WO2019030439A1

WO2019030439A1 - Method and device for assisting the automated driving of a vehicle, with the transverse positioning controlled by driver action

Info

Publication number: WO2019030439A1
Application number: PCT/FR2018/051867
Authority: WO
Inventors: David Giraud; Stephane Camp; Marc Campo; Jeremy CAILLET
Original assignee: Psa Automobiles Sa
Priority date: 2017-08-11
Filing date: 2018-07-20
Publication date: 2019-02-14
Also published as: CN110997460A; FR3070031B1; EP3665067A1; FR3070031A1

Abstract

A method is intended to assist the driver of a vehicle (VA) that can be driven automatically and manually on a traffic lane (VC) defined by first (L1) and second (L2) boundaries. This method comprises a step in which the vehicle (VA) is driven automatically, making it follow a path on the traffic lane (VC) situated at a chosen distance (d1) from one of the first (L1) and second (L2) boundaries, and either modifying this path on the traffic lane (VC) when in the presence of a first value representative of a wish of the driver to modify the chosen distance (d1), or stopping the automatic driving of the vehicle (VA) when in the presence of a second value representative of a wish of the driver to drive the vehicle (VA) manually.

Description

METHOD AND DEVICE FOR ASSISTING THE AUTOMATED DRIVING OF A VEHICLE, WITH CONTROL OF THE TRANSVERSE POSITIONING BY ACTION OF THE DRIVER

The invention relates to vehicles with automated driving, possibly of automobile type, and more specifically the assistance that is intended to help drivers of such vehicles to drive the latter.

In the following, the term "automated driving vehicle" means a vehicle that can be driven automatically or autonomously (and therefore without the intervention of its driver) during an automated driving phase, or manually (and therefore with intervention its driver on the steering wheel and / or the pedals) during a manual driving phase.

Some vehicles with automated driving, generally of the automotive type, comprise an assistance device in charge of controlling their positioning relative to the direction transversal to the traffic lane and driving them temporarily without their driver acting on the steering wheel or on a pedal.

As known to those skilled in the art, this type of assistance device provides control of the vehicle based, in particular, information on the external environment of the vehicle and provided at least by means of analysis of the vehicle. the external environment embedded. To do this, the assistance device continuously determines the optimal trajectory of the vehicle in the context of an automated driving, and controls the steering wheel angle and the speed of the vehicle so that the latter can best follow the determined optimum trajectory.

This optimal trajectory is defined transversely between the two delimitations that define the traffic lane used. It generally passes substantially equidistant from these two boundaries. Note that a delimitation can be of any type. It may therefore be example, a line, a portion of the sidewalk, a wall, a stretch of grass, or a gravel area.

A disadvantage of this type of assistance lies in the fact that it does not allow the driver to choose the position of the optimal path between the two boundaries of the traffic lane, depending on his preference or that of passengers. This results from the fact that in an automated driving phase, the action of the driver on the steering wheel is not taken into account durably.

It has certainly been proposed in patent document FR 3026708 to observe the angular position of the steering wheel, or the torque exerted by the driver on the steering wheel, or the angular speed of rotation of the steering wheel imposed by the driver, in order to detect a situation. potentially dangerous because the driver suddenly began to act on the steering wheel. If such a situation is detected, the action of the electric motor acting on the power steering of the vehicle is temporarily moderated to allow the driver to modify the optimal trajectory (under control), or the automated driving phase is interrupted so that the driver goes into manual driving.

However, the type of assistance described above is only intended to detect during an automated driving phase an abnormal situation that would not have been detected by the detection means on board the vehicle (outside or outside the vehicle). the interior of the cabin). It does not allow the driver to simply choose the transverse position of the optimal trajectory of his vehicle between the two boundaries of the traffic lane, while remaining in the context of a fully automated and therefore secure driving.

The invention is therefore particularly intended to improve the situation.

It proposes for this purpose a method, on the one hand, to assist a driver of a clean vehicle to be driven automatically and manually on a traffic lane defined by first and second boundaries, and, on the other hand, comprising a step in which the vehicle is automatically driven by following it along a path on the taxiway which is located at a selected distance from one of the first and second delimitations.

