FR3126679B1 - Method and device for controlling the speed of an autonomous vehicle - Google Patents

Method and device for controlling the speed of an autonomous vehicle Download PDF

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Publication number
FR3126679B1
FR3126679B1 FR2109439A FR2109439A FR3126679B1 FR 3126679 B1 FR3126679 B1 FR 3126679B1 FR 2109439 A FR2109439 A FR 2109439A FR 2109439 A FR2109439 A FR 2109439A FR 3126679 B1 FR3126679 B1 FR 3126679B1
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FR
France
Prior art keywords
autonomous vehicle
vehicle
trajectory
moving object
controlling
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
FR2109439A
Other languages
French (fr)
Other versions
FR3126679A1 (en
Inventor
Thibaud Duhautbout
Francois Aioun
Franck Guillemard
Véronique Cherfaoui
Reine Talj
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.)
Centre National de la Recherche Scientifique CNRS
Universite de Technologie de Compiegne
Universite de Technologie de Compiegne UTC
PSA Automobiles SA
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 FR2109439A priority Critical patent/FR3126679B1/en
Priority to PCT/FR2022/051601 priority patent/WO2023037060A1/en
Publication of FR3126679A1 publication Critical patent/FR3126679A1/en
Application granted granted Critical
Publication of FR3126679B1 publication Critical patent/FR3126679B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • 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
    • B60W60/0017—Planning or execution of driving tasks specially adapted for safety of 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
    • B60W60/00272—Planning or execution of driving tasks using trajectory prediction for other traffic participants relying on extrapolation of current movement
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to 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
    • 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

Abstract

L’invention concerne un procédé et un dispositif de contrôle de la vitesse d’un véhicule autonome (10). A cet effet, une zone de collision entre le véhicule (10) et un objet mobile (11) est déterminée le long d’un chemin (101) suivi par le véhicule (10). La zone de collision est déterminée en fonction de premières données dynamiques courantes du véhicule (10) et de deuxièmes données représentatives d’une trajectoire de l’objet mobile (11). Une première trajectoire pour le véhicule autonome est déterminée. Cette première trajectoire est comparée à la première zone de collision pour vérifier que le véhicule autonome évite l’objet mobile (11) en passant avant l’objet mobile. Une deuxième trajectoire pour le véhicule autonome est déterminée en appliquant une deuxième valeur d’accélération. Cette deuxième valeur d’accélération est obtenue en fonction du résultat de la comparaison. Figure pour l’abrégé : Figure 1The invention relates to a method and a device for controlling the speed of an autonomous vehicle (10). For this purpose, a collision zone between the vehicle (10) and a moving object (11) is determined along a path (101) followed by the vehicle (10). The collision zone is determined based on first current dynamic data of the vehicle (10) and second data representative of a trajectory of the moving object (11). A first trajectory for the autonomous vehicle is determined. This first trajectory is compared to the first collision zone to verify that the autonomous vehicle avoids the moving object (11) by passing before the moving object. A second trajectory for the autonomous vehicle is determined by applying a second acceleration value. This second acceleration value is obtained according to the result of the comparison. Figure for abstract: Figure 1

FR2109439A 2021-09-09 2021-09-09 Method and device for controlling the speed of an autonomous vehicle Active FR3126679B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR2109439A FR3126679B1 (en) 2021-09-09 2021-09-09 Method and device for controlling the speed of an autonomous vehicle
PCT/FR2022/051601 WO2023037060A1 (en) 2021-09-09 2022-08-23 Method and device for controlling the speed of an autonomous vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2109439 2021-09-09
FR2109439A FR3126679B1 (en) 2021-09-09 2021-09-09 Method and device for controlling the speed of an autonomous vehicle

Publications (2)

Publication Number Publication Date
FR3126679A1 FR3126679A1 (en) 2023-03-10
FR3126679B1 true FR3126679B1 (en) 2023-09-29

Family

ID=78212274

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2109439A Active FR3126679B1 (en) 2021-09-09 2021-09-09 Method and device for controlling the speed of an autonomous vehicle

Country Status (2)

Country Link
FR (1) FR3126679B1 (en)
WO (1) WO2023037060A1 (en)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2109439A5 (en) 1970-10-16 1972-05-26 Roulements Soc Nouvelle
US10745011B2 (en) * 2018-05-31 2020-08-18 Nissan North America, Inc. Predicting yield behaviors
IT201800011029A1 (en) * 2018-12-12 2020-06-12 Milano Politecnico Process and route planning system for a ground vehicle for fast reacting obstacle avoidance, particularly in an autonomous driving scenario.
US11390300B2 (en) * 2019-10-18 2022-07-19 Uatc, Llc Method for using lateral motion to optimize trajectories for autonomous vehicles

Also Published As

Publication number Publication date
WO2023037060A1 (en) 2023-03-16
FR3126679A1 (en) 2023-03-10

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