FR3116251B1 - Procédé et dispositif de détermination d’une trajectoire d’accélération consigne d’un régulateur de vitesse véhicule adaptatif d’un véhicule autonome. - Google Patents
Procédé et dispositif de détermination d’une trajectoire d’accélération consigne d’un régulateur de vitesse véhicule adaptatif d’un véhicule autonome. Download PDFInfo
- Publication number
- FR3116251B1 FR3116251B1 FR2011872A FR2011872A FR3116251B1 FR 3116251 B1 FR3116251 B1 FR 3116251B1 FR 2011872 A FR2011872 A FR 2011872A FR 2011872 A FR2011872 A FR 2011872A FR 3116251 B1 FR3116251 B1 FR 3116251B1
- Authority
- FR
- France
- Prior art keywords
- vehicle
- determining
- ego
- determination
- set acceleration
- 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.)
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Links
- 230000001133 acceleration Effects 0.000 title abstract 3
- 238000000034 method Methods 0.000 title abstract 3
- 230000003044 adaptive effect Effects 0.000 title abstract 2
- 238000001514 detection method Methods 0.000 abstract 2
- 238000003032 molecular docking Methods 0.000 abstract 1
Classifications
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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
- 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
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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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
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/30—Driving style
-
- 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
-
- 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
- B60W2554/804—Relative 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
-
- 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
- B60W2720/103—Speed profile
-
- 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
Abstract
L’invention concerne un procédé et un dispositif de détermination d’une trajectoire d’accélération consigne d’un régulateur de vitesse véhicule adaptatif d’un véhicule autonome, dit égo-véhicule, pour accoster un véhicule précédant ledit égo-véhicule, dit véhicule précédant. Ledit procédé comporte les étapes de : Détermination (201) d’un paramètre de typage, k, représentant un comportement d’accostage ;Détection (202) du véhicule précédant, ladite détection déterminant un instant initial ;Détermination (203) d’une vitesse cible, représentant une vitesse que doit avoir l’égo-véhicule à un temps final prédéterminé une fois que l’égo-véhicule a accosté le véhicule précédant ; Détermination (204) d’un écart de distance entre une distance inter-véhiculaire mesurée et une distance inter-véhiculaire cible ;Détermination (205) d’une trajectoire d’accélération consigne à partir de l’écart de distance, du temps final, et du paramètre de typage. Figure pour l’abrégé : Figure 2
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR2011872A FR3116251B1 (fr) | 2020-11-19 | 2020-11-19 | Procédé et dispositif de détermination d’une trajectoire d’accélération consigne d’un régulateur de vitesse véhicule adaptatif d’un véhicule autonome. |
PCT/FR2021/051782 WO2022106764A1 (fr) | 2020-11-19 | 2021-10-13 | Procédé et dispositif de détermination d'une trajectoire d'accélération consigne d'un régulateur de vitesse véhicule adaptatif d'un véhicule autonome |
CN202180077963.XA CN116670007A (zh) | 2020-11-19 | 2021-10-13 | 用于确定自主车辆的自适应车辆速度调节器的设定加速度轨迹的确定方法和确定装置 |
EP21806006.9A EP4247681A1 (fr) | 2020-11-19 | 2021-10-13 | Procédé et dispositif de détermination d'une trajectoire d'accélération consigne d'un régulateur de vitesse véhicule adaptatif d'un véhicule autonome |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR2011872 | 2020-11-19 | ||
FR2011872A FR3116251B1 (fr) | 2020-11-19 | 2020-11-19 | Procédé et dispositif de détermination d’une trajectoire d’accélération consigne d’un régulateur de vitesse véhicule adaptatif d’un véhicule autonome. |
Publications (2)
Publication Number | Publication Date |
---|---|
FR3116251A1 FR3116251A1 (fr) | 2022-05-20 |
FR3116251B1 true FR3116251B1 (fr) | 2024-02-09 |
Family
ID=75953888
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR2011872A Active FR3116251B1 (fr) | 2020-11-19 | 2020-11-19 | Procédé et dispositif de détermination d’une trajectoire d’accélération consigne d’un régulateur de vitesse véhicule adaptatif d’un véhicule autonome. |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP4247681A1 (fr) |
CN (1) | CN116670007A (fr) |
FR (1) | FR3116251B1 (fr) |
WO (1) | WO2022106764A1 (fr) |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3538462A (en) | 1968-05-27 | 1970-11-03 | Purdue Research Foundation | Linear active two-port network wherein nonlinear impedance characteristic at one port is reflected through predetermined angle at second port |
FR2811440B1 (fr) * | 2000-07-06 | 2003-07-25 | Renault | Procede de regulation adaptative de la distance entre deux vehicules mobiles |
US10112611B2 (en) * | 2016-07-25 | 2018-10-30 | Toyota Motor Engineering & Manufacturing North America, Inc. | Adaptive vehicle control systems and methods of altering a condition of a vehicle using the same |
CN109421711B (zh) * | 2017-08-28 | 2021-07-13 | 腾讯科技(北京)有限公司 | 跟车速度控制方法、装置、系统、计算机设备及存储介质 |
FR3092304B1 (fr) * | 2019-01-31 | 2021-01-01 | Psa Automobiles Sa | Gestion via une vitesse équivalente d’une conduite autonome avec au moins deux objets cibles |
-
2020
- 2020-11-19 FR FR2011872A patent/FR3116251B1/fr active Active
-
2021
- 2021-10-13 CN CN202180077963.XA patent/CN116670007A/zh active Pending
- 2021-10-13 WO PCT/FR2021/051782 patent/WO2022106764A1/fr active Application Filing
- 2021-10-13 EP EP21806006.9A patent/EP4247681A1/fr active Pending
Also Published As
Publication number | Publication date |
---|---|
CN116670007A (zh) | 2023-08-29 |
EP4247681A1 (fr) | 2023-09-27 |
WO2022106764A1 (fr) | 2022-05-27 |
FR3116251A1 (fr) | 2022-05-20 |
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