• 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:
    Autonomous driving method enabling a vehicle to maintain a driving situation immediately behind a target vehicle, characterized in that it comprises the steps of: detecting and recording distinguishing characteristics of the target vehicle (E2) by first detection means Autonomous driving immediately behind said target vehicle (E3) realized by means of autonomous driving, detection by second detection means of a situation in which said vehicle is no longer or will no longer be in a driving situation immediately behind said target vehicle, • verification by means of control of the possibility of performing at least one lane change according to a predefined scenario (E4), • realization by the autonomous driving means of said at least one lane change according to said predefined scenario so as to allow the said vehicle to resume the driving situation imm diately behind the target vehicle (E5).
    公开号:FR3053648A1
    申请号:FR1656491
    申请日:2016-07-06
    公开日:2018-01-12
    发明作者:Vincent Laine；Stephane Feron；Duvergey Celine Taccori
    申请人:Peugeot Citroen Automobiles SA；
    IPC主号:
    专利说明:

    Holder (s): PEUGEOT CITROEN AUTOMOBILES SA Société anonyme.
    Extension request (s)
    Agent (s): PEUGEOT CITROEN AUTOMOBILES SA Public limited company.
    (64) AUTONOMOUS DRIVING METHOD FOR VEHICLE.
    FR 3 053 648 - A1 (6r) Autonomous driving method allowing a vehicle to maintain a driving situation immediately behind a target vehicle, characterized in that it comprises the steps of:
    detection and recording of distinctive characteristics of the target vehicle (E2) by first detection means, autonomous driving immediately behind said target vehicle (E3) produced by autonomous driving means, detection by second detection means of a situation in which said vehicle is no longer or will no longer be in a driving situation immediately behind said target vehicle, verification by means of control of the possibility of carrying out at least one lane change according to a predefined scenario (E4), realization by means autonomous driving of said at least one lane change according to said predefined scenario so as to allow said vehicle to resume the driving situation immediately behind the target vehicle (E5).

    The present invention relates generally to an autonomous driving method for a vehicle. In particular, the invention relates to an autonomous driving method allowing a vehicle to maintain a driving situation immediately behind a target vehicle. The invention further relates to an autonomous driving device or a vehicle for implementing such a method.
    It is known in the prior art autonomous driving methods for tracking a target vehicle. Document EP1457948 describes such a method in which the vehicle determines a probability of intersection between said vehicle and a third vehicle and stops the vehicle tracking function in the event that the probability of intersection becomes greater than or equal to a predetermined value.
    In return, this system has the disadvantage of requiring constant communication with the target vehicle and can therefore only operate by following a specially equipped target vehicle.
    An object of the present invention is to respond to the drawbacks of the prior art document mentioned above and in particular to propose an autonomous driving method allowing a vehicle to maintain a driving situation immediately behind a target vehicle of any type, for example a non-autonomous vehicle.
    For this, a first aspect of the invention relates to an autonomous driving method allowing a vehicle to maintain a driving situation immediately behind a target vehicle, characterized in that it comprises the steps of:
    • detection and recording of distinctive characteristics of the target vehicle by first detection means, • autonomous driving immediately behind said target vehicle carried out by autonomous driving means, • detection by second detection means of a situation in which said vehicle n is no longer or will no longer be in a driving situation immediately behind said target vehicle, • verification by means of control of the possibility of carrying out at least one lane change according to a predefined scenario, • realization by the autonomous driving means of said at least one lane change according to said predefined scenario so as to allow said vehicle to resume the driving situation immediately behind the target vehicle.
    Such a method therefore makes it possible to independently follow any target vehicle located immediately in front of the vehicle implementing the method, that is to say that the two vehicles are traveling in the same traffic lane without a vehicle. intermediate between the two vehicles. In this way, autonomous driving can be done in direct view of any target vehicle, that is to say without vehicle-to-vehicle communication. The method according to the present invention also makes it possible to maintain autonomous driving, even when the target vehicle changes lane or when a third vehicle is inserted between the vehicle and the target vehicle. Finally, the method according to the present invention can be implemented by an autonomous device or an autonomous car depending on the state of the art and does not require any new specific equipment.
