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
  • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
  • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
  • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
  • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
  • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
  • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
  • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
  • B60T8/17—Using electrical or electronic regulation means to control braking
  • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
  • B60T8/17557—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for lane departure prevention
• • 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
  • B60W50/08—Interaction between the driver and the control system
  • B60W50/085—Changing the parameters of the control units, e.g. changing limit values, working points by control input
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
  • B62D—MOTOR VEHICLES; TRAILERS
  • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
  • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
  • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
  • B62D1/286—Systems for interrupting non-mechanical steering due to driver intervention
• • 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
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
  • G06V20/00—Scenes; Scene-specific elements
  • G06V20/50—Context or environment of the image
  • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
  • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
  • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
  • B60K2360/143—Touch sensitive instrument input devices
  • B60K2360/1438—Touch screens
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
  • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
  • B60K2360/16—Type of output information
  • B60K2360/175—Autonomous driving
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
  • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
  • B60T2201/08—Lane monitoring; Lane Keeping Systems
  • B60T2201/089—Lane monitoring; Lane Keeping Systems using optical detection
• • 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
  • B60W2540/00—Input parameters relating to occupants
  • B60W2540/18—Steering 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
  • B60W2540/00—Input parameters relating to occupants
  • B60W2540/215—Selection or confirmation of options
• • 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