This assistance method is characterized in that in its step:

- Or change the trajectory of the vehicle on the taxiway when one is in the presence of a first value representative of a will of the driver to change the distance chosen,

- Or we stop driving the vehicle automatically when we are in the presence of a second value representative of a will of the driver to drive the vehicle manually.

Thanks to the invention, a particular and voluntary action of the driver now allows him to choose a new transverse position of the trajectory of his vehicle between the two boundaries of the traffic lane, while remaining within the framework of a completely automated and therefore secure, or to regain control of the driving of the vehicle.

The assistance method according to the invention may include other features that can be taken separately or in combination, and in particular:

- In its step, we can not change the path of the vehicle on the taxiway when we are in the presence of a third value which is representative of a desire of the driver not to change the chosen distance;

in a first embodiment, in its step, it is possible to compare with first and second thresholds a value of a torque that is exerted by the driver on a steering wheel of the vehicle during driving in an automated manner. In this case, when this torque value is between these first and second thresholds, it may be considered that it is in the presence of a first value which is representative of a willingness of the driver to modify the distance chosen, while when this torque value is greater than the second threshold, it may be considered that it is in the presence of a second value which is representative of a will of the driver to drive the vehicle manually;

in its step, when the value of torque is between first and second thresholds, it is possible to determine a new selected distance which is a function of this torque value and of the direction of application of the torque, then the vehicle can be driven in an automated manner by following it along a path on the taxiway which is located at this new selected distance from one of the first and second boundaries;

in its step, when the torque value is lower than the first threshold, it may be considered that it is in the presence of a third value that is representative of the driver's desire not to change the chosen distance;

in a second embodiment, in its step, in the case of actuation of a first control member associated with a modification of the selected distance, it is possible to determine a first value representative of an amplitude and a direction of this actuation, then we can determine a new chosen distance which is a function of this first value, then we can drive the vehicle automatically by following a trajectory on the taxiway which is located at this new selected distance from the one of the first and second delimitations. On the other hand, when actuating a second control member associated with a pipe manually, it may be considered that it is in the presence of a second value (and thus stop driving the vehicle in an automated manner) ;

in a third embodiment, in its step, in the case of selecting an area having a certain position on a touch screen of the vehicle, it is possible to determine a lateral distance separating laterally from a reference point that position of the zone selected. Then, we can consider either that we are in the presence of a first value when an absolute value of this lateral distance is lower than a threshold, then we can determine a new chosen distance which is a function of this first value equal to this lateral distance, and then the vehicle can be driven in an automated way by making it follow a trajectory on the taxiway which is located at this new selected distance from one of the first and second delimitations, that is to say that one is in the presence a second value when the absolute value of this lateral distance is greater than the threshold, and then the vehicle can be stopped automatically.

The invention also proposes a device, on the one hand, intended to assist a driver of a clean vehicle to be driven automatically and manually on a traffic lane defined by first and second delimitations, and, on the other hand, comprising control means which control an automated driving of the vehicle by following the latter along a path on the taxiway located at a selected distance from one of the first and second boundaries.

This assistance device is characterized by the fact that its control means modify the trajectory of the vehicle on the taxiway when they are in the presence of a first value which is representative of a will of the driver to change the chosen distance or else stop controlling the driving of the vehicle automatically when they are in the presence of a second value which is representative of a will of the driver to drive the vehicle manually.

The invention also proposes a vehicle, possibly of automobile type, adapted to be driven automatically and manually on a traffic lane defined by first and second boundaries, and comprising an assistance device of the type of that shown in FIG. -before.

Other features and advantages of the invention will appear on examining the detailed description below, and the attached drawings, in which:

FIG. 1 schematically and functionally illustrates a road comprising two traffic lanes on one of which circulates an example of an automated driving vehicle and comprising means for analyzing the environment and a computer equipped with an exemplary embodiment of the invention. an assistance device according to the invention, and

FIG. 2 schematically illustrates an exemplary algorithm implementing an assistance method according to the invention.

The object of the invention is in particular to propose an assistance method, and an associated DA assistance device, intended to assist a driver of an automated driving VA vehicle to drive the latter (VA).