    Advantageously, the method according to the present invention comprises a subsequent step of recognition of the target vehicle by the first detection means from the distinctive characteristics recorded during the step of detection and recording of distinctive characteristics of the target vehicle. This step ensures that the driving situation immediately behind the vehicle
    -3cible has been found in order to resume autonomous driving autonomously immediately behind the target vehicle.
    Advantageously, if the verification step determines that a lane change according to the predefined scenario is not possible, this verification step is restarted according to another scenario including at least one parameter different from said predefined scenario. For example, the predefined scenario can be configured by the vehicle manufacturer and the other scenario can be configured by the vehicle owner, for example when purchasing the vehicle or before the journey. The different parameter can be the duration or the distance of the lane change, or the vehicle speed during the lane change. For example, the vehicle speed during the lane change may be constant, that is to say equal to the speed of circulation in the predetermined scenario and may include an acceleration for the other scenario, that is to say be greater than the speed of the vehicle in its lane.
    This embodiment therefore allows the owner or an occupant of the vehicle to adapt the autonomous driving process to the desired comfort or to the local or envisaged traffic conditions.
    Advantageously, a step of making by the autonomous driving means of said at least one lane change according to said other scenario is subject to prior approval of an occupant of the vehicle through interface means. An occupant of the vehicle can therefore intervene in autonomous driving in order to adapt it to the desired comfort or the traffic conditions without deactivating the autonomous driving device, that is to say without directly regaining control of the vehicle. The driver then acts simply on the strategy of autonomous driving. The interface means include for example a touch screen, a voice interface and / or buttons or control levers.
    Advantageously, the method according to the present invention further comprises an additional channel change of such
    -4 so as to overtake a third vehicle positioned between said vehicle and said target vehicle. Thus, such a method can autonomously resume tracking of the target vehicle even if a third vehicle has come to be inserted between the vehicle and the target vehicle.
    The method according to the present invention may include a step of communication by a telematic system to inform the target vehicle or an occupant of the target vehicle that said vehicle is no longer in a driving situation immediately behind said target vehicle. Thus, the target vehicle or the driver of the target vehicle can adapt their driving or contact the occupant of the vehicle.
    Alternatively or in combination, the step of communication by a telematic system can transmit a request to adapt the driving of said target vehicle, for example in the case where the target vehicle is an autonomous vehicle.
    A second aspect of the invention is an autonomous driving device comprising at least first detection means, second detection means, control means and autonomous driving means arranged to implement the driving method autonomous according to the first aspect of the invention.
    A last aspect of the invention relates to a vehicle comprising at least one autonomous driving device according to the second aspect of the invention.
    For example, the first and second detection means, the control means and the autonomous driving means comprise one or more sensors chosen from: camera sensitive to visible light, camera sensitive to infrared light, radar, laser radar and ultrasonic sensor as well as at least one computer.
    Finally, the calculator of the autonomous driving means can be the same calculator as the calculator of the first and second means
    -5 detection and control means, or it may be one or more different computers operating in concert. This at least one calculator of the autonomous driving means makes it possible to instruct the actuators of the autonomous driving means in order to realize the autonomous driving from data coming from the sensors or from another calculator.
    Other characteristics and advantages of the present invention will appear more clearly on reading the following detailed description of an embodiment of the invention given by way of non-limiting example and illustrated by the accompanying drawings, wherein :
    Figure 1 shows a block diagram of an autonomous driving device according to the present invention, Figure 2 describes a method of autonomous driving according to the present invention.