Definitions

• the invention relates to vehicles with automated driving, possibly of automobile type, and more specifically the assistance that is intended to help drivers of such vehicles to drive the latter.
• automated driving vehicle means a vehicle that can be driven automatically or autonomously (and therefore without the intervention of its driver) during an automated driving phase, or manually (and therefore with intervention its driver on the steering wheel and / or the pedals) during a manual driving phase.
• Some vehicles with automated driving generally of the automotive type, comprise an assistance device in charge of controlling their positioning relative to the direction transversal to the traffic lane and driving them temporarily without their driver acting on the steering wheel or on a pedal.
• this type of assistance device provides control of the vehicle based, in particular, information on the external environment of the vehicle and provided at least by means of analysis of the vehicle. the external environment embedded. To do this, the assistance device continuously determines the optimal trajectory of the vehicle in the context of an automated driving, and controls the steering wheel angle and the speed of the vehicle so that the latter can best follow the determined optimum trajectory.
• This optimal trajectory is defined transversely between the two delimitations that define the traffic lane used. It generally passes substantially equidistant from these two boundaries.
• a delimitation can be of any type. It may therefore be example, a line, a portion of the sidewalk, a wall, a stretch of grass, or a gravel area.
• a disadvantage of this type of assistance lies in the fact that it does not allow the driver to choose the position of the optimal path between the two boundaries of the traffic lane, depending on his preference or that of passengers. This results from the fact that in an automated driving phase, the action of the driver on the steering wheel is not taken into account durably.
• the type of assistance described above is only intended to detect during an automated driving phase an abnormal situation that would not have been detected by the detection means on board the vehicle (outside or outside the vehicle). the interior of the cabin). It does not allow the driver to simply choose the transverse position of the optimal trajectory of his vehicle between the two boundaries of the traffic lane, while remaining in the context of a fully automated and therefore secure driving.
• the invention is therefore particularly intended to improve the situation.
• the assistance method according to the invention may include other features that can be taken separately or in combination, and in particular:
• first and second thresholds a value of a torque that is exerted by the driver on a steering wheel of the vehicle during driving in an automated manner.
• this torque value when this torque value is between these first and second thresholds, it may be considered that it is in the presence of a first value which is representative of a willingness of the driver to modify the distance chosen, while when this torque value is greater than the second threshold, it may be considered that it is in the presence of a second value which is representative of a will of the driver to drive the vehicle manually;
• the vehicle in its step, when the value of torque is between first and second thresholds, it is possible to determine a new selected distance which is a function of this torque value and of the direction of application of the torque, then the vehicle can be driven in an automated manner by following it along a path on the taxiway which is located at this new selected distance from one of the first and second boundaries;
• a lateral distance separating laterally from a reference point that position of the zone selected. Then, we can consider either that we are in the presence of a first value when an absolute value of this lateral distance is lower than a threshold, then we can determine a new chosen distance which is a function of this first value equal to this lateral distance, and then the vehicle can be driven in an automated way by making it follow a trajectory on the taxiway which is located at this new selected distance from one of the first and second delimitations, that is to say that one is in the presence a second value when the absolute value of this lateral distance is greater than the threshold, and then the vehicle can be stopped automatically.
• the invention also proposes a device, on the one hand, intended to assist a driver of a clean vehicle to be driven automatically and manually on a traffic lane defined by first and second delimitations, and, on the other hand, comprising control means which control an automated driving of the vehicle by following the latter along a path on the taxiway located at a selected distance from one of the first and second boundaries.
• This assistance device is characterized by the fact that its control means modify the trajectory of the vehicle on the taxiway when they are in the presence of a first value which is representative of a will of the driver to change the chosen distance or else stop controlling the driving of the vehicle automatically when they are in the presence of a second value which is representative of a will of the driver to drive the vehicle manually.
• the invention also proposes a vehicle, possibly of automobile type, adapted to be driven automatically and manually on a traffic lane defined by first and second boundaries, and comprising an assistance device of the type of that shown in FIG. -before.
• FIG. 1 schematically and functionally illustrates a road comprising two traffic lanes on one of which circulates an example of an automated driving vehicle and comprising means for analyzing the environment and a computer equipped with an exemplary embodiment of the invention. an assistance device according to the invention, and
• FIG. 2 schematically illustrates an exemplary algorithm implementing an assistance method according to the invention.
• the object of the invention is in particular to propose an assistance method, and an associated DA assistance device, intended to assist a driver of an automated driving VA vehicle to drive the latter (VA).
• automated driving vehicle means a vehicle that can be driven in an automated manner (and therefore without the intervention of its driver) during an automated driving phase, under the control of an assistance device. or manually (and therefore with intervention of its driver on the steering wheel and / or at least one pedal (or the like)) during a manual driving phase.
• the vehicle VA is automotive type. This is for example a car. But the invention is not limited to this type of vehicle. It concerns indeed any type of automated driving vehicle that can circulate on terrestrial traffic lanes defined by two delimitations.
