FR3131890A1 - Method and device for controlling a semi-automatic vehicle lane change system - Google Patents

Abstract

The present invention relates to a method and a device for controlling a SALC system of a vehicle traveling on a common traffic lane of a road. A typing of a separation line, separating the current traffic lane and a target traffic lane, is obtained (33) along a portion of road delimited by two positions of crossing the separation line by two wheels diagonally opposite sides of the vehicle. If the separation line along this portion of road is of the discontinuous type, then the SALC system authorizes (34) the change of lane. Figure for abstract: Figure 6

Description

Method and device for controlling a semi-automatic lane change system for a vehicle

The present invention relates to the methods and devices for controlling a semi-automatic lane change system, called the SALC system, of a vehicle, for example a motor vehicle.

Technology background

Some contemporary vehicles are equipped with functions or system(s) or driving assistance, known as ADAS (from English “Advanced Driver-Assistance System” or in French “Advanced Driving Assistance System”).

Among these systems, the semi-automatic lane change system, known as the SALC system (from English “Semi-Automatic Lane Change”), has the primary function of assisting the driver of a vehicle when the driver wishes to change taxiway. Upon detection of the activation of the indicators on one side of the vehicle to indicate its intention to change lanes from a current traffic lane to a target traffic lane on the side where the indicators were activated by the driver, the SALC system performs the lane change after carrying out a few checks. Among these controls, the SALC system checks certain conditions such as:

- the quality of the separation line between the current traffic lane and the target traffic lane, this quality having to be greater than a threshold to authorize the semi-automatic lane change;

- the type associated with this line, the ground marking line having to be of the discontinuous type to authorize the semi-automatic change of traffic lane; And

- a probability of existence of this line, such probability having to be greater than a threshold to authorize the semi-automatic lane change.

The typing of the separation line is conventionally evaluated at the level of the current position of the vehicle on the current traffic lane at a time instant t0. If the separation line is discontinuous, the SALC system authorizes the change of traffic lane. However, the duration of the lane change maneuver takes a few seconds and the type of the separation line evaluated at time instant t0 may no longer be the same when the vehicle crosses the separation line. It can therefore occur where the SALC system authorizes a change of lane but this change of lane is illegal because the vehicle will cross a separation line which then continues. Conversely, at time instant t0, the separation line can be of continuous type and the SALC system does not authorize the change of traffic lane. On the other hand, if a lane change maneuver had been initiated at time instant t0, when the vehicle would have crossed the separation line, this separation line could have been of the discontinuous type.

The problem posed is to improve the operation of a SALC system so that its availability corresponds to real road situations.

Summary of the present invention

An object of the present invention is to solve at least one of the problems of the technological background described above.

Another object of the present invention is to improve the operation of a SALC system of a vehicle.

According to a first aspect, the present invention relates to a method for controlling a semi-automatic lane change system, called SALC system, of a vehicle traveling on a current lane of a road comprising a plurality of traffic lanes having the same direction of traffic. The process comprising the following steps:
- obtaining a first crossing position, by a first wheel of the vehicle, of a separation line of the current traffic lane and a target traffic lane on which the vehicle could travel at the end of a change of lane;
- obtaining a second position for crossing the separation line by a second wheel of the vehicle, the first and second wheels being diagonally opposed;

- obtaining a typing of the separation line along a portion of road delimited by the first and second positions of crossing the separation line; And
- if the separation line along the portion of the road is of the discontinuous type, the SALC system authorizes the vehicle to carry out a lane change maneuver, moving from the current traffic lane to the target traffic lane.

According to the method, a typing of the separation line is obtained along a portion of road delimited by the first and the second positions of crossing the separation line. Thus, the typing of the separation line is faithful to the reality on the ground and the SALC system can authorize or not authorize the change of traffic lane precisely, that is to say that its decision is taken at the moment when the vehicle will actually cross the dividing line. The SALC system is therefore used optimally because a change of lane is authorized as soon as the separation line that the vehicle will soon cross to change lanes is discontinuous.

According to a particular and non-limiting exemplary embodiment, the first and second position of crossing the separation line are obtained from a temporal evolution of a lateral position of the vehicle, a lateral speed of the vehicle and lateral acceleration of the vehicle.