    In the context of this description, the term "vehicle" applies to any vehicle implementing the method according to the present invention and the expression "target vehicle" or "followed vehicle" applies to the vehicle followed by the vehicle implementing the method according to the present invention. The term "driver" applies to the occupant of the vehicle in position to take control of it, but not necessarily ensuring its driving. The expression "autonomous driving" means an automation of the driving of the vehicle according to levels 3 or 4 of the definitions given by the International Organization of Automobile Manufacturers (OICA). Finally, the term "scenario" applies to a set of parameters governing the autonomous driving of the vehicle in a given driving situation.
    Figure 1 shows a set of technical means for the implementation of an autonomous driving method according to the present invention. It thus includes a driver assistance system (ADAS) 10, a man-machine interface system (HMI) 20 and a telematics system 30.
    The ADAS 10 system includes a calculation unit in the form of a computer 11 as well as actuators 12 and sensors 13.
    The computer 11 is a computer system according to the state of the art, comprising one or more microprocessors, memory units, input-output interfaces and a preloaded basic program. The computer 11 is connected by an input-output interface to the actuators 12, which include devices according to the state of the art capable of acting on the steering, the accelerator, the braking system and possibly on the transmission of the vehicle.
    The computer 11 is also connected by another input-output interface to sensors 13 according to the state of the art. These sensors are capable of perceiving distinctive characteristics of one or more vehicles for recording by the computer 11 and then form with the computer 11 first detection means. They are also able to perceive the movements and / or indications of a vehicle located immediately ahead or in a parallel lane in order to detect a situation in which the vehicle is no longer or will no longer be in a driving situation immediately behind a target vehicle and they then form with the computer 11 second detection means. With the actuators 12 and the computer 11, the sensors 13 also form autonomous driving means capable of maintaining a driving situation of the vehicle immediately behind a target vehicle by reproducing the driving of the target vehicle. Finally, the sensors 13 and the computer 11 can analyze the position of the vehicle, its speed, the environment in which the vehicle operates as well as the position of other users such as other vehicles, pedestrians and two-wheelers and then form means of control.
    The sensors 13 can be chosen from one or more cameras sensitive to visible light, one or more cameras sensitive to infrared light and one or more radars, laser radars (lidar) and ultrasonic sensors.
    The same sensor can be included in the first detection means, the second detection means and the control means. In addition, positioning means such as a GPS receiver, Glonass and / or Galileo can be provided.
    The computer 11 is also connected to the HMI system 20 in order to receive an activation command from the driver by an activation control system 21 as well as transmitting information to the driver or the occupants of the vehicle by organs restitution 22. The activation control system 21 may include a dedicated joystick or button on the dashboard of the vehicle, an icon on a touch screen or even a voice control interface. The restitution organs 22 may include witnesses on the dashboard of the vehicle, animations or representations on a screen installed in the passenger compartment of the vehicle as well as sound or voice information. The activation control system 21 and the restitution members 22 therefore form interface means.
    Finally, the HMI system 20 is connected to the telematics system 30 comprising one or more communication devices 31 to another vehicle. These communication devices can be chosen from a GSM system capable of communicating by SMS or mobile data, a radio system such as Bluetooth, Wi-Fi, ZigBee, Sarah and / or an optical communication system of the infrared or Li-Fi type. This telematics system 30 is capable of communicating with one or more other vehicles equipped with a compatible telematics system or else directly on a mobile telephone of an occupant of another vehicle for example to transmit messages coming from the driver or the occupants of the
    -8vehicle or messages from the computer 11 through the restitution devices 22. These may be simple information messages, for example to inform the occupants of a vehicle followed by an upcoming stop or a change of route, technical messages including breakdowns or faults occurring in the vehicle as well as messages on the monitoring status when the vehicle follows the other vehicle as the target vehicle autonomously according to the process detailed in Figure 2 .
    Referring to Figure 2, the autonomous driving method according to the present invention comprises a first step E1 (Activation of the "Target vehicle tracking" function) in which the tracking function of a target vehicle is activated by the driver of the vehicle. This can be done when the vehicle is located immediately behind or at least close to the target vehicle.