• FIG. 1 schematically and functionally shows a road comprising two traffic lanes on one (VC) of which an automated driving vehicle VA circulates.
• the vehicle VA being automated driving, it comprises in particular a VV flywheel, environment analysis means MA and a DA assistance device according to the invention.
• the VV steering wheel is fixedly secured to a steering column, in order to allow the driver to control it by exerting on it a live couple with at least one of his hands.
• This steering column is also controllable by an electric motor driven by the assistance device DA and for example part of a power steering device.
• a sensor can be coupled to the steering column to measure the steering wheel angle.
• the electric motor is responsible for applying an assist torque to the steering column when it receives the order of the assistance device DA.
• This assistance device DA is indeed responsible, in particular, to control the positioning of the vehicle VA with respect to the direction transverse to the traffic lane VC borrowed and to drive it in an automated manner by making it follow a trajectory tv on this path circulation VC, without its driver acting on the steering wheel VV or on a pedal (or the like).
• This trajectory tv is located at a selected distance d1 from one of the first L1 and second L2 boundaries of the taxiway VC.
• the chosen distance d1 is that which separates the trajectory tv from the first delimitation L1 (here the one on the right). But in a variant, the chosen distance d1 could be the one that separates the trajectory tv from the second delimitation L2 (here the one on the left).
• the determination of this trajectory tv and the aforementioned control are carried out according to, in particular, information which is related to the external environment of the vehicle, provided at least by the means of analysis of the external environment MA on board.
• the assistance device DA can determine a reference angle that the VV steering wheel should take so that the vehicle VA follows the trajectory tv, according to the information representative of the vehicle VA and its environment. Then, the assistance device DA can, for example, determine the assist torque that the electric motor must produce, depending on the current steering wheel angle (measured by the sensor coupled to the steering column) and this reference angle (which he has just determined). This assistance torque depends on a possible torque applied by the driver on the steering wheel VV, and therefore the angle of the steering wheel.
• the assistance device DA is therefore, for example, what the skilled person calls an ADAS device ("Advanced Driver Assistance System” - system for assistance (or assistance) to advanced driving).
• ADAS device Advanced Driver Assistance System
• the representative information of the vehicle VA can, for example, be provided by a computer embedded in the vehicle VA and responsible for analyzing its dynamics.
• this information may be representative of the current geographical position of the vehicle VA and / or the current speed of the vehicle VA and / or the current acceleration of the vehicle VA.
• the information representative of the environment of the vehicle VA is determined by the analysis means MA.
• the latter (MA) must here determine at least the arrangement of the taxiway VC on which circulates their vehicle VA, and therefore the positions of its first L1 and second L2 boundaries. Therefore, they comprise at least one camera, capable of acquiring digital images of the environment located at least in front of the vehicle VA, and associated with a digital image analyzer comprising shape recognition means. But they may also comprise ultrasonic sensors and / or at least one scanning laser and / or at least one radar or lidar, in particular for the detection of obstacles in the environment of the vehicle VA, and / or a positioning device by satellites (possibly GPS type) associated with a map database.
• satellites possibly GPS type
• the invention proposes an assistance method intended, in particular, to assist the driver of the vehicle VA to drive the latter (VA).
• An assistance method comprises a step in which we first start by determining a trajectory tv of the vehicle VA in case of automated driving (and therefore without intervention of its driver).
• the determination of the trajectory tv is carried out in sub-step 10.
• the trajectory tv can be defined by N future positions of a representative point of the vehicle VA, traveling at a speed possibly considered constant for the N positions, and having a steering angle possibly considered constant for the N positions.
• Each future position is determined in an XY plane of the taxiway VC, between the first L1 and second L2 boundaries, and more precisely at a selected distance d1 of one of the first L1 and second L2 boundaries (here L1).
• the X direction is the longitudinal direction of the taxiway VC and the Y direction is the transverse direction of the taxiway VC (which is perpendicular locally to the first L1 and second L2 boundaries).
• Each determination of a trajectory tv is carried out by the assistance device DA embedded in the vehicle VA, and more precisely by control means MC which comprises this assistance device DA and which are arranged for this purpose.
• the assistance device DA is implanted in a CA computer of the vehicle VA which can possibly provide at least one other function. But he could understand a calculator. Therefore, a DA assistance device can be realized in the form of software modules (or computer or "software”), or circuits or electrical or electronic components (or “hardware”), or a combination of electrical or electronic circuits or components and software modules.
• control means MC determines (nt), in addition to the trajectory tv, whether the driver performs a particular action defined by a first value v1 representative of a desire to change the chosen distance. d1 during the trajectory tv, or by a second value v2 representative of a desire to drive the vehicle VA manually. This determination is made in the substep 20 of the algorithm of FIG.
• one When one is in the presence of a first value v1, one (the assistance device DA) changes the trajectory tv of the vehicle VA on its taxiway VC.
• the determination of the first value v1 is carried out in the sub-step 30 of the algorithm of FIG.
• the modification of the trajectory tv consists of determining a new selected distance d1, then repositioning the tv trajectory previously determined between the first L1 and second L2 boundaries according to this new selected distance d1.
• This determination of a new selected distance d1 is carried out in the sub-step 40 of the algorithm of FIG. 2.
• the repositioning of the trajectory tv is carried out in the sub-step 10 of the algorithm of FIG.