According to a particular and non-limiting exemplary embodiment, the temporal evolution of the lateral position of the vehicle is represented by a first polynomial of ^5th order, the temporal evolution of the lateral speed of the vehicle is represented by a second polynomial of ^{4th order} order obtained by deriving the first polynomial with respect to time and the temporal evolution of the lateral acceleration of the vehicle is represented by a third polynomial of ^3rd order obtained by deriving the second polynomial with respect to time.

According to a particular and non-limiting example of embodiment, coefficients of the polynomials are obtained from the duration of a lane change maneuver.

According to a particular and non-limiting embodiment, the separation line is represented by a ^3rd degree polynomial.

According to a particular and non-limiting embodiment, the first and second crossing positions are obtained from a coefficient of the polynomial representing the separation line.

According to a second aspect, the present invention relates to a device for controlling a semi-automatic lane change system of a vehicle, the device comprising a memory associated with a processor configured for implementing the steps of the method according to the first aspect of the present invention.

According to a third aspect, the present invention relates to a vehicle, for example of the automobile type, comprising a device as described above according to the second aspect of the present invention.

According to a fourth aspect, the present invention relates to a computer program which comprises instructions adapted for the execution of the steps of the method according to the first aspect of the present invention, in particular when the computer program is executed by at least one processor.

Such a computer program can use any programming language, and be in the form of a source code, an object code, or an intermediate code between a source code and an object code, such as in partially compiled form, or in any other desirable form.

According to a fifth aspect, the present invention relates to a computer-readable recording medium on which is recorded a computer program comprising instructions for executing the steps of the method according to the first aspect of the present invention.

On the one hand, the recording medium can be any entity or device capable of storing the program. For example, the medium may comprise a storage means, such as a ROM memory, a CD-ROM or a ROM memory of the microelectronic circuit type, or even a magnetic recording means or a hard disk.

On the other hand, this recording medium can also be a transmissible medium such as an electrical or optical signal, such a signal being able to be conveyed via an electrical or optical cable, by conventional or terrestrial radio or by self-directed laser beam or by other ways. The computer program according to the present invention can in particular be downloaded onto an Internet type network.

Alternatively, the recording medium may be an integrated circuit in which the computer program is incorporated, the integrated circuit being adapted to execute or to be used in executing the method in question.

Brief description of the figures

Other characteristics and advantages of the present invention will emerge from the description of the particular and non-limiting examples of embodiment of the present invention below, with reference to Figures 1 to 6 appended, in which:

schematically illustrates an environment 1 in which a vehicle 10 operates, according to a particular and non-limiting embodiment of the present invention;

illustrates a temporal evolution of the lateral position of the vehicle 10, according to a particular and non-limiting embodiment of the present invention;

illustrates a temporal evolution of the lateral speed of the vehicle 10, according to a particular and non-limiting embodiment of the present invention;

illustrates a temporal evolution of the lateral acceleration of the vehicle 10, according to a particular and non-limiting embodiment of the present invention;

schematically illustrates a device configured to control a semi-automatic lane change system of the vehicle of the , according to a particular and non-limiting embodiment of the present invention; And

illustrates a flowchart of the different stages of a method of controlling a semi-automatic lane change system of the vehicle of the , according to a particular and non-limiting embodiment of the present invention.

Description of the implementation examples

A method and a device for controlling a semi-automatic lane change system, called the SALC system, of a vehicle will now be described in what follows with reference jointly to Figures 1 to 6. The same elements are identified with the same reference signs throughout the description which follows.

According to a particular and non-limiting example of embodiment of the present invention, the control of a semi-automatic lane change system, called SALC system, of a vehicle traveling on a current lane of a road comprising a plurality of lanes having the same direction of traffic, comprises obtaining a first crossing position, by a first wheel of the vehicle, of a separation line of the current traffic lane and a target traffic lane on which the vehicle could travel following a change of lane, and obtaining a second position for crossing the separation line by a second wheel of the vehicle, the first and second wheels being diagonally opposed . A typing of the separation line is obtained along a portion of road delimited by the first and second positions of crossing the separation line and if the separation line along the portion of road is of discontinuous type, the SALC system authorizes the vehicle to carry out a lane change maneuver, moving from the current lane to the target lane.