    The vehicle detects distinctive characteristics of the target vehicle (step E2 - Detection and recording of distinctive characteristics of the target vehicle) by the first detection means, for example the license plate, the color, the general shape, the radar or lidar echo or even visible impacts or stickers on the target vehicle. These distinctive characteristics are recorded in the computer 11 and possibly submitted to the driver of the vehicle for approval through the HMI system 20. Thus, any type of vehicle can be tracked based on its external characteristics without requiring specific equipment.
    The vehicle is then able to follow the target vehicle autonomously, that is to say without driver intervention, staying immediately behind the target vehicle (step E3 - Autonomous driving immediately behind the target vehicle). For example, the vehicle detects and reproduces using the ADAS 10 system the driving operations of the target vehicle such as accelerations, braking or changes of direction in order to stay in a lane. The vehicle
    -9 continuously monitors its environment by the sensors 13 in order to prevent any dangerous maneuver, in particular on the part of another user.
    In the case where the target vehicle changes lane (action A1), for example to take a motorway exit, a motorway interchange or to overtake a slow vehicle, or remains in the lane (action A2) and that a third vehicle is inserted between the vehicle and the target vehicle (action A3), the vehicle is no longer located immediately behind the target vehicle and can therefore no longer detect the driving of the target vehicle. The vehicle detects this lane change by the second detection means, for example by recording the offset of the vehicle followed with respect to the lane of traffic materialized by markings on the ground, by locating a sudden increase in the distance to the vehicle located immediately ahead and / or by detecting a change in the distinctive characteristics of the vehicle immediately ahead. The lane change of the target vehicle can also be anticipated, for example by locating an illuminated turn signal of the target vehicle or by locating the lane changes required to follow a predefined course.
    The vehicle then checks the possibility of carrying out a lane change according to a predefined scenario (step E4 - Checking the possibility of carrying out a lane change according to a predefined scenario). This verification is carried out by the computer 11 according to the information coming from the sensors 13, that is to say by the control means, in comparison with a predefined scenario. This scenario is predefined for example by the manufacturer or the importer of the vehicle in the computer 11 and includes parameters such as the lane change speed, the lane change distance or the lane change duration, possibly depending on the context in which the lane change is made.
    For example, this predefined scenario may include a lane change scenario at constant speed of the vehicle. The
    -10 control means then assess whether it is possible to change lanes while maintaining vehicle speed and in complete safety, that is to say without interfering with other vehicles traveling at higher speeds in the intended lane . If the possibility is validated, that is to say that the computer 11 determines that such a lane change is possible at constant speed and in complete safety, the lane change is then carried out according to this scenario by an appropriate action on the actuators 12 (step E5 Lane change according to the predefined scenario).
    If a lane change according to the predefined scenario is not possible, for example due to a third vehicle approaching on the lane where the target vehicle is traveling, the verification step is repeated according to another scenario, for example configured by the driver or the owner of the vehicle and comprising at least one different parameter in comparison with the predefined scenario (step E6 - Verification of the possibility of making a lane change according to another scenario). This parameter can be the lane change speed, a shorter lane change time or distance, etc. For example, the driver was able to program a lane change speed that was greater than the traffic speed. A check is therefore made by the control means according to this other scenario and if the result of the check is positive, that is to say that the vehicle determines that it can carry out the lane change safely under this other scenario, the lane change is then carried out by an appropriate action of the computer 11 on the actuators 12 (step E7 - Lane change according to another scenario). For example, the vehicle will gradually accelerate to the lane change speed while shifting into the desired lane, so as not to hinder or surprise another user traveling on this lane.
