• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A control device (DC) makes it possible to perform an automated lane change maneuver of an automated vehicle (V). This device (DC) comprises control means (MC) arranged, in case of selection by the driver of the vehicle (V) of a side to which he wants to change lanes, to trigger the activation of a change indicator associated with the selected side, then to trigger a report to the driver of the result of the determination of a possibility of performing the lane change by analysis of data acquired in the vehicle environment (V), and, in case of validation of lane change by the driver to provide commands to selected vehicle actuators (V) to induce a maneuver to effect the validated lane change.
    公开号:FR3033761A1
    申请号:FR1552236
    申请日:2015-03-18
    公开日:2016-09-23
    发明作者:Stephane Feron；Duvergey Celine Taccori；Vincent Laine
    申请人:Peugeot Citroen Automobiles SA；
    IPC主号:
    专利说明:

    [0001] FIELD OF THE INVENTION The invention relates to automated vehicles, possibly of automobile type, and more specifically the devices and methods that make it possible to control the changes. of automated traffic lanes of such vehicles. It has recently been proposed to equip certain vehicles with a control device enabling them to be driven in an automated manner according to instructions provided by their driver, but without the driver acting on the operational control members such as the controls. pedals or the steering wheel. This type of control device is thus capable of controlling the operation of the powertrain (or GMP), the power steering and the braking system of its vehicle according to information relating in particular to the environment of the latter (as for example, the curvature and slope of the portion of the traffic lane used, the panels and lines of this portion, and the relative speed of each vehicle detected). This control is done by means of commands that are supplied to selected actuators of the vehicle. The invention relates to maneuvers that are intended to automatically perform a lane change decided by the driver of a vehicle. At present, for such an automated lane change maneuver to be triggered, it is sufficient for the driver of the vehicle to activate the automated lane change function by actuating a single command designating the overshoot side. For example, this selection can be made by operating the turn indicator which is associated with the selected lane change side when the vehicle is in an automated driving mode. This mode of operation has at least three potentially dangerous disadvantages. Indeed, the road users who are located in the environment of the vehicle in which the driver has just requested a change of lane are not warned of the maneuver until the change of direction indicator is activated. and so when this maneuver begins. Furthermore, since the lane change maneuver is triggered by the actuation of a single command, the probability of a voluntary or involuntary manipulation error is not negligible. On the other hand, the lane change decision may have been taken by the driver in the presence of difficult weather conditions (fog, snow, shower) and / or other vehicles hindering visibility, and the driver can not easily cancel the maneuver before it starts. The object of the invention is therefore in particular to improve the situation. To this end, it proposes a method for controlling the implementation of an automated lane change maneuver of an automated vehicle, comprising: a first step in which a driver of the vehicle selects a side towards which he wants change lanes, then the vehicle activates a change of direction indicator associated with the selected side, then determines, by analysis of data acquired in its environment, whether this exceeding is achievable, and reports to the driver the result of this determination, and 20 - a second step in which, in case of validation of the change of lane by the driver, the vehicle controls selected actuators it understands to induce a maneuver intended to achieve the validated lane change. It is thus possible to initiate an automated maneuver for changing the driving lane (and therefore the lane) safely while avoiding mishandling of the driver. The method according to the invention may comprise other features which can be taken separately or in combination, and in particular: in the second step the vehicle can deactivate the change of direction indicator once it has reached a position destination taxiway; in the second step, the vehicle can prohibit the maneuvering of the lane change in the event of validation of the maneuver by the driver following the signaling of the impossibility of a change of lane; in the first step the vehicle can signal to the driver the result of his determination by means of a text message and / or a sound message; in the first step, the data acquired may be derived from vehicle acquisition means. The invention also proposes a control device, intended to control the realization of an automated lane change maneuver of an automated vehicle, and comprising control means arranged, in case of selection by a driver of the vehicle of a side to which it wants to change lanes: - to trigger an activation of a change of direction indicator associated with the selected side, then - to trigger a signal to the driver of a result of a determination of a feasibility of lane change by analysis of data acquired in a vehicle environment, and then - in case of validation of the change of lane by the driver, to provide commands to selected actuators of the vehicle to induce a maneuver to effect the change validated way. For example, the control means may be arranged to trigger a deactivation of the direction change indicator once the vehicle has reached a destination taxiway.
