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EP-4739552-A1 - METHOD FOR CONTROLLING A MOTOR VEHICLE IN ORDER TO ANTICIPATE A LANE CHANGE, ASSOCIATED DEVICE AND VEHICLE

EP4739552A1EP 4739552 A1EP4739552 A1EP 4739552A1EP-4739552-A1

Abstract

The invention relates to a method for (electronically) controlling a first motor vehicle (100), travelling in a first lane (V1), the method being characterised in that it comprises the following steps: - determining a second duration, at the end of which the distance between a second vehicle (200), travelling in a second lane (V2) adjacent to the first lane (V1), and a third vehicle (300), travelling in the second lane (V2), is less than a first threshold; - determining a first duration, at the end of which the first vehicle (100) will have passed the second vehicle (200); and - if the second duration minus the first duration is less than a second threshold, then controlling the first vehicle (100) so that the first vehicle (100) changes lanes to enter a third lane (V3) which is located on the opposite side of the second lane (V2) to the first lane (V1).

Inventors

  • DESCHAMPS, Vincent
  • GURRET, FABIEN
  • THEEL, Florian

Assignees

  • Stellantis Auto SAS
  • FCA US LLC

Dates

Publication Date
20260513
Application Date
20240618

Claims (9)

  1. [Claim 1] Method for controlling a first motor vehicle (100), traveling in a first lane (V1), at a first speed, the method being characterized in that it comprises the following steps: - Determination of a second duration (S40), at the end of which, a difference between: - A second vehicle (200) traveling in a second lane (V2) adjacent to the first lane (V1), at a second speed strictly lower than the first speed, and located at a second geographical location, and - A third vehicle (300) preceding the second vehicle (200) in the second lane (V2) at a third speed strictly lower than the second speed, will be lower than a first threshold, - Determination of a first duration (S30), at the end of which, the first vehicle (100) will have overtaken the second vehicle (200), - Comparison (S50) of: - The second duration minus the first duration, with - A second threshold, - If the second duration minus the first duration is less than the second threshold, then command (S60) of the first vehicle (100) so that the first vehicle (100) changes lanes to join a third lane (V3) located opposite the second lane (V2) relative to the first lane (V1).
  2. [Claim 2] Control method according to the preceding claim in which the second threshold is between 1 and 3 seconds.
  3. [Claim 3] A control method according to any preceding claim wherein the first duration is determined from the first speed, the second speed and the second geographic location of the second vehicle (200), the control method further comprising the following steps: - Reception of first speed, - First determination of the second speed and determination of the second geographical location,
  4. [Claim 4] Control method according to the preceding claim in which the second speed and the second geographic location can be determined from data coming from a radar (120) of the first vehicle (100) or from a camera (130) of the first vehicle (100).
  5. [Claim 5] A control method according to any preceding claim wherein the second duration is determined from the third speed, the second speed, and a third geographic location of the third vehicle (300), the control method further comprising the following steps: - Second determination of the second speed, determination of the third speed, and determination of the third geographic location.
  6. [Claim 6] Control method according to the preceding claim in which the second speed, the third speed, and the third geographic location can be determined from data from a radar (120) of the first vehicle