    Once this step E7 of lane change has been carried out, the vehicle will perform a step E8 of recognizing the target vehicle using the sensors 13 and from the distinctive characteristics recorded in
    -11 the computer 11 during step E2 (step E8 - Recognition of the target vehicle from the distinguishing features). This step E8 can also be carried out after step E5 (Lane change according to the predefined scenario). This step E8 makes it possible to resume autonomous driving autonomously immediately behind the target vehicle from the moment when the target vehicle has been recognized. If necessary, a second lane change is made to return to the original taxiway, for example in the case where the target vehicle has overtaken a slow vehicle or an obstacle and has therefore returned to the original taxiway.
    Thus, the vehicle implementing this method can maintain its driving situation immediately behind a target vehicle, without any communication with the target vehicle and without human intervention required.
    Optionally, the possibility of changing lanes according to the other scenario is submitted to the driver for prior approval during or before a journey through the HMI system 20. The driver thus retains indirect control over autonomous driving and can adapt according to the desired comfort, schedule or traffic conditions.
    If the lane change is not possible, the computer refers to the driver in step E9 using the HMI system in order to offer him to continue driving in autonomous mode, but without target vehicle, c that is to say by deciding autonomously or under the supervision of the driver of the driving operations previously carried out using the example of the target vehicle (step E9 - Interaction with an occupant of the vehicle). Alternatively, the vehicle offers the driver to resume driving the vehicle in manual mode, that is to say, the driver directly assumes the driving of the vehicle.
    After resumption of driving in manual mode by the driver, the vehicle can continue to search for the target vehicle by the first detection means and once the target vehicle has been found, propose
    3O5364S
    - 12the driver to resume autonomous driving immediately behind the target vehicle. Thus, the driver can be called upon temporarily to allow the vehicle to recover the driving situation immediately behind the target vehicle, for example in the event of heavy traffic.
    Optionally, the autonomous driving method can comprise a step E10 of communication with the target vehicle by the telematic system 30, for example to transmit a message informing of the end of the follow-up, or else to send a wait request for cause the target vehicle to slow down to wait for the vehicle (step E10 - Communication with the target vehicle to transmit a message of type "loss of tracking >> or" request to wait "). This communication step can be carried out from vehicle to vehicle in the case of a target vehicle equipped with a compatible telematics system or else via a mobile telephone or another mobile device owned by an occupant of the vehicle. .
    It will be understood that various modifications and / or improvements obvious to those skilled in the art can be made to the various embodiments of the invention described in the present description without departing from the scope of the invention defined by the appended claims. In particular, reference is made to the predefined scenario, which can also be adjusted by the driver or the owner of the vehicle whereas the other scenario can possibly be decided at the time of the lane change by the driver. In addition, several other scenarios can also be provided in order to give more possibilities to the computer and / or the driver. Alternatively, the computer can also determine a possible lane change scenario depending on the driving environment and submit it to the driver for approval.
    Furthermore, the vehicle can include any type of autonomous or semi-autonomous driving assistance system, depending on the state.
    -13de technique. In addition, the vehicle according to the present invention can be an automobile, but also a bus, a truck or a military vehicle.
    权利要求:
    Claims (9)
    [1]
    1. Autonomous driving method allowing a vehicle to maintain a driving situation immediately behind a target vehicle, characterized in that it comprises the steps of:
    • detection and recording of distinctive characteristics of the target vehicle (E2) by first detection means (11,13) • autonomous driving immediately behind said target vehicle (E3) carried out by autonomous driving means (11,12,13), • detection by second detection means (11, 13) of a situation in which said vehicle is no longer or will no longer be in a driving situation immediately behind said target vehicle, • verification by control means (11, 13) the possibility of carrying out at least one lane change according to a predefined scenario (E4), • realization by the autonomous driving means (11,12,13) of said at least one lane change according to said predefined scenario so as to allow the said vehicle to resume the driving situation immediately behind the target vehicle (E5).
    [2]
    2. Autonomous driving method according to the preceding claim, characterized in that it comprises a subsequent step (E8) of recognition of the target vehicle by the first detection means (11,13) from the distinctive characteristics recorded during the step of detecting and recording distinctive characteristics of the target vehicle (E2).