There schematically illustrates an environment 1 in which a vehicle 10 operates, according to a particular and non-limiting embodiment of the present invention.

There illustrates a vehicle 10, for example a motor vehicle, traveling on a portion of the road in environment 1. According to other examples, the vehicle 10 corresponds to a coach, a bus, a truck, a utility vehicle or a motorcycle, that is to say a vehicle of the motorized land vehicle type.

Vehicle 10 corresponds to a vehicle circulating under the full supervision of a driver or circulating in an autonomous or semi-autonomous mode. The vehicle 10 circulates according to a level of autonomy equal to 0 or according to a level of autonomy ranging from 1 to 5 for example, according to the scale defined by the American federal agency which has established 5 levels of autonomy ranging from 1 to 5, level 0 corresponding to a vehicle having no autonomy, whose driving is under the total supervision of the driver, level 1 corresponding to a vehicle with a minimum level of autonomy, whose driving is under the supervision of the driver with minimal assistance from an ADAS system, and level 5 corresponding to a completely autonomous vehicle.

The 5 levels of autonomy in the classification of the federal agency responsible for road safety are:

- level 0: no automation, the vehicle driver has full control over the main functions of the vehicle (engine, accelerator, steering, brakes);

- level 1: driver assistance, automation is active for certain vehicle functions, the driver maintaining overall control over vehicle driving; cruise control is part of this level, like other aids such as ABS (anti-lock braking system) or ESP (programmed electro-stabilizer);

- level 2: automation of combined functions, the control of at least two main functions is combined in the automation to replace the driver in certain situations; for example, adaptive cruise control combined with lane centering allows a vehicle to be classified level 2, as does automatic parking assistance;

- level 3: limited autonomous driving, the driver can cede complete control of the vehicle to the automated system which will then be in charge of critical safety functions; however, autonomous driving can only take place in certain specific environmental and traffic conditions (only on motorways for example);

- level 4: complete autonomous driving under conditions, the vehicle is designed to ensure all critical safety functions alone over a complete journey; the driver provides a destination or navigation instructions but is not required to make himself available to regain control of the vehicle;

- level 5: completely autonomous driving without driver assistance in all circumstances.

According to a particular non-limiting example of embodiment, the vehicle 10 circulates in a semi-autonomous or autonomous mode, that is to say with a level of autonomy greater than or equal to 2 according to the classification above.

According to the example of the , the vehicle 10 travels on a portion of the road comprising two traffic lanes 101 and 102. The vehicle 10 travels on the current traffic lane 101. The adjacent traffic lane 102 is to the right of the current traffic lane 101 (according to the direction of movement of the vehicle 10).

The notions of right and left are defined according to the direction of movement of the vehicle 10. The traffic lane 101 corresponds for example to the "fastest" lane and the traffic lane 102 corresponds according to this example to the "fastest" lane. slow”. The “slowest” lane is on the right in countries where vehicles travel in the right lane (countries such as France for example). The “slowest” lane of traffic is on the left in countries where vehicles travel in the left lane (countries such as the United Kingdom for example).

The example of the corresponds to an example where vehicles travel on the right, as in France. The present invention is, however, not limited to such an example and extends to all road configurations, including those where vehicles travel on the left.

Traffic lane 101 or 102 of the road portion corresponds to a lane intended for vehicle traffic, or to any type of lane.

According to the example of the , the portion of road corresponds to a portion of a national or departmental road or to a portion of a fast road with two lanes of traffic for each direction of traffic. The right turn signals of the vehicle are activated indicating the driver's desire to change traffic lanes, moving from the current traffic lane 101 to the target traffic lane 102. The present invention is not limited to a change of traffic lane towards a target traffic lane located on the right of the current traffic lane and also extends to the case where the target traffic lane is located on the left of the current traffic lane.