It is recalled here that the term "automated driving vehicle" means a vehicle that can be driven in an automated manner (and therefore without the intervention of its driver) during an automated driving phase, under the control of an assistance device. or manually (and therefore with intervention of its driver on the steering wheel and / or at least one pedal (or the like)) during a manual driving phase.

In what follows, it is considered, by way of non-limiting example, that the vehicle VA is automotive type. This is for example a car. But the invention is not limited to this type of vehicle. It concerns indeed any type of automated driving vehicle that can circulate on terrestrial traffic lanes defined by two delimitations.

FIG. 1 schematically and functionally shows a road comprising two traffic lanes on one (VC) of which an automated driving vehicle VA circulates.

The vehicle VA being automated driving, it comprises in particular a VV flywheel, environment analysis means MA and a DA assistance device according to the invention.

Although this does not appear in FIG. 1, the VV steering wheel is fixedly secured to a steering column, in order to allow the driver to control it by exerting on it a live couple with at least one of his hands. This steering column is also controllable by an electric motor driven by the assistance device DA and for example part of a power steering device.

Note that a sensor can be coupled to the steering column to measure the steering wheel angle.

The electric motor is responsible for applying an assist torque to the steering column when it receives the order of the assistance device DA.

This assistance device DA is indeed responsible, in particular, to control the positioning of the vehicle VA with respect to the direction transverse to the traffic lane VC borrowed and to drive it in an automated manner by making it follow a trajectory tv on this path circulation VC, without its driver acting on the steering wheel VV or on a pedal (or the like). This trajectory tv is located at a selected distance d1 from one of the first L1 and second L2 boundaries of the taxiway VC.

It will be noted that in the example shown non-limitatively in FIG. 1, the chosen distance d1 is that which separates the trajectory tv from the first delimitation L1 (here the one on the right). But in a variant, the chosen distance d1 could be the one that separates the trajectory tv from the second delimitation L2 (here the one on the left).

The determination of this trajectory tv and the aforementioned control are carried out according to, in particular, information which is related to the external environment of the vehicle, provided at least by the means of analysis of the external environment MA on board. The assistance device DA can determine a reference angle that the VV steering wheel should take so that the vehicle VA follows the trajectory tv, according to the information representative of the vehicle VA and its environment. Then, the assistance device DA can, for example, determine the assist torque that the electric motor must produce, depending on the current steering wheel angle (measured by the sensor coupled to the steering column) and this reference angle (which he has just determined). This assistance torque depends on a possible torque applied by the driver on the steering wheel VV, and therefore the angle of the steering wheel.

The assistance device DA is therefore, for example, what the skilled person calls an ADAS device ("Advanced Driver Assistance System" - system for assistance (or assistance) to advanced driving).

The representative information of the vehicle VA can, for example, be provided by a computer embedded in the vehicle VA and responsible for analyzing its dynamics. For example, this information may be representative of the current geographical position of the vehicle VA and / or the current speed of the vehicle VA and / or the current acceleration of the vehicle VA.

The information representative of the environment of the vehicle VA is determined by the analysis means MA. It should be noted that the latter (MA) must here determine at least the arrangement of the taxiway VC on which circulates their vehicle VA, and therefore the positions of its first L1 and second L2 boundaries. Therefore, they comprise at least one camera, capable of acquiring digital images of the environment located at least in front of the vehicle VA, and associated with a digital image analyzer comprising shape recognition means. But they may also comprise ultrasonic sensors and / or at least one scanning laser and / or at least one radar or lidar, in particular for the detection of obstacles in the environment of the vehicle VA, and / or a positioning device by satellites (possibly GPS type) associated with a map database.

As mentioned above, the invention proposes an assistance method intended, in particular, to assist the driver of the vehicle VA to drive the latter (VA).

An assistance method, according to the invention, comprises a step in which we first start by determining a trajectory tv of the vehicle VA in case of automated driving (and therefore without intervention of its driver).

In the nonlimiting example of algorithm illustrated in FIG. 2 and implementing the assistance method according to the invention, the determination of the trajectory tv is carried out in sub-step 10.

Any technique known to those skilled in the art, for determining a trajectory tv to drive the vehicle VA in an automated manner, can be used here.

