FR3132264B1 - 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
FR3132264B1
FR3132264B1 FR2200780A FR2200780A FR3132264B1 FR 3132264 B1 FR3132264 B1 FR 3132264B1 FR 2200780 A FR2200780 A FR 2200780A FR 2200780 A FR2200780 A FR 2200780A FR 3132264 B1 FR3132264 B1 FR 3132264B1
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FR
France
Prior art keywords
vehicle
speed
inter
time
determination
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
FR2200780A
Other languages
French (fr)
Other versions
FR3132264A1 (en
Inventor
Luc Vivet
Mouad Koubachi
Elie Kahale
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.)
PSA Automobiles SA
Original Assignee
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 PSA Automobiles SA filed Critical PSA Automobiles SA
Priority to FR2200780A priority Critical patent/FR3132264B1/en
Publication of FR3132264A1 publication Critical patent/FR3132264A1/en
Application granted granted Critical
Publication of FR3132264B1 publication Critical patent/FR3132264B1/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
    • 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
    • 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
    • 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
    • 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 pilotage d’une vitesse d’un véhicule autonome comprenant un régulateur de vitesse adaptatif fonction de ladite vitesse, d’une vitesse de référence, sur un temps inter-véhicules de référence, dit temps de référence, et d’une distance inter-véhicule, ledit procédé comportant les étapes de : Détermination d’une accélération potentielle, ladite accélération potentielle correspondant à une variation de vitesse sur une durée prédéterminée que doit avoir ledit véhicule égo pour respecter ledit temps de référence ; Lorsque (C12) ladite accélération potentielle devient inférieure ou égale à un premier seuil, dit seuil de déclenchement Détermination (202) d’un temps inter-véhicules minimum ; Détermination (202) d’un deuxième temps inter-véhicules consigne fondé sur ledit temps inter-véhicules minimum ;Lorsque (C23) ladite accélération potentielle devient au supérieure à un deuxième seuil, dit seuil de stabilisation, détermination (203) d’un troisième temps inter-véhicules consigne qui tend vers ledit temps de référence. Figure pour l’abrégé : Figure 2The invention relates to a method and a device for controlling the speed of an autonomous vehicle comprising an adaptive cruise control function of said speed, of a reference speed, over a reference inter-vehicle time, called the reference time. reference, and an inter-vehicle distance, said method comprising the steps of: Determination of a potential acceleration, said potential acceleration corresponding to a variation in speed over a predetermined duration that said ego vehicle must have to respect said reference time ; When (C12) said potential acceleration becomes less than or equal to a first threshold, called trigger threshold Determination (202) of a minimum inter-vehicle time; Determination (202) of a second set inter-vehicle time based on said minimum inter-vehicle time; When (C23) said potential acceleration becomes greater than a second threshold, called stabilization threshold, determination (203) of a third set inter-vehicle time which tends towards said reference time. Figure for abstract: Figure 2

FR2200780A 2022-01-28 2022-01-28 Method and device for controlling the speed of an autonomous vehicle Active FR3132264B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR2200780A FR3132264B1 (en) 2022-01-28 2022-01-28 Method and device for controlling the speed of an autonomous vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2200780A FR3132264B1 (en) 2022-01-28 2022-01-28 Method and device for controlling the speed of an autonomous vehicle
FR2200780 2022-01-28

Publications (2)

Publication Number Publication Date
FR3132264A1 FR3132264A1 (en) 2023-08-04
FR3132264B1 true FR3132264B1 (en) 2023-12-15

Family

ID=81326728

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2200780A Active FR3132264B1 (en) 2022-01-28 2022-01-28 Method and device for controlling the speed of an autonomous vehicle

Country Status (1)

Country Link
FR (1) FR3132264B1 (en)

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005026065A1 (en) * 2005-06-07 2006-12-21 Robert Bosch Gmbh Adaptive speed controller with situation-dependent dynamic adaptation
DE102014008677A1 (en) * 2014-06-13 2014-11-27 Daimler Ag Method for distance control of vehicles and distance control device for carrying out the method

Also Published As

Publication number Publication date
FR3132264A1 (en) 2023-08-04

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