Each of the traffic lanes 101 and 102 is marked or delimited by lateral delimitation lines 110 and 112 and the traffic lanes 101 and 102 are separated by a separation line 111. The lateral delimitation lines 110 and 112 and the line of separation 111 correspond for example to ground marking lines.

The ground marking lines are also called horizontal markings and correspond to a set of lines 110, 111 and 112 drawn on the ground. The ground marking lines 110, 111 and 112 can be of several types, for example edge lines or separation lines (medians), with different characteristics. The ground marking lines can thus be of the continuous line, discontinuous line or mixed line type (comprising a continuous line and a discontinuous line parallel to the continuous line). A dashed line may also have different characteristics, with line spacing lengths varying from one dashed line type to another and/or line length varying from one dashed line type to another.

Thus, according to the example of the , the current traffic lane 101 is delimited on the left by the continuous lateral delimitation line 110. This lateral delimitation line 110 marks the separation between the roadway and a shoulder. The current traffic lane 101 is delimited on the right by the discontinuous separation line 111. Such a discontinuous line 111 is representative of a line which can be crossed by the vehicle 10, that is to say that a change of taxiway from taxiway 101 to taxiway 102, and vice versa, is authorized. The traffic lane 102 adjacent to the current traffic lane 101 and located to the right of this traffic lane 101 is delimited on its right by the continuous lateral boundary line 112.

The vehicle 10 advantageously carries one or more driving assistance systems, called ADAS (from English “Advanced Driver-Assistance System” or in French “Advanced Driving Assistance System”). For example, vehicle 10 has a semi-automatic lane change system, called the SALC system (Semi-Automatic Lane Change). Such a system is based in particular on the detection and recognition of the marking lines on the ground to authorize or not the change of lane from a current traffic lane to a traffic lane adjacent to this current traffic lane, and when the change is authorized, to control the maneuver allowing the vehicle 10 to change lanes.

The vehicle 10 advantageously carries a ground marking detection system. Such a system is for example coupled to the SALC system or integrated into the SALC system. Such a ground marking detection system receives image data from one or more cameras on board the vehicle 10 and configured for the acquisition of images of the traffic lane taken by the vehicle 10, for example the portion road located at the front and/or on the sides of the vehicle 10. The ground marking detection system is thus configured to detect the ground markings in the environment of the vehicle 10. Image processing is applied to the image data received to determine the presence of lines on the ground and to classify these lines into different categories, for example to determine whether the lines on the ground correspond to lateral delimitation lines or a separation line between two traffic lanes for example . An example of image processing to detect lines on the ground is for example described in document WO2017194890A1. The floor marking detection system identifies, for example, solid line or dotted line lines.

These image data are for example received from one or more sensors, in particular from one or more cameras on-board in the vehicle 10, via one or more communication buses of the on-board system of the vehicle 10, for example a communication bus of data bus type CAN (from the English “Controller Area Network” or in French “Réseau de controllers”), CAN FD (from the English “Controller Area Network Flexible Data-Rate” or in French “Réseau de controllers à flow” flexible data"), FlexRay (according to the ISO 17458 standard), Ethernet (according to the ISO/IEC 802-3 standard) or LIN (from the English "Local Interconnect Network", or in French "Réseau interconnectée local").

The vehicle 10 also carries one or more of the following sensors:

- one or more millimeter wave radars arranged on the vehicle 10, for example at the front, at the rear, on each front/rear corner of the vehicle; each radar is adapted to emit electromagnetic waves and to receive the echoes of these waves returned by one or more objects (for example the barriers 110), with the aim of detecting obstacles or other objects and their distances with respect to the vehicle 10; and or

- one or more LIDAR(s) (from the English “Light Detection And Ranging”, or “Detection and estimation of the distance by light” in French), a LIDAR sensor corresponding to an optoelectronic system composed of a transmitter device laser, a receiving device comprising a light collector (to collect the part of the light radiation emitted by the transmitter and reflected by any object located in the path of the light rays emitted by the transmitter) and a photodetector which transforms light collected as an electrical signal; a LIDAR sensor thus makes it possible to detect the presence of objects located in the emitted light beam and to measure the distance between the sensor and each detected object.