For example, the trajectory tv can be defined by N future positions of a representative point of the vehicle VA, traveling at a speed possibly considered constant for the N positions, and having a steering angle possibly considered constant for the N positions. Each future position is determined in an XY plane of the taxiway VC, between the first L1 and second L2 boundaries, and more precisely at a selected distance d1 of one of the first L1 and second L2 boundaries (here L1). The X direction is the longitudinal direction of the taxiway VC and the Y direction is the transverse direction of the taxiway VC (which is perpendicular locally to the first L1 and second L2 boundaries). Each determination of a trajectory tv is carried out by the assistance device DA embedded in the vehicle VA, and more precisely by control means MC which comprises this assistance device DA and which are arranged for this purpose.

It will be noted that in the example illustrated, not limitation, in the figure

1, the assistance device DA is implanted in a CA computer of the vehicle VA which can possibly provide at least one other function. But he could understand a calculator. Therefore, a DA assistance device can be realized in the form of software modules (or computer or "software"), or circuits or electrical or electronic components (or "hardware"), or a combination of electrical or electronic circuits or components and software modules.

In the process step, (control means MC) determines (nt), in addition to the trajectory tv, whether the driver performs a particular action defined by a first value v1 representative of a desire to change the chosen distance. d1 during the trajectory tv, or by a second value v2 representative of a desire to drive the vehicle VA manually. This determination is made in the substep 20 of the algorithm of FIG.

When one is in the presence of a first value v1, one (the assistance device DA) changes the trajectory tv of the vehicle VA on its taxiway VC.

The determination of the first value v1 is carried out in the sub-step 30 of the algorithm of FIG.

The modification of the trajectory tv consists of determining a new selected distance d1, then repositioning the tv trajectory previously determined between the first L1 and second L2 boundaries according to this new selected distance d1. This determination of a new selected distance d1 is carried out in the sub-step 40 of the algorithm of FIG. 2. The repositioning of the trajectory tv is carried out in the sub-step 10 of the algorithm of FIG.

When one is in the presence of a second value v2, one (the assistance device DA) stops driving the vehicle VA so automated, and therefore it is the driver who must drive the vehicle VA manually (at least for the control of the steering wheel VV).

The determination of the second value v2 is carried out in the sub-step 50 of the algorithm of FIG. 2.

The change from a (fully) automated driving phase to a manual driving phase is carried out in substep 60 of the algorithm of FIG.

Thus, the driver can, by a particular and voluntary action, choose a new transverse position of the trajectory tv of his vehicle VA between the two boundaries L1 and L2 of the traffic lane VC borrowed, while remaining within the framework of a driving fully automated and therefore secure, or decide to regain control of driving his vehicle VA.

Note that when one is in the presence of a third value v3, different from v1 and v2 and representative of a will of the driver not to modify the selected distance d1 in progress, it is possible (MC control means) (f) do not change the TV trajectory of vehicle VA on taxiway VC. This option then entails that we return to perform the substep 10 of the algorithm of Figure 2, after performing the substep 50, to update the trajectory tv.

Several embodiments can be implemented to obtain one of the values v1 and v2 and possibly v3.

In a first embodiment, in the process step, it is possible to compare with first s1 and second s2 thresholds the value vce of the torque that is exerted by the driver on the steering wheel VV during driving in an automated manner. When this torque value vce is between the first s1 and second s2 thresholds (ie s1 <vce <s2), it (the control means MC) consider (s) that it is in the presence of a first value v1 representative of a will of the driver to change the selected distance d1 in progress. When this value of torque vce is greater than the second threshold s2 (ie s2 <vce), one (control means MC) consider (s) that there is a second value v2 representative of a will of driver to drive the VA vehicle manually. For example, the first threshold s1 may be between 0.1 Nm and 5 Nm Also for example, the second threshold s2 may be between 0.5 Nm and 10 Nm

In the presence of this first embodiment, when the torque value vce is between the first s1 and second s2 thresholds, it (control means MC) may (f) determine a new selected distance d1 which is a function of this torque value vce and the direction of application of the torque on the steering wheel VV. Then, it (the assistance device DA) can drive the vehicle VA automatically by making it follow a trajectory tv on the taxiway VC which is located at the new selected distance d1 of one of the first L1 and second L2 delimitations (here L1). It is considered here that as long as the torque value vce is lower than the second threshold s2, it represents the transverse shift that the driver wants to bring to the position of the trajectory tv between the delimitations L1 and L2, but only when this torque value vce becomes greater than the second threshold s2 is that the driver wants to manually resume control of the path of the vehicle VA. A torque value between the first s1 and second s2 thresholds represents a transverse shift to the right when it corresponds to a rotation in the direction of clockwise or to the left when it corresponds to a rotation in the counterclockwise.