    [0002] Also for example, the control means may be arranged to prohibit the lane change maneuver in case of validation of the change of lane by the driver following the report of an impossibility of lane change. The invention also proposes an automated vehicle, possibly of automobile type, and comprising a control device of the type of that presented above. Other features and advantages of the invention will become apparent upon examination of the detailed description below, and the accompanying drawings, in which: FIG. 1 schematically and functionally illustrates an example of an automated vehicle equipped with a control device according to the invention, and 5 - Figure 2 schematically illustrates an example of an algorithm implementing a control method according to the invention. The object of the invention is in particular to propose a control method, and an associated DC control device, for controlling the implementation of an automated lane change maneuver of an automated vehicle V and a running on a first lane. of circulation. In the following, we consider, by way of non-limiting example, that the vehicle V automated is automotive type. This is for example a car. But the invention is not limited to this type of vehicle. It concerns any type of land vehicle that can perform movements and maneuvers on the ground and can be driven in an automated manner according to instructions provided by the driver. Thus, it also relates to commercial vehicles, road vehicles, coaches and trucks, for example. FIG. 1 shows schematically an example of a vehicle V in which a method for controlling the implementation of an automated lane change maneuver according to the invention can be implemented. It is important to note that the vehicle V comprises a powertrain (or GMP), a DC control device, a power steering and a braking system which can be controlled by means of actuators according to relative information, in particular , to its environment. This information is defined by acquired data that may be derived from vehicle VAM acquisition means V. These acquisition means may, for example, include digital cameras and / or radar and / or scanner lasers and / or lidars. For example, and as shown in non-limiting manner in FIG. 1, MAQ acquisition means may be implanted in the front bumper or bumper, which is installed in the front part PV of the vehicle V, or 3033761 in an upper part. windshield, and / or in the shield or rear bumper. These means for acquiring MAQ images may, for example and as illustrated without limitation in FIG. 1, communicate to MAD analysis means the digital data acquired in their observation zone 5 via an on-board communication network RC. the vehicle V. This RC communication network is optionally of the multiplexed type, and arranged to allow electronic equipment, embedded in the vehicle V and connected to it, to exchange information and instructions.
    [0003] The MAD analysis means may, for example, be responsible for analyzing the digital data acquired by some of the QAM acquisition means, in order, on the one hand, to detect the presence of other vehicles or obstacles, and the lines which delimit the traffic lane used by their vehicle V, and, secondly, to determine the position and / or the relative speed of the other vehicles. Moreover, the MAD analysis means may, as shown in non-limiting manner in FIG. 1, be implemented in a computer CA which is possibly connected to the on-board communication network RC. But it is not obligatory. Indeed, they could be part of the on-board electronic equipment comprising the DC control device (or constituting the latter (DC)), or themselves constitute an on-board electronic equipment. Therefore, the MAD analysis means can be realized in the form of software modules or a combination of electronic circuits and software modules.
    [0004] It will be noted that the acquisition means MAQ and / or the analysis means MAD may possibly be part of the control device DC. But it is not obligatory. Indeed, they could be part of an observation device embedded in the vehicle V and providing at least one other function within the latter (V), such as the detection of 30 people or objects in the vehicle. vehicle environment V or the detection of vehicles upstream and downstream of the vehicle V for a speed control system and / or line detection for a recentering system in the taxiway.
    [0005] The method (aid) according to the invention comprises first and second steps that can be implemented by a DC control device implanted in the vehicle V. This implementation requires that the driver has previously selected an automated driving mode 5 offered by its vehicle V. This mode selection can be done by any means known to those skilled in the art, and in particular by actuating a control member or by a dedicated voice command. This control member may be dedicated or not. It can be sensitive or mechanical type or electromechanical, for example. Thus, it may, for example, be part of a joystick (or a commodo) or be implanted in a central part of the steering wheel. As illustrated without limitation in FIG. 1, a control device DC, according to the invention, comprises at least control means MC. This DC control device may, as illustrated and as mentioned above, constitute on-board electronic equipment. But this is not obligatory. Indeed, it could, for example, be implanted in an on-board computer and possibly providing at least one other function within its vehicle V. Consequently, the DC control device (and in particular its control means MC) can It can be realized in the form of software (or computer or software) modules, or a combination of electronic circuits (or hardware) and software modules. It will be noted that in the example shown non-limitatively in FIG. 1, the control device DC is connected to the on-board communication network RC. But this is not obligatory. It will also be noted that the MAD analysis means could be part of the DC control device. A first step of the method, according to the invention, begins when the driver of the vehicle V selects a side to which he wants to change lanes. The control means MC of the DC control device are informed of the selection of this side. This selected side designates a second traffic lane (called the destination lane) which is situated to the left or right of the first traffic lane on which the vehicle V initially circulates. It will be noted that this side can be selected by any known means. those skilled in the art, and in particular by actuating a control member or by a dedicated voice command. This control member may or may not be dedicated. It can be sensitive or mechanical type or electromechanical, for example. Thus, it may, for example, be part of a joystick (or a commodo), such as that (one) used to activate the change of direction indicator (or flashing) or be implanted in a part central steering wheel.