A process for controlling the SALC system of the vehicle 10 traveling on the current traffic lane 101 is advantageously implemented by the vehicle 10, that is to say by a computer or a combination of computers of the on-board system of the vehicle 10, for example by the computer(s) in charge of controlling the SALC system.

In a first operation, a first crossing position P _d by a first wheel R _d of the vehicle 10 of the separation line 111 of the current traffic lane 101 and the target traffic lane 102 is obtained.

In a second operation, a second crossing position P _g of the separation line 111 by a second wheel R _g of the vehicle 10 is obtained, the first and second wheels being diagonally opposed.

According to the example of the , the first wheel R _d is the right front wheel and the second wheel R _g is the left rear wheel. The present invention is not limited to these two wheels and extends to the case where the left front wheel is the first wheel and the right rear wheel is the second wheel (case where the target traffic lane is located on the left of the current traffic lane).

According to a particular and non-limiting embodiment, the first P _d and the second P _g position of crossing the separation line 111 are obtained from a temporal evolution of the lateral position of the vehicle 10, of the lateral speed of the vehicle 10 and the lateral acceleration of the vehicle 10.

These temporal evolutions are established from the kinematic equations of the movement of the vehicle 10 which will make it possible to plan the lateral trajectory of the vehicle 10 from a temporal instant t0 to a temporal instant t1 equal to the sum of the temporal instant t0 and a duration t _m of a lane change maneuver.

The duration t _m can be fixed or variable.

According to a particular and non-limiting embodiment, the duration t _m is equal to 6 seconds.

According to a particular and non-limiting embodiment, the temporal evolution of the lateral position of the vehicle 10 is represented by a polynomial of ^5th order given by:

with coefficients of this polynomial.

According to a particular and non-limiting example of embodiment, the temporal evolution of the lateral speed of the vehicle is represented by polynomial of ^4th order obtained by deriving the polynomial in relation to time:

*

According to a particular and non-limiting embodiment, the temporal evolution of the lateral acceleration of the vehicle is represented by a polynomial obtained by differentiating the polynomial in relation to time:

The coefficients polynomials are determined according to constraints fixed at time instants t0 and t1.

According to a particular and non-limiting exemplary embodiment, at the time instant t ₁ , the constraints are that the lateral speed and the lateral acceleration are zero ( and that the lateral position of the vehicle 10 is at a set lateral position ( ). The set lateral position is a value on an axis of an orthogonal reference centered on a reference point of the vehicle, typically the center of the vehicle.

By taking these constraints into account and expanding the polynomials, the coefficients are given by:

Figure 2 schematically illustrates a temporal evolution of the lateral position of the vehicle 10 according to the polynomial with the coefficients thus defined and for And .

Figure 3 schematically illustrates a temporal evolution of the lateral speed of the vehicle 10 according to the polynomial with the coefficients thus defined and for And .

Figure 4 schematically illustrates a temporal evolution of the lateral acceleration of the vehicle 10 according to the polynomial with the coefficients thus defined and for And .

In Figures 2 to 4, we see that at the time instant t0=0, the lateral position P(t0)=0 and that the vehicle 10 travels 3m laterally to reach the set lateral position ( . We also see that the lateral speed and the lateral acceleration are zero at time t ₀ =0 but also at time time t ₁ since the vehicle 10 is laterally stabilized at the end of the lane change maneuver. .

The planned lateral velocity (represented by the polynomial makes it possible to determine a moment of crossing t _d of the separation line 111 by the first wheel R _d and a moment of crossing t _g of the separation line 111 by the second wheel R _g as illustrated in .

To determine these temporal instants of crossing, according to a particular and non-limiting embodiment, the separation line 111 is represented by a ^3rd order polynomial:

with ) of the coefficients of the polynomial given for example by an on-board system of the vehicle 10 such as a system for determining the polynomial representation of a ground marking line.

The coefficient represents the distance between the separation line 111 and the center of the vehicle 10. The distance at the time instant t ₀ between the separation line 111 and the first wheel R _d is then given by:

with L the width of the vehicle 10.