Note that in this first embodiment, when the torque value vce is lower than the first threshold s1, (the control means MC) can be considered to be in the presence of a third value v3 representative of a will of the driver not to change the selected distance d1 in progress. In fact, it is considered here that as long as the torque value vce is lower than the first threshold s1, it is too weak to characterize a will of the driver to shift the trajectory transversely.

This first embodiment is particularly advantageous because it avoids having to provide a particular interface for the driver to perform his particular action. The VV flywheel serves here to the driver of action (via the torque exerted) to signal that he wants to shift transversely the trajectory tv (and how much) or resume manually the control of the trajectory of the vehicle VA.

In a second embodiment, the passenger compartment of the vehicle VA, for example the PB dashboard or a central console, must be equipped with first and second control members. The first control member is associated with a modification of the selected distance d1 in progress, while the second control member is associated with a pipe manually.

In this case, in the step of the method, when the first control member is actuated, (the control means MC) determines (s) a first value v1 which is representative of an amplitude and a direction of the actuation. Then (control means MC) determines (s) a new selected distance d1 function of this first value v1. Then, one (the assistance device DA) automatically drives the vehicle VA by making it follow a trajectory tv on the taxiway VC which is located at this new selected distance from one of the first L1 and second L2 boundaries (here L1). On the other hand, when the second control member is actuated, the control means MC considers that it is in the presence of a second value v2, and therefore the assistance device DA ) stops driving the VA vehicle in an automated manner so that the driver manually resumes control of the path of the vehicle VA.

For example, if the first control member is rotatable, a rotation on a selected angular sector represents a transverse shift function of this angular sector, or to the right when the rotation is made in the direction of clockwise, or to the left when the rotation is done in the opposite direction of the clockwise.

Also for example, the second control member may take a first state associated with the activation of the automated driving and a second state associated with the deactivation of the automated driving.

In a third embodiment the VA vehicle must include a touch screen display. It can, for example, be the screen of the CC central handset that is installed in or on the PB dashboard. In this case, when the automated driving function is activated, the touch screen serves as a means of action for the driver to signal with a finger that he wants to shift transversely the trajectory tv (and how much) or resume manually the control of the trajectory of the vehicle VA.

More specifically, in the step of the method, when selecting an area having a certain position on the touch screen, the (control means MC) determines (s) a lateral distance ds separating laterally from a point reference this position of the selected area. Then, (the control means MC) consider (s) that it is in the presence of a first value v1 when the absolute value of this determined lateral distance ds is less than a threshold s' (ie | ds | < s'), and in this case (control means MC) determines (s) a new selected distance d1 which is a function of this first value v1 equal to this lateral distance ds. Then, one (the assistance device DA) automatically drives the vehicle VA by making it follow a trajectory tv on the taxiway VC located at this new selected distance d1 of one of the first L1 and second L2 boundaries ( here L1). On the other hand, one (the control means MC) consider (s) that one is in the presence of a second value v2 when the absolute value of the lateral distance ds is greater than the threshold s' (ie | ds |> s '), and in this case (the DA assistance device) stops driving the vehicle VA in an automated manner so that the driver manually resume control of the path of the vehicle VA.

For example, the center of the screen can materialize the current transverse position of the vehicle VA with respect to the boundaries L1 and L2 of the taxiway VC, which constitutes the reference point. In this case, a selection of an area located at a lateral distance ds from the center of the screen represents a transverse shift function of this lateral distance ds, or to the right when this zone is located to the right of the center of the screen , or to the left when this area is located to the left of the center of the screen.

Also for example, the threshold s' can be between 1 cm and 20 cm.

