EP2804803A2 - Verfahren zur schätzung der linienüberquerungszeit eines motorfahrzeugs - Google Patents

Verfahren zur schätzung der linienüberquerungszeit eines motorfahrzeugs

Info

Publication number
EP2804803A2
EP2804803A2 EP13705207.2A EP13705207A EP2804803A2 EP 2804803 A2 EP2804803 A2 EP 2804803A2 EP 13705207 A EP13705207 A EP 13705207A EP 2804803 A2 EP2804803 A2 EP 2804803A2
Authority
EP
European Patent Office
Prior art keywords
vehicle
crossing time
line
yaw rate
trajectory
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.)
Withdrawn
Application number
EP13705207.2A
Other languages
English (en)
French (fr)
Inventor
Marc Campo
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.)
PSA Automobiles SA
Original Assignee
Peugeot Citroen Automobiles 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 Peugeot Citroen Automobiles SA filed Critical Peugeot Citroen Automobiles SA
Publication of EP2804803A2 publication Critical patent/EP2804803A2/de
Withdrawn legal-status Critical Current

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
    • 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
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • B60W40/10—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 vehicle motion
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/20—Sideslip angle
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius

Definitions

  • the present invention relates to the field of motor vehicle trajectory correction systems, and more particularly to a method of estimating the crossing time of lines for motor vehicles.
  • TLC This time
  • US patent application 2008183342 discloses a method of preserving certain data during a queuing change, as well as a method for alerting the driver of the hysteresis phenomenon generated by the activation of the trajectory conservation function. .
  • the patent application DE 102006060837 presents a method for maintaining a trajectory alerting the driver of the actions to be performed as a function of the yaw angles and the thresholds of crossing times of lines. But these thresholds do not take into account the activation or not of the line maintenance function.
  • US Patent Application 2007164852 discloses a queue keeping method optimizing the driver information time based on detecting the deviation, and the performance of the correction.
  • the warning threshold can be determined by an algorithm, not described.
  • the present invention therefore aims to overcome one or more of the disadvantages of the prior art by proposing a strategy for estimating the times before crossing lines in the context of their application to the functions of automatic trajectory corrections.
  • the present invention proposes a method for estimating the crossing time of lines for a vehicle equipped with a camera, an engine control unit, a yaw rate sensor and a trajectory correction system. automatic, characterized in that it comprises at least the following steps:
  • the value of the crossing time is weighted by the vehicle yaw rate ( ⁇ ) and the trajectory activation coefficient (g).
  • the trajectory activation coefficient is between 0 and 1.
  • the position of the straight line, the position of the left line, the heading angle and the curvature of the road are determined by the camera in association with the engine control unit.
  • the yaw rate of the vehicle and the speed of the vehicle are calculated from the wheel speed of the vehicle.
  • the trajectory activation coefficient is determined from a function of the trajectory correction system.
  • the present invention relates to motor vehicles equipped with a camera (10) identifying the parameters of road geometry and vehicle position, a motor control unit (40) (also called ECU for Engine Control Unit according to the English terminology) and a yaw rate sensor (20).
  • a camera 10 identifying the parameters of road geometry and vehicle position
  • a motor control unit 40
  • ECU Engine Control Unit
  • a yaw rate sensor (20).
  • the method includes estimating the time before crossing lines for each side, left and right, of the vehicle taking into account the vehicle yaw rate and the active participation of a trajectory correction system (30).
  • the method uses information from the various components of the system.
  • the camera transmits estimated information. These parameters are mainly:
  • the speed of rotation (per unit of time) around the vertical axis of the vehicle is called yaw rate.
  • This calculation is weighted by the yaw rate of the vehicle and the action of a trajectory correction system characterized by an activation coefficient of between 0 and 1 such that:
  • the method thus comprises at least the following steps:
  • the crossing time (7LC) is weighted by the yaw rate of the vehicle ( ⁇ ) and the trajectory activation coefficient ⁇ g).
  • the present invention thus makes it possible:

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
EP13705207.2A 2012-01-16 2013-01-14 Verfahren zur schätzung der linienüberquerungszeit eines motorfahrzeugs Withdrawn EP2804803A2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1250419A FR2985706B1 (fr) 2012-01-16 2012-01-16 Procede d'estimation du temps de franchissement de lignes pour vehicule automobile
PCT/FR2013/050080 WO2013107970A2 (fr) 2012-01-16 2013-01-14 Procede d'estimation du temps de franchissement de lignes pour vehicule automobile

Publications (1)

Publication Number Publication Date
EP2804803A2 true EP2804803A2 (de) 2014-11-26

Family

ID=47741158

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13705207.2A Withdrawn EP2804803A2 (de) 2012-01-16 2013-01-14 Verfahren zur schätzung der linienüberquerungszeit eines motorfahrzeugs

Country Status (4)

Country Link
EP (1) EP2804803A2 (de)
CN (1) CN104245481B (de)
FR (1) FR2985706B1 (de)
WO (1) WO2013107970A2 (de)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3113393B1 (fr) * 2020-08-12 2023-11-10 Renault Sas Procédé de gestion automatisée de la vitesse longitudinale d’un véhicule.
CN116110216B (zh) * 2022-10-21 2024-04-12 中国第一汽车股份有限公司 车辆跨线时间确定方法、装置、存储介质及电子装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10254525A1 (de) * 2002-11-22 2004-06-17 Audi Ag Verfahren und Vorrichtung zur Vorhersage des Fahrzeugverhaltens sowie diesbezügliches Computer-Programm-Produkt
WO2005037592A1 (de) * 2003-09-23 2005-04-28 Daimlerchrysler Ag Verfahren und vorrichtung zur erkennung von spurwechselvorgängen für ein fahrzeug
US7388475B2 (en) 2006-01-19 2008-06-17 Gm Global Technology Operations, Inc. Lane departure warning and avoidance system with warning modification criteria
DE102006051930B4 (de) * 2006-11-03 2017-04-06 Robert Bosch Gmbh Verfahren und Vorrichtung zur Fahrerzustandserkennung
DE102006060837A1 (de) 2006-12-22 2008-06-26 Daimler Ag Verfahren zur Unterstützung des Fahrers eines Fahrzeugs beim Halten einer Fahrspur
US7885730B2 (en) 2007-01-26 2011-02-08 Nexteer (Beijing) Technology Co., Ltd. Systems, methods and computer program products for lane change detection and handling of lane keeping torque
JP5886185B2 (ja) * 2009-03-04 2016-03-16 コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト 自動車の運転操縦を自動認識するための方法及びこの方法を含む運転者援助システム

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2013107970A2 *

Also Published As

Publication number Publication date
WO2013107970A3 (fr) 2014-01-09
CN104245481A (zh) 2014-12-24
WO2013107970A2 (fr) 2013-07-25
FR2985706A1 (fr) 2013-07-19
FR2985706B1 (fr) 2015-08-14
CN104245481B (zh) 2017-04-05

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