR3096327B1 (fr) | 2019-05-21 | 2020-04-28 | Appareil de contrôle de conduite pour véhicule |
Country Status (4)
Country | Link |
---|---|
US (1) | US11161513B2 (fr) |
JP (1) | JP7316542B2 (fr) |
CN (1) | CN112061121B (fr) |
FR (1) | FR3096327B1 (fr) |
Families Citing this family (15)
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---|---|---|---|---|
US10553118B1 (en) * | 2019-01-31 | 2020-02-04 | StradVision, Inc. | Method and device for learning generating lane departure warning (LDW) alarm by referring to information on driving situation to be used for ADAS, V2X or driver safety required to satisfy level 4 and level 5 of autonomous vehicles |
KR20210124602A (ko) * | 2020-04-06 | 2021-10-15 | 현대자동차주식회사 | 차량의 자율 주행 제어 장치, 그를 포함한 시스템 및 그 방법 |
JP7347375B2 (ja) * | 2020-08-31 | 2023-09-20 | トヨタ自動車株式会社 | 走行車線計画装置及び走行車線計画用コンピュータプログラム |
CN114407899B (zh) * | 2021-01-11 | 2023-06-09 | 广东科学技术职业学院 | 一种控制车辆并入目标车道的方法 |
CN112829750B (zh) * | 2021-02-19 | 2022-10-11 | 恒大新能源汽车投资控股集团有限公司 | 车辆变道控制方法、设备及系统 |
JP7086245B1 (ja) | 2021-03-18 | 2022-06-17 | 三菱電機株式会社 | 進路生成装置および車両制御装置 |
US11738806B2 (en) * | 2021-03-29 | 2023-08-29 | GM Global Technology Operations LLC | Systems and methods for smoothing automated lane changing (ALC) operations |
DE102021203551A1 (de) * | 2021-04-09 | 2022-10-13 | Volkswagen Aktiengesellschaft | Fahrintentionserkennung |
KR20230021457A (ko) * | 2021-08-05 | 2023-02-14 | 현대모비스 주식회사 | 차량의 장애물 감지 시스템 및 방법 |
WO2023152944A1 (fr) * | 2022-02-14 | 2023-08-17 | 本田技研工業株式会社 | Dispositif d'aide à la conduite |
WO2023162035A1 (fr) * | 2022-02-22 | 2023-08-31 | 日産自動車株式会社 | Procédé d'aide à la conduite et dispositif d'aide à la conduite |
JP7433354B2 (ja) | 2022-03-23 | 2024-02-19 | 本田技研工業株式会社 | 制御装置、制御方法、およびプログラム |
JP7399207B2 (ja) * | 2022-03-31 | 2023-12-15 | 本田技研工業株式会社 | 車両システム、制御方法、およびプログラム |
JP2023182401A (ja) * | 2022-06-14 | 2023-12-26 | 本田技研工業株式会社 | 移動体制御装置、移動体制御方法、およびプログラム |
CN117198082B (zh) * | 2023-11-06 | 2024-04-05 | 北京理工大学前沿技术研究院 | 基于双层优化的车辆匝道汇入决策方法及系统 |
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-
2019
- 2019-05-21 JP JP2019095192A patent/JP7316542B2/ja active Active
-
2020
- 2020-03-18 CN CN202010193103.XA patent/CN112061121B/zh active Active
- 2020-04-28 FR FR2004232A patent/FR3096327B1/fr active Active
- 2020-04-29 US US16/862,017 patent/US11161513B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20200369281A1 (en) | 2020-11-26 |
FR3096327A1 (fr) | 2020-11-27 |
US11161513B2 (en) | 2021-11-02 |
JP2020189543A (ja) | 2020-11-26 |
JP7316542B2 (ja) | 2023-07-28 |
CN112061121B (zh) | 2024-02-20 |
CN112061121A (zh) | 2020-12-11 |
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