    [0006] The first step is continued by the activation by the vehicle V of a change of direction indicator (or indicator) which is associated with the side selected by the driver. It is the control means MC of the DC control device that triggers this activation which is advantageously intended to warn road users, who are located in the environment of the vehicle V, that the latter (V) is about to to start an overtaking maneuver, but, here, before the latter has been authorized. Then, again in this first step, the vehicle V determines, by analysis of data acquired in its environment, whether the change of lane requested by the driver is feasible. It is the control means MC of the DC control device which make this determination as a function of data acquired from the vehicle V. Any technique for determining the possibility of changing lanes, possibly in the context of an overshoot, may be used by the control means MC, and in particular a determination by wave and / or camera (s) and / or radar (s) of the speed (possibly relative) of the first vehicle. It will be understood that this determination is based in particular on data acquired by the acquisition means MAQ. For example, if the second adjacent lane exists, if there is no other vehicle in a blind spot, if there is no vehicle traveling counter-clockwise on the second lane, then it there is a possibility of lane change. Finally, again in this first step, the vehicle V signals to the driver the result of the determination of the possibility of changing the route by analysis of data acquired in his environment. It is the control means MC of the DC control device which triggers this signaling of the result of the determination to the driver. It should be noted that this signaling to the driver can be done by means of a text message and / or an audible message, for example of the "possible overshoot" or "impossible to exceed" type. A text message may be displayed on an EC display screen of the vehicle V, such as that of the central handset (centrally located in the dashboard PB) or the instrument cluster of the board of the board, or on a portion of the windshield which then constitutes a screen for a head-up display device. A sound-type message may be broadcast by at least one loudspeaker of the vehicle V. In a second step of the method, according to the invention, in case of validation of the lane change by the driver, the vehicle V controls 15 actuators chosen that it understands to induce a maneuver intended to realize this validated change of lane. It is the control means MC of the DC control device that provides commands to the selected actuators. Note that this validation of the overtaking by the driver can be performed by any means known to those skilled in the art, and in particular by actuating a control member or by a dedicated voice command. This control member may be dedicated or not. It can be sensitive or mechanical type or electromechanical, for example. Thus, it may, for example, be part of a joystick (or a commodo), such as for example the one (one) which serves to activate the indicator of change of direction (or flashing) or to be implanted in a central part of the steering wheel. It should also be noted that the driver may be asked to validate the lane change so that he does not forget to do so. This invitation can be done by means of a text message and / or a sound message. Preferably, in the second step the vehicle V deactivates the direction change indicator (or flashing) once it has reached the second (destination) traffic lane which is located next to it. 303 3 7 6 1 9 of the first traffic lane. It is the control means MC of the DC control device that triggers this deactivation. Also preferably, in the second step the vehicle V prohibits the lane change maneuver in case of validation of the change of lane by the driver following the report of an impossibility of lane change. This option is intended to prevent the driver from forcing the lane change through its validation, even though the DC control device has signaled to him that it was not possible. FIG. 2 schematically illustrates a nonlimiting example of an algorithm implementing a control method according to the invention. In a sub-step 10, the driver selects the automated driving mode of his vehicle V, for example by actuating a control member or by reciting a dedicated voice command. In a substep 20, the driver selects the side to which he wants to change lanes. In a substep 30, the (DC control device) triggers the activation of the direction change indicator (or flashing indicator) associated with the side selected by the driver during the substep 20. In a Sub-step 40, (the DC control device) determines, by analysis of data acquired in the environment of the vehicle V, whether the lane change requested by the driver is feasible (or possible). If the result of this determination is positive ("yes"), a substep 50 is carried out in which the (DC control device) signals the driver that the lane change is feasible (or possible), for example at means of a text message and / or a sound message. It should be noted that the driver may be invited, by means of a text message and / or a sound message, to validate the change of lane so that he does not forget to do so. It will be appreciated that substeps 20 to 50 are part of the first step of the control method of the invention. In a substep 60, the driver validates the channel change authorized by the DC control device, for example by actuating a control member or by reciting a dedicated voice command. In a sub-step 70, the (control device DC) provides commands to selected actuators of the vehicle V to induce a maneuver intended to perform the lane change validated by the driver 5 during the substep 60. Finally, in a substep 80, the (the DC control device) triggers the deactivation of the direction change indicator (or flashing indicator) previously activated during the substep 30, once it has been activated. is informed that the vehicle V has reached the second traffic lane (destination 1) located next to the first traffic lane (departure). If the result of the test of the substep 40 is negative ("no"), a substep 90 is carried out in which the (DC control device) signals the driver that the lane change is not possible, for example by means of a text message and / or a sound message.
    [0007] Then, in a substep 100, (the DC control device) prohibits the lane change maneuver if the driver validates this lane change, for example by gutting. It will be noted that substeps 60 to 100 form part of the second step of the control method according to the invention.