The distance at the time instant t ₀ between the separation line 111 and the second wheel R _g is then given by:

The instant of crossing the separation line ₁₁₁ by the first wheel R _d then corresponds to a zero distance between the separation line 111 and the first wheel R _d :

0

The instant of crossing the separation line ₁₁₁ by the second wheel R _g then corresponds to a zero distance between the separation line 111 and the second wheel R _g :

0

The first crossing position P _d is obtained from the longitudinal speed V of the vehicle 10 and the crossing instant t _d :

The second crossing position P _g is obtained from the longitudinal speed V of the vehicle 10 and the crossing instant t _g :

In a third operation, a typing of the separation line 111 is obtained along a portion of road PR delimited by the first and the second crossing positions of the separation line 111.

In a fourth operation, if the separation line 111 along the road portion is of discontinuous type, the SALC system authorizes a traffic lane change maneuver, moving from the current traffic lane 101 to the target traffic lane 102.

There schematically illustrates a device 2 configured to control a SALC system, according to a particular and non-limiting embodiment of the present invention. The device 2 corresponds for example to a device on board the vehicle 10, for example a computer.

The device 2 is for example configured for the implementation of the operations described with regard to the and/or steps of the process described with regard to the . Examples of such a device 2 include, without being limited to, on-board electronic equipment such as an on-board computer of a vehicle, an electronic computer such as an ECU (“Electronic Control Unit”), a telephone smart (from the English “smartphone”), a tablet, a laptop. The elements of device 2, individually or in combination, can be integrated into a single integrated circuit, into several integrated circuits, and/or into discrete components. Device 2 can be produced in the form of electronic circuits or software (or computer) modules or even a combination of electronic circuits and software modules.

The device 2 comprises one (or more) processor(s) 20 configured to execute instructions for carrying out the steps of the method and/or for executing the instructions of the software(s) embedded in the device 2. The processor 20 may include integrated memory, an input/output interface, and various circuits known to those skilled in the art. The device 2 further comprises at least one memory 21 corresponding for example to a volatile and/or non-volatile memory and/or comprises a memory storage device which may comprise volatile and/or non-volatile memory, such as EEPROM, ROM , PROM, RAM, DRAM, SRAM, flash, magnetic or optical disk.

The computer code of the embedded software(s) comprising the instructions to be loaded and executed by the processor is for example stored on memory 21.

According to different particular and non-limiting examples of embodiment, the device 2 is coupled in communication with other similar devices or systems and/or with communication devices, for example a TCU (from the English “Telematic Control Unit” or in French “Telematic Control Unit”), for example via a communications bus or through dedicated input/output ports.

According to a particular and non-limiting exemplary embodiment, the device 2 comprises a block 22 of interface elements for communicating with external devices, for example a remote server or the "cloud", or the vehicle 10 when the device 2 corresponds to a smartphone or tablet for example. The interface elements of block 22 include one or more of the following interfaces:

- RF radio frequency interface, for example of the Wi-Fi® type (according to IEEE 802.11), for example in the 2.4 or 5 GHz frequency bands, or of the Bluetooth® type (according to IEEE 802.15.1), in the band frequency at 2.4 GHz, or Sigfox type using UBN radio technology (from English Ultra Narrow Band, in French ultra narrow band), or LoRa in the 868 MHz frequency band, LTE (from English “ Long-Term Evolution” or in French “Long-Term Evolution”), LTE-Advanced (or in French LTE-advanced);

- USB interface (from the English “Universal Serial Bus” or “Bus Universel en Série” in French);

- HDMI interface (from the English “High Definition Multimedia Interface”, or “Interface Multimedia Haute Definition” in French).

According to another particular and non-limiting example of embodiment, the device 2 comprises a communication interface 23 which makes it possible to establish communication with other devices (such as other computers of the on-board system or on-board sensors) via a channel communication interface 230. The communication interface 23 corresponds for example to a transmitter configured to transmit and receive information and/or data via the communication channel 230. The communication interface 23 corresponds for example to a wired network of the type CAN (from the English “Controller Area Network” or in French “Réseau de controlleres”), CAN FD (from the English “Controller Area Network Flexible Data-Rate” or in French “Réseau de controllers à rate flexible data” ), FlexRay (standardized by the ISO 17458 standard), Ethernet (standardized by the ISO/IEC 802-3 standard) or LIN (from the English “Local Interconnect Network”, or in French “Local Interconnected Network”).

