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FR3089927B1 - Method and device for maintaining a vehicle in its lane. - Google Patents

Method and device for maintaining a vehicle in its lane. Download PDF

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Publication number
FR3089927B1
FR3089927B1 FR1872897A FR1872897A FR3089927B1 FR 3089927 B1 FR3089927 B1 FR 3089927B1 FR 1872897 A FR1872897 A FR 1872897A FR 1872897 A FR1872897 A FR 1872897A FR 3089927 B1 FR3089927 B1 FR 3089927B1
Authority
FR
France
Prior art keywords
vehicle
lane
track
maintaining
distance
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
FR1872897A
Other languages
French (fr)
Other versions
FR3089927A1 (en
Inventor
Alain Haddad
Haj Shhade Ghayath El
Nicole El-Zoghby
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.)
Renault SA
Original Assignee
Renault 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 Renault SA filed Critical Renault SA
Priority to FR1872897A priority Critical patent/FR3089927B1/en
Publication of FR3089927A1 publication Critical patent/FR3089927A1/en
Application granted granted Critical
Publication of FR3089927B1 publication Critical patent/FR3089927B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • 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
    • B60W2554/801—Lateral 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

Procédé et dispositif de maintien d’un véhicule dans sa voie. Le procédé de maintien d’un véhicule dans sa voie sur une chaussée comprend une étape (110) consistant à cibler en temps réel une égalité entre une distance de bord droit (d1) de la voie et une distance de bord gauche (d2) de la voie par rapport au véhicule. Le procédé comprend notamment des étapes consistant à :- observer (103, 105, 107), en cas d’impossibilité de reconnaître un bord droit (6) et un bord gauche (5) de la voie par marquage au sol, une présence d’au moins un obstacle (10, 20) pertinent pour mesurer une distance de séparation latérale d’obstacle (a1, a2) par rapport au véhicule ;- déterminer (106, 108, 109), en cas d’observation de ladite présence, les bords de la voie par mesure de ladite distance de séparation latérale d’obstacle ;- déterminer (104), en cas d’absence d’obstacle, les bords de la voie en fonction d’au moins une deuxième distance mesurée entre le véhicule et un bord de la chaussée. Figure à publier avec l’abrégé : Fig. 1.Method and device for maintaining a vehicle in its lane. The method of maintaining a vehicle in its lane on a roadway comprises a step (110) consisting in targeting in real time an equality between a right edge distance (d1) of the lane and a left edge distance (d2) of the track relative to the vehicle. The method comprises in particular steps consisting in: - observing (103, 105, 107), in the event that it is impossible to recognize a right edge (6) and a left edge (5) of the track by marking on the ground, a presence of '' at least one obstacle (10, 20) relevant for measuring a lateral obstacle separation distance (a1, a2) from the vehicle; - determine (106, 108, 109), in the event of observation of said presence, the edges of the track by measuring said lateral obstacle separation distance; - determining (104), in the absence of an obstacle, the edges of the track as a function of at least a second distance measured between the vehicle and an edge of the roadway. Figure to be published with the abstract: Fig. 1.

FR1872897A 2018-12-14 2018-12-14 Method and device for maintaining a vehicle in its lane. Active FR3089927B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1872897A FR3089927B1 (en) 2018-12-14 2018-12-14 Method and device for maintaining a vehicle in its lane.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1872897A FR3089927B1 (en) 2018-12-14 2018-12-14 Method and device for maintaining a vehicle in its lane.

Publications (2)

Publication Number Publication Date
FR3089927A1 FR3089927A1 (en) 2020-06-19
FR3089927B1 true FR3089927B1 (en) 2020-11-20

Family

ID=66676662

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1872897A Active FR3089927B1 (en) 2018-12-14 2018-12-14 Method and device for maintaining a vehicle in its lane.

Country Status (1)

Country Link
FR (1) FR3089927B1 (en)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2841334B1 (en) * 2002-06-20 2004-12-24 Renault Sa METHOD AND DEVICE FOR EVALUATING THE POSITION OF A VEHICLE ON A PATH OF A PAVEMENT
FR2986646B1 (en) 2012-02-03 2016-07-01 Renault Sas METHOD FOR DETERMINING THE POSITIONING OF A VEHICLE IN A WAY CIRCULATION HALL, AND METHODS OF DETECTING ALIGNMENT AND RISK OF COLLISION BETWEEN TWO VEHICLES
US8504233B1 (en) * 2012-04-27 2013-08-06 Google Inc. Safely navigating on roads through maintaining safe distance from other vehicles
DE102015001386A1 (en) * 2015-02-04 2016-08-04 Audi Ag Method for determining a transverse position information of a motor vehicle on a roadway and motor vehicle
FR3051756B1 (en) 2016-05-24 2020-03-20 Renault S.A.S VEHICLE TRAJECTORY CONTROL DEVICE
CN107784864A (en) * 2016-08-26 2018-03-09 奥迪股份公司 Vehicle assistant drive method and system

Also Published As

Publication number Publication date
FR3089927A1 (en) 2020-06-19

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