    [3]
    3. A method of autonomous driving according to any one of the preceding claims, characterized in that if the verification step determines that a lane change according to the predefined scenario is not
    -15possible, this verification step is repeated according to another scenario including at least one parameter different from said predefined scenario (E6), for example the speed of lane change, the distance of lane change or even the duration of lane change.
    [4]
    5 4. Autonomous driving method according to the preceding claim, characterized in that a step of carrying out by the autonomous driving means (11,12,13) said at least one lane change according to said other scenario is subject to approval prior of an occupant of the vehicle through interface means.
    5. Autonomous driving method according to any one of the preceding claims, characterized in that it further comprises an additional lane change so as to pass a third vehicle positioned between said vehicle and said target vehicle.
    [5]
    6. Autonomous driving method according to any one of
    15 previous claims, characterized in that it comprises a step of communication by a telematic system (30) to inform the target vehicle or an occupant of the target vehicle that said vehicle is no longer in a driving situation immediately behind said target vehicle (E10).
    [6]
    7. Autonomous driving method according to any of the
    20 previous claims, characterized in that it comprises a step of communication by a telematic system (30) to transmit a request aiming to adapt the driving of said target vehicle (E10).
    [7]
    8. Autonomous driving device for a vehicle, said autonomous driving device comprising at least first means of
    25 detection (11,13), second detection means (11,13), control means (11,13) and autonomous driving means (11,12,13) arranged to implement the driving process autonomous according to any one of the preceding claims.
    [8]
    9. Vehicle comprising at least one driving device
    - 16autonomous according to the preceding claim.
    [9]
    10. Autonomous driving device or vehicle according to any one of claims 8 and 9, in which the first and second detection means (11,13) the control means (11,13) and the means 5 of autonomous driving ( 11, 12, 13) comprise one or more sensors (13) chosen from: camera sensitive to visible light, camera sensitive to infrared light, radar, laser radar and ultrasonic sensor as well as at least one computer (11).
    1/2
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    同族专利:
    公开号 | 公开日
    WO2018007725A1|2018-01-11|
    CN109478065A|2019-03-15|
    FR3053648B1|2018-07-20|
    EP3482269B1|2021-08-11|
    EP3482269A1|2019-05-15|
    US20190225220A1|2019-07-25|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
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    EP2995519A1|2014-09-10|2016-03-16|Volkswagen Aktiengesellschaft|Modifying autonomous vehicle driving by recognizing vehicle characteristics|FR3104109A1|2019-12-10|2021-06-11|Psa Automobiles Sa|Method and system for managing the guidance of a motor vehicle in the presence of an individual regulating road traffic near the vehicle|
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    法律状态:
    2017-06-20| PLFP| Fee payment|Year of fee payment: 2 |
    2018-01-12| PLSC| Publication of the preliminary search report|Effective date: 20180112 |
    2018-06-21| PLFP| Fee payment|Year of fee payment: 3 |
    2019-06-21| PLFP| Fee payment|Year of fee payment: 4 |
    2021-04-09| ST| Notification of lapse|Effective date: 20210305 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1656491|2016-07-06|
    FR1656491A|FR3053648B1|2016-07-06|2016-07-06|AUTONOMOUS DRIVING METHOD FOR VEHICLE|FR1656491A| FR3053648B1|2016-07-06|2016-07-06|AUTONOMOUS DRIVING METHOD FOR VEHICLE|
    US16/314,046| US20190225220A1|2016-07-06|2017-06-29|Autonomous driving method for vehicle|
    CN201780041808.6A| CN109478065A|2016-07-06|2017-06-29|Autonomous driving method for vehicle|
    PCT/FR2017/051762| WO2018007725A1|2016-07-06|2017-06-29|Autonomous driving method for vehicle|
    EP17740461.3A| EP3482269B1|2016-07-06|2017-06-29|Method for automatically following a vehicle and autonomous driving apparatus|
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