According to a particular and non-limiting embodiment, the device 2 can provide output signals to one or more external devices, such as a display screen, touch or not, one or more speakers and/or other devices (projection system) via respective output interfaces. According to one variant, one or the other of the external devices is integrated into device 2.

There illustrates a flowchart of the different stages of a method of controlling a semi-automatic lane change system, called SALC system, of a vehicle traveling on a current lane of a road comprising a plurality of lanes having the same direction of circulation, according to a particular and non-limiting embodiment of the present invention. The method is for example implemented by a device on board the vehicle 10 or by the device 2 of the .

In a first step 31, a first position of crossing, by a first wheel of the vehicle, a separation line of the current traffic lane and a target traffic lane on which the vehicle could travel at the end of 'a change of lane is obtained.

In a second step 32, a second position for crossing the separation line by a second wheel of the vehicle is obtained, the first and second wheels being diagonally opposite each other.

In a third step 33, a typing of the separation line along a portion of road delimited by the first and second positions of crossing the separation line is obtained.

In a fourth step 34, if the separation line along the road portion is of the discontinuous type, the SALC system authorizes the vehicle to carry out a lane change maneuver, moving from the current traffic lane to the target traffic lane.

According to a variant, the variants and examples of the operations described in relation to the apply to the stages of the process of .

Of course, the present invention is not limited to the exemplary embodiments described above but extends to a method of controlling a semi-automatic lane change system which would include secondary steps without thereby leaving the the scope of the present invention. The same would apply to a device configured to implement such a process.

The present invention also relates to a SALC system comprising device 2 of the .

The present invention also relates to a vehicle, for example an automobile or more generally an autonomous vehicle with a land engine, comprising the device 2 of the or the SALC system above.

Claims (10)

Method for controlling a semi-automatic lane change system, called SALC system, of a vehicle traveling on a current lane of a road comprising a plurality of lanes having the same direction of travel, said method comprising the following steps:
- obtaining (31) a first crossing position, by a first wheel of the vehicle, of a separation line of the current traffic lane and a target traffic lane on which the vehicle could travel at the end a change of lane;
- obtaining (32) a second position for crossing the separation line by a second wheel of the vehicle, the first and second wheels being diagonally opposed;
- obtaining (33) a typing of the separation line along a portion of road delimited by the first and second positions of crossing the separation line; And
- if the separation line along the portion of the road is of the discontinuous type, the SALC system authorizes (34) the vehicle to carry out a lane change maneuver, moving from the current lane to the lane of target circulation. Method according to claim 1, for which the first and second position of crossing the dividing line are obtained from a temporal evolution of a lateral position of the vehicle, a lateral speed of the vehicle and an acceleration side of the vehicle. Method according to claim 2, for which the temporal evolution of the lateral position of the vehicle is represented by a first polynomial of ^5th order, the temporal evolution of the lateral speed of the vehicle is represented by a second polynomial of ^4th order obtained by deriving the first polynomial with respect to time and the temporal evolution of the lateral acceleration of the vehicle is represented by a third polynomial of ^3rd order obtained by deriving the second polynomial with respect to time. Method according to claim 3, for which coefficients of the polynomials are obtained from the duration of a lane change maneuver. Method according to claim 3 or 4, for which the separation line is represented by a polynomial of ^3rd degree. Method according to claim 5, for which the first and second crossing positions are obtained from a coefficient of the polynomial representing the separation line. Computer program comprising instructions for implementing the method according to any one of the preceding claims, when these instructions are executed by a processor. Computer-readable recording medium on which a computer program is recorded comprising instructions for carrying out the steps of the method according to one of claims 1 to 6. Device (2) for controlling a semi-automatic lane changing system of a vehicle, said device (2) comprising a memory (21) associated with at least one processor (20) configured for implementation steps of the process according to any one of claims 1 to 6. Vehicle (10) comprising the device (2) according to claim 9.