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FR3094324B1 - Procédé de pilotage autonome d’un organe de commande de trajectoire d’un appareil - Google Patents

Procédé de pilotage autonome d’un organe de commande de trajectoire d’un appareil Download PDF

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Publication number
FR3094324B1
FR3094324B1 FR1903218A FR1903218A FR3094324B1 FR 3094324 B1 FR3094324 B1 FR 3094324B1 FR 1903218 A FR1903218 A FR 1903218A FR 1903218 A FR1903218 A FR 1903218A FR 3094324 B1 FR3094324 B1 FR 3094324B1
Authority
FR
France
Prior art keywords
control member
trajectory control
device trajectory
autonomous piloting
piloting method
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
FR1903218A
Other languages
English (en)
Other versions
FR3094324A1 (fr
Inventor
Anh Lam Do
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 SAS
Nissan Motor Co Ltd
Original Assignee
Renault SAS
Nissan Motor Co Ltd
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 SAS, Nissan Motor Co Ltd filed Critical Renault SAS
Priority to FR1903218A priority Critical patent/FR3094324B1/fr
Publication of FR3094324A1 publication Critical patent/FR3094324A1/fr
Application granted granted Critical
Publication of FR3094324B1 publication Critical patent/FR3094324B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by steering
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/023—Avoiding failures by using redundant parts
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • 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
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • 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
    • B60W2754/20—Lateral distance

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

L’invention concerne un procédé de pilotage autonome d’un organe de commande de trajectoire d’un appareil (10) automobile, comportant des étapes de :- acquisition de paramètres relatifs à la trajectoire de l’appareil dans son environnement, et de - calcul d’une consigne de pilotage dudit organe de commande en fonction desdits paramètres. Selon l’invention, la consigne de pilotage est calculée au moyen de deux contrôleurs différents, lesdits contrôleurs étant adaptés chacun à réduire une variable d’erreur de trajectoire dudit appareil à des distances de visée distinctes à l’avant de l’appareil. Figure pour l’abrégé : Fig.2
FR1903218A 2019-03-28 2019-03-28 Procédé de pilotage autonome d’un organe de commande de trajectoire d’un appareil Active FR3094324B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1903218A FR3094324B1 (fr) 2019-03-28 2019-03-28 Procédé de pilotage autonome d’un organe de commande de trajectoire d’un appareil

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1903218 2019-03-28
FR1903218A FR3094324B1 (fr) 2019-03-28 2019-03-28 Procédé de pilotage autonome d’un organe de commande de trajectoire d’un appareil

Publications (2)

Publication Number Publication Date
FR3094324A1 FR3094324A1 (fr) 2020-10-02
FR3094324B1 true FR3094324B1 (fr) 2021-09-03

Family

ID=68072533

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1903218A Active FR3094324B1 (fr) 2019-03-28 2019-03-28 Procédé de pilotage autonome d’un organe de commande de trajectoire d’un appareil

Country Status (1)

Country Link
FR (1) FR3094324B1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114148320B (zh) * 2021-12-08 2023-10-20 华人运通(上海)自动驾驶科技有限公司 一种路径跟踪控制方法及设备
FR3142427B1 (fr) * 2022-11-25 2025-03-14 Renault Sas Procédé de suivi de trajectoire de véhicule automobile

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2993376B1 (fr) * 2012-07-12 2014-07-25 Renault Sa Procede de controle de trajectoire d'un vehicule autonome a roues directrices
EP3187388B1 (fr) * 2014-08-28 2019-03-06 Nissan Motor Co., Ltd Dispositif de commande de déplacement et procédé de commande de déplacement
FR3041590B1 (fr) * 2015-09-30 2018-08-17 Renault S.A.S Systeme de commande de la direction d'un vehicule automobile en cas de collision imminente avec un obstacle

Also Published As

Publication number Publication date
FR3094324A1 (fr) 2020-10-02

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