• one stops driving the vehicle VA so automated, and therefore it is the driver who must drive the vehicle VA manually (at least for the control of the steering wheel VV).
• the determination of the second value v2 is carried out in the sub-step 50 of the algorithm of FIG. 2.
• the driver can, by a particular and voluntary action, choose a new transverse position of the trajectory tv of his vehicle VA between the two boundaries L1 and L2 of the traffic lane VC borrowed, while remaining within the framework of a driving fully automated and therefore secure, or decide to regain control of driving his vehicle VA.
• first s1 and second s2 thresholds the value vce of the torque that is exerted by the driver on the steering wheel VV during driving in an automated manner.
• this torque value vce is between the first s1 and second s2 thresholds (ie s1 ⁇ vce ⁇ s2), it (the control means MC) consider (s) that it is in the presence of a first value v1 representative of a will of the driver to change the selected distance d1 in progress.
• the first threshold s1 may be between 0.1 Nm and 5 Nm
• the second threshold s2 may be between 0.5 Nm and 10 Nm
• control means MC may (f) determine a new selected distance d1 which is a function of this torque value vce and the direction of application of the torque on the steering wheel VV. Then, it (the assistance device DA) can drive the vehicle VA automatically by making it follow a trajectory tv on the taxiway VC which is located at the new selected distance d1 of one of the first L1 and second L2 delimitations (here L1).
• a torque value between the first s1 and second s2 thresholds represents a transverse shift to the right when it corresponds to a rotation in the direction of clockwise or to the left when it corresponds to a rotation in the counterclockwise.
• the control means MC when the torque value vce is lower than the first threshold s1, (the control means MC) can be considered to be in the presence of a third value v3 representative of a will of the driver not to change the selected distance d1 in progress. In fact, it is considered here that as long as the torque value vce is lower than the first threshold s1, it is too weak to characterize a will of the driver to shift the trajectory transversely.
• This first embodiment is particularly advantageous because it avoids having to provide a particular interface for the driver to perform his particular action.
• the VV flywheel serves here to the driver of action (via the torque exerted) to signal that he wants to shift transversely the trajectory tv (and how much) or resume manually the control of the trajectory of the vehicle VA.
• the passenger compartment of the vehicle VA for example the PB dashboard or a central console, must be equipped with first and second control members.
• the first control member is associated with a modification of the selected distance d1 in progress, while the second control member is associated with a pipe manually.
• the control means MC determines (s) a first value v1 which is representative of an amplitude and a direction of the actuation. Then (control means MC) determines (s) a new selected distance d1 function of this first value v1. Then, one (the assistance device DA) automatically drives the vehicle VA by making it follow a trajectory tv on the taxiway VC which is located at this new selected distance from one of the first L1 and second L2 boundaries (here L1).
• the control means MC considers that it is in the presence of a second value v2, and therefore the assistance device DA ) stops driving the VA vehicle in an automated manner so that the driver manually resumes control of the path of the vehicle VA.
• a rotation on a selected angular sector represents a transverse shift function of this angular sector, or to the right when the rotation is made in the direction of clockwise, or to the left when the rotation is done in the opposite direction of the clockwise.
• the second control member may take a first state associated with the activation of the automated driving and a second state associated with the deactivation of the automated driving.
• the VA vehicle must include a touch screen display. It can, for example, be the screen of the CC central handset that is installed in or on the PB dashboard.
• the touch screen serves as a means of action for the driver to signal with a finger that he wants to shift transversely the trajectory tv (and how much) or resume manually the control of the trajectory of the vehicle VA.
• the control means MC determines (s) a lateral distance ds separating laterally from a point reference this position of the selected area. Then, (the control means MC) consider (s) that it is in the presence of a first value v1 when the absolute value of this determined lateral distance ds is less than a threshold s' (ie
• a threshold s' ie
• one (the assistance device DA) automatically drives the vehicle VA by making it follow a trajectory tv on the taxiway VC located at this new selected distance d1 of one of the first L1 and second L2 boundaries ( here L1).
• the control means MC consider (s) that one is in the presence of a second value v2 when the absolute value of the lateral distance ds is greater than the threshold s' (ie
• the center of the screen can materialize the current transverse position of the vehicle VA with respect to the boundaries L1 and L2 of the taxiway VC, which constitutes the reference point.
• a selection of an area located at a lateral distance ds from the center of the screen represents a transverse shift function of this lateral distance ds, or to the right when this zone is located to the right of the center of the screen , or to the left when this area is located to the left of the center of the screen.
• the threshold s' can be between 1 cm and 20 cm.
• control means MC may be arranged to take into account the largest transverse offset which does not risk placing the trajectory tv outside the boundaries L1 and L2 of the taxiway VC.

Landscapes

• Engineering & Computer Science (AREA)
• Transportation (AREA)
• Mechanical Engineering (AREA)
• Combustion & Propulsion (AREA)
• Chemical & Material Sciences (AREA)
• Automation & Control Theory (AREA)
• Human Computer Interaction (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Multimedia (AREA)
• Theoretical Computer Science (AREA)
• Steering Control In Accordance With Driving Conditions (AREA)
• Traffic Control Systems (AREA)
• Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=60382350

Family Applications (1)

Country Status (4)

Families Citing this family (3)

Family Cites Families (10)

• 2017
  • 2017-08-11 FR FR1757664A patent/FR3070031B1/fr active Active
• 2018
  • 2018-07-20 EP EP18755220.3A patent/EP3665067A1/de not_active Withdrawn
  • 2018-07-20 WO PCT/FR2018/051867 patent/WO2019030439A1/fr not_active Ceased
  • 2018-07-20 CN CN201880052023.3A patent/CN110997460A/zh active Pending

Also Published As

Similar Documents

Legal Events