FR3123862B1 - Procédé et dispositif de contrôle d’un véhicule autonome - Google Patents

Procédé et dispositif de contrôle d’un véhicule autonome Download PDF

Info

Publication number
FR3123862B1
FR3123862B1 FR2106191A FR2106191A FR3123862B1 FR 3123862 B1 FR3123862 B1 FR 3123862B1 FR 2106191 A FR2106191 A FR 2106191A FR 2106191 A FR2106191 A FR 2106191A FR 3123862 B1 FR3123862 B1 FR 3123862B1
Authority
FR
France
Prior art keywords
vehicle
controlling
autonomous vehicle
distance
turning radius
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
FR2106191A
Other languages
English (en)
Other versions
FR3123862A1 (fr
Inventor
Thibaud Duhautbout
Francois Aioun
Franck Guillemard
Reine Talj
Véronique Cherfaoui
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
Centre National de la Recherche Scientifique CNRS
Universite de Technologie de Compiegne UTC
Original Assignee
Centre National de la Recherche Scientifique CNRS
Universite de Technologie de Compiegne
Universite de Technologie de Compiegne UTC
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 Centre National de la Recherche Scientifique CNRS, Universite de Technologie de Compiegne, Universite de Technologie de Compiegne UTC, PSA Automobiles SA filed Critical Centre National de la Recherche Scientifique CNRS
Priority to FR2106191A priority Critical patent/FR3123862B1/fr
Publication of FR3123862A1 publication Critical patent/FR3123862A1/fr
Application granted granted Critical
Publication of FR3123862B1 publication Critical patent/FR3123862B1/fr
Active 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
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60W30/08—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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/181—Preparing for stopping
    • 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
    • B60W30/18163—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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/201—Dimensions of vehicle
    • 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
    • B60W2554/20—Static objects
    • 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
    • B60W2720/14—Yaw
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un procédé et un dispositif de contrôle d’un véhicule autonome (10). A cet effet, un ensemble de rayons de braquage du véhicule (10) comprenant au moins un premier et un deuxième rayon de braquage est déterminé. Un rayon de braquage correspondant au maximum des rayons de braquage de l’ensemble est sélectionné. Une première distance correspondant à un premier point d’arrêt du véhicule (10) derrière un objet statique (20) est déterminée à partir du rayon de braquage sélectionné. Une deuxième distance correspondant à un deuxième point d’arrêt du véhicule (10) derrière l’objet statique (20) est déterminée à partir du rayon de braquage sélectionné. Le véhicule (10) est contrôlé en fonction d’une distance correspondant au maximum entre la première distance et la deuxième distance. Figure pour l’abrégé : Figure 2
FR2106191A 2021-06-11 2021-06-11 Procédé et dispositif de contrôle d’un véhicule autonome Active FR3123862B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR2106191A FR3123862B1 (fr) 2021-06-11 2021-06-11 Procédé et dispositif de contrôle d’un véhicule autonome

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2106191A FR3123862B1 (fr) 2021-06-11 2021-06-11 Procédé et dispositif de contrôle d’un véhicule autonome
FR2106191 2021-06-11

Publications (2)

Publication Number Publication Date
FR3123862A1 FR3123862A1 (fr) 2022-12-16
FR3123862B1 true FR3123862B1 (fr) 2023-04-28

Family

ID=77710935

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2106191A Active FR3123862B1 (fr) 2021-06-11 2021-06-11 Procédé et dispositif de contrôle d’un véhicule autonome

Country Status (1)

Country Link
FR (1) FR3123862B1 (fr)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005003274A1 (de) * 2005-01-25 2006-07-27 Robert Bosch Gmbh Verfahren und Vorrichtung zur Vermeidung und/oder Minderung der Folgen von Kollisionen beim Ausweichen vor Hindernissen
JP2011098614A (ja) * 2009-11-05 2011-05-19 Aisin Aw Co Ltd 運転支援装置、運転支援方法、及び運転支援プログラム
FR3098172B1 (fr) * 2019-07-02 2022-08-12 Renault Sas Procédé de détermination d’une trajectoire d’évitement d’un véhicule automobile

Also Published As

Publication number Publication date
FR3123862A1 (fr) 2022-12-16

Similar Documents

Publication Publication Date Title
US20060049159A1 (en) Structure for treating torch cable for arc welding robot
FR3123862B1 (fr) Procédé et dispositif de contrôle d’un véhicule autonome
FR2419800A1 (fr) Dispositif de commande de positionnement pour une machine-outil
ATE153985T1 (de) Verfahren und vorrichtung für die kontrolle und das automatische korrigieren des verzögerungs- /stopkommandos eines personen- oder lastenaufzuges gemäss veränderungen in den betriebsdaten des systems
US4803328A (en) Wire guide for electric discharge wire cutting
CA2169895A1 (fr) Procede et dispositif de regulation d'un ensemble de pompage polyphasique
FR2427989A1 (fr) Dispositif pour la regulation de la vitesse d'un organe delivreur ou renvideur de fil, en fonction de la vitesse d'appel de delivrage du fil
FR2416088A1 (fr) Systeme de robot industriel
EP1172173A1 (fr) Dispositif d'alimentation de liquide de refroidissement d'une machine-outil
BE904007A (fr) Systeme de lubrification a basse pression et ses applications.
FR3111448B1 (fr) Procédé d’ordonnancement de tâches dans un système de traitement, dispositif d’ordonnancement associé
FR3118926B1 (fr) Procédé et dispositif de contrôle d’un premier véhicule suivant un deuxième véhicule sur une portion de route comprenant un virage
KR100473257B1 (ko) 조형 방전 가공기의 점프 제어 장치
FR3130419B1 (fr) Détection de dispositif NFC
EP0762252A3 (fr) Procédé et dispositif de guidage d'un mobile
FR3106111B1 (fr) Procédé et dispositif de contrôle d’un véhicule
FR3097273B1 (fr) Ensemble de pilotage d’un système de démarrage-arrêt automatique d’un moteur
FR3083723B1 (fr) Turbine, dispositif de projection de fluide, installation et procede de fabrication associes
FR3099229B1 (fr) Dispositif de rétroéclairage pour au moins un premier bloc comprenant au moins un premier symbole destiné à être éclairé
FR3122389B1 (fr) Procédé et dispositif de contrôle d’un système d’arrêt-démarrage automatique de moteur dans un groupement de véhicules par peloton
FR3143704A1 (fr) Dispositif de lubrification pour une boîte de vitesses d’un véhicule.
FR3123339B3 (fr) Machine de manutention a bras et procede correspondant
FR3094257B1 (fr) Dispositif et procédé de finition d’un chargement de propergol
FR2393334A1 (fr) Dispositif pour reflechir le trajet d'un faisceau auxiliaire dans le trajet d'un faisceau principal notamment dans une machine de photocomposition
FR2747599A1 (fr) Dispositif pour tous les types d'usinage de tubes metalliques

Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 2

PLSC Publication of the preliminary search report

Effective date: 20221216

PLFP Fee payment

Year of fee payment: 3

PLFP Fee payment

Year of fee payment: 4

CD Change of name or company name

Owner name: UNIVERSITE DE TECHNOLOGIE DE COMPIEGNE, 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