    [0008] Advantageously, the invention makes it possible to trigger an automated maneuver for changing the driving lane (and therefore for passing) safely and avoiding mishandling of the driver. In addition, it offers good ergonomics due to the ease of use and learning of the automated lane change function. 25
    权利要求:
    Claims (10)
    [0001]
    REVENDICATIONS1. A method of controlling the implementation of an automated lane change maneuver of an automated vehicle (V), characterized in that it comprises a first step in which a driver of said vehicle (V) selects a side towards which he wants change lane, then said vehicle (V) activates a change of direction indicator associated with said selected side, then determines, by analysis of data acquired in its environment, if said lane change is achievable, and reports to said 1 o driver the result of this determination, and a second step in which, in the event of validation of said lane change by said driver, said vehicle (V) controls selected actuators which it understands to induce a maneuver intended to effect said lane change valid.
    [0002]
    2. Method according to claim 1, characterized in that in said second step said vehicle (V) deactivates said direction change indicator once it has reached a destination taxiway.
    [0003]
    3. Method according to one of claims 1 and 2, characterized in that in said second step said vehicle (V) prohibits said lane change maneuver in case of validation of said lane change by said driver after the signaling of an impossibility of changing lanes.
    [0004]
    4. Method according to one of claims 1 to 3, characterized in that in said first step said vehicle (V) reports to said driver said result of its determination by means of a text message and / or a sound message .
    [0005]
    5. Method according to one of claims 1 to 4, characterized in that in said first step said acquired data are derived from acquisition means (MAQ) of said vehicle (V).
    [0006]
    6. Control device (DC) for performing an automated lane change maneuver of an automated vehicle (V), characterized in that it comprises control means (MC) arranged, when selected by a driver said vehicle (V) on one side towards which it wants to change lanes, to trigger activation of a direction change indicator associated with said selected side, then to trigger a signal to said driver of a result of a determining a feasibility of said lane change by analysis of data acquired in an environment of said vehicle (V), then, in case of validation of said lane change by said driver, to provide commands to selected actuators of said vehicle (V) to induce a maneuver to effect said lane change.
    [0007]
    7. Device according to claim 6, characterized in that said control means (MC) are arranged to trigger a deactivation of said direction change indicator once said vehicle (V) has reached a destination traffic lane.
    [0008]
    8. Device according to one of claims 6 and 7, characterized in that said control means (MC) are arranged to prohibit said lane change maneuver in case of validation of said lane change by said driver following the signaling of an impossibility to change lanes.
    [0009]
    9. Vehicle (V) automated, characterized in that it comprises a control device (DC) according to one of claims 6 to 8.
    [0010]
    10. Vehicle according to claim 9, characterized in that it is automotive type.
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    同族专利:
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    CN107531281A|2018-01-02|
    WO2016146916A1|2016-09-22|
    ES2729060T3|2019-10-30|
    EP3271236B1|2019-05-01|
    FR3033761B1|2017-03-24|
    EP3271236A1|2018-01-24|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
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    法律状态:
    2016-02-22| PLFP| Fee payment|Year of fee payment: 2 |
    2016-09-23| PLSC| Publication of the preliminary search report|Effective date: 20160923 |
    2017-02-21| PLFP| Fee payment|Year of fee payment: 3 |
    2018-02-20| PLFP| Fee payment|Year of fee payment: 4 |
    2018-06-29| CA| Change of address|Effective date: 20180312 |
    2018-06-29| CD| Change of name or company name|Owner name: PEUGEOT CITROEN AUTOMOBILES SA, FR Effective date: 20180312 |
    2020-02-20| PLFP| Fee payment|Year of fee payment: 6 |
    2021-02-19| PLFP| Fee payment|Year of fee payment: 7 |
    2022-02-21| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1552236A|FR3033761B1|2015-03-18|2015-03-18|METHOD AND DEVICE FOR CHECKING THE AUTOMATED TRACK CHANGE OF AN AUTOMATED VEHICLE BY SELECTING THE TRACK AND VALIDATION|FR1552236A| FR3033761B1|2015-03-18|2015-03-18|METHOD AND DEVICE FOR CHECKING THE AUTOMATED TRACK CHANGE OF AN AUTOMATED VEHICLE BY SELECTING THE TRACK AND VALIDATION|
    CN201680015933.5A| CN107531281A|2015-03-18|2016-03-03|By selecting track and checking and approving the control method changed come the automation track of auto-control vehicle and device|
    EP16714998.8A| EP3271236B1|2015-03-18|2016-03-03|Method and device for controlling the automated lane change of an automated vehicle, by selection of the lane and validation|
    ES16714998T| ES2729060T3|2015-03-18|2016-03-03|Procedure and control device for changing the automated track of an automated vehicle; by route selection and by validation|
    PCT/FR2016/050486| WO2016146916A1|2015-03-18|2016-03-03|Method and device for controlling the automated lane change of an automated vehicle, by selection of the lane and validation|
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