FR3125785B1 - Procédé de pilotage de véhicule et d’évitement d’obstacle - Google Patents

Procédé de pilotage de véhicule et d’évitement d’obstacle Download PDF

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Publication number
FR3125785B1
FR3125785B1 FR2108170A FR2108170A FR3125785B1 FR 3125785 B1 FR3125785 B1 FR 3125785B1 FR 2108170 A FR2108170 A FR 2108170A FR 2108170 A FR2108170 A FR 2108170A FR 3125785 B1 FR3125785 B1 FR 3125785B1
Authority
FR
France
Prior art keywords
motor vehicle
collision
risk
obstacle
trajectory
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
FR2108170A
Other languages
English (en)
Other versions
FR3125785A1 (fr
Inventor
Anh-Lam Do
Christian Laugier
Philippe Martinet
Luiz-Alberto Serafim-Guardini
Anne Spalanzani
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
Institut National de Recherche en Informatique et en Automatique INRIA
Original Assignee
Renault SAS
Institut National de Recherche en Informatique et en Automatique INRIA
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 Renault SAS, Institut National de Recherche en Informatique et en Automatique INRIA filed Critical Renault SAS
Priority to FR2108170A priority Critical patent/FR3125785B1/fr
Priority to EP22744233.2A priority patent/EP4377177A1/fr
Priority to PCT/EP2022/070878 priority patent/WO2023006709A1/fr
Priority to CN202280062599.4A priority patent/CN118119541A/zh
Publication of FR3125785A1 publication Critical patent/FR3125785A1/fr
Application granted granted Critical
Publication of FR3125785B1 publication Critical patent/FR3125785B1/fr
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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
    • B60W30/08—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
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic 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
    • B60W30/08—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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future 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
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0027—Minimum/maximum value selectors
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0095—Automatic control mode change
    • 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
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • 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

Landscapes

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

Abstract

L’invention concerne un procédé de pilotage d’un véhicule automobile (100) comprenant des étapes de : - détermination d’une trajectoire initiale pour le véhicule automobile, - acquisition de données relatives à l’environnement du véhicule automobile, - calcul d’un risque de collision entre le véhicule automobile et un obstacle (900) compte tenu de la trajectoire initiale déterminée et des données acquises, puis, si le risque de collision avec l’obstacle dépasse un seuil de risque, - calcul d’un temps avant collision, puis, si le temps avant collision est inférieur à un seuil de temps, - activation d’un mode de conduite d’alerte selon lequel : une nouvelle trajectoire est déterminée par le calculateur, ladite nouvelle trajectoire permettant de minimiser le risque de collision avec l’obstacle engendrant une blessure grave, et un actionneur de commande de la direction du véhicule automobile est piloté par le calculateur pour suivre ladite nouvelle trajectoire. Figure pour l’abrégé : Fig.4
FR2108170A 2021-07-27 2021-07-27 Procédé de pilotage de véhicule et d’évitement d’obstacle Active FR3125785B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
FR2108170A FR3125785B1 (fr) 2021-07-27 2021-07-27 Procédé de pilotage de véhicule et d’évitement d’obstacle
EP22744233.2A EP4377177A1 (fr) 2021-07-27 2022-07-26 Procede de pilotage de vehicule et d'evitement d'obstacle
PCT/EP2022/070878 WO2023006709A1 (fr) 2021-07-27 2022-07-26 Procede de pilotage de vehicule et d'evitement d'obstacle
CN202280062599.4A CN118119541A (zh) 2021-07-27 2022-07-26 用于控制车辆和避开障碍物的方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2108170 2021-07-27
FR2108170A FR3125785B1 (fr) 2021-07-27 2021-07-27 Procédé de pilotage de véhicule et d’évitement d’obstacle

Publications (2)

Publication Number Publication Date
FR3125785A1 FR3125785A1 (fr) 2023-02-03
FR3125785B1 true FR3125785B1 (fr) 2024-01-19

Family

ID=77999132

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2108170A Active FR3125785B1 (fr) 2021-07-27 2021-07-27 Procédé de pilotage de véhicule et d’évitement d’obstacle

Country Status (4)

Country Link
EP (1) EP4377177A1 (fr)
CN (1) CN118119541A (fr)
FR (1) FR3125785B1 (fr)
WO (1) WO2023006709A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116653932B (zh) * 2023-06-09 2024-03-26 苏州畅行智驾汽车科技有限公司 一种车辆自动紧急转向的实现方法及相关装置
CN116461513B (zh) * 2023-06-16 2023-09-22 中国第一汽车股份有限公司 车辆及其碰撞预警方法
CN117935615A (zh) * 2024-03-25 2024-04-26 中国汽车技术研究中心有限公司 一种基于全身损伤度量减轻人车碰撞中行人损伤的方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2007743A3 (en) 1968-05-03 1970-01-09 Seewer Gustave Food paste shaper
DE102010006214A1 (de) * 2010-01-29 2011-08-04 Bayerische Motoren Werke Aktiengesellschaft, 80809 Notbremsassistent zum automatischen Abbremsen eines Fahrzeugs zur Kollisionsvermeidung oder Kollisionsfolgenminderung
DE102014212898A1 (de) * 2014-07-03 2016-01-07 Robert Bosch Gmbh Verfahren zum Ermitteln einer Notfall-Trajektorie und Verfahren zum teilautomatisierten oder automatisierten Führen eines Ego-Fahrzeugs
FR3086910B1 (fr) * 2018-10-03 2020-09-25 Psa Automobiles Sa Securisation d'une fonction d'aide a l'evitement par bornage temporel

Also Published As

Publication number Publication date
FR3125785A1 (fr) 2023-02-03
WO2023006709A1 (fr) 2023-02-02
EP4377177A1 (fr) 2024-06-05
CN118119541A (zh) 2024-05-31

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