Alternatively, the control means MC may be arranged to take into account the largest transverse offset which does not risk placing the trajectory tv outside the boundaries L1 and L2 of the taxiway VC.

Claims

1. A method of assisting a driver of a vehicle (VA) adapted to be driven manually and automatically on a traffic lane (VC) defined by first (L1) and second (L2) boundaries, said method comprising a step in which said vehicle (VA) is automatically driven by following it along a path on said taxiway (VC) located at a selected distance (d1) from one of said first (L1) and second (L2) delimitations, characterized in that in said step is modified said path of the vehicle (VA) on the taxiway (VC) when one is in the presence of a first value representative of a will of said driver to change said distance chosen (d1), or one stops driving said vehicle (VA) automatically when one is in the presence of a second value representative of a will of said driver to drive said vehicle (VA) so manual.

2. Method according to claim 1, characterized in that in said step does not modify said path of the vehicle (VA) on the taxiway (VC) when one is in the presence of a third value representative of a said driver's desire not to modify said selected distance (d1).

3. Method according to claim 1 or 2, characterized in that in said step is compared to first and second thresholds a value of a torque exerted by said driver on a steering wheel (VV) of said vehicle (VA) during said driving. automated way, and when this torque value is between said first and second thresholds it is considered that it is in the presence of a first value representative of a will of said driver to change said selected distance (d1), while when this torque value is greater than said second threshold it is considered that it is in the presence of a second value representative of a will of said driver to drive said vehicle (VA) manually.

4. Method according to claim 3, characterized in that in said step when said torque value is between said first and second thresholds is determined a new selected distance (d1) function of this torque value and the direction of application of said torque, and then automatically leads said vehicle (VA) by following a path on said taxiway (VC ) located at this new selected distance (d1) from one of said first (L1) and second (L2) boundaries.

5. Method according to claim 2 taken in combination with claim 3 or 4, characterized in that in said step when said torque value is lower than said first threshold, it is considered that a third representative value of a will of said driver not to modify said selected distance (d1).

6. Method according to claim 1 or 2, characterized in that in said step i) when actuating a first control member associated with a modification of said selected distance (d1), determining a first representative value d an amplitude and a direction of said actuation, then determining a new distance chosen according to this first value, then automatically driving said vehicle (VA) by following a trajectory on said taxiway (VC) located at this new selected distance (d1) of one of said first (L1) and second (L2) delimitations, ii) while in case of actuation of a second control member associated with a pipe manually, one consider that one is in the presence of a second value.

7. Method according to claim 1 or 2, characterized in that in said step, when selecting a zone having a certain position on a touch screen of said vehicle (VA), a lateral distance separating laterally from a vehicle is determined. reference point said position of the selected area, then i) it is considered that one is in the presence of a first value when an absolute value of said lateral distance is less than a threshold, then a new selected distance is determined (d1) a function of this first value equal to said lateral distance, and then automatically driving said vehicle (VA) by making it follow a path on said taxiway (VC) located at this new selected distance (d1) of the one of said first (L1) and second (L2) delimitations, ii) it is considered that a second value is considered when the absolute value of said Lateral distance is greater than said threshold, and then said vehicle (VA) is stopped automatically.

8. Device (DA) for assisting a driver of a vehicle (VA) adapted to be driven automatically and manually on a taxiway (VC) defined by first (L1) and second (L2) boundaries, said device (DA) comprising control means (MC) controlling an automated way of said vehicle (VA) by following the latter (VA) a trajectory on said taxiway (VC) located at a selected distance (d1 ) of one of said first (L1) and second (L2) boundaries, characterized in that said control means (MC) modify said path of the vehicle (VA) on the taxiway (VC) when they are in the presence a first value representative of a will of said driver to modify said selected distance (d1), or else cease to control the driving of said vehicle (VA) automatically when they are in the presence of a second representative value of a flight said driver to drive said vehicle (VA) manually.

Vehicle (VA) adapted to be driven automatically and manually on a taxiway (VC) defined by first (L1) and second (L2) boundaries, characterized in that it comprises a device assistance (DA) according to claim 8.

10. Vehicle according to claim 9, characterized in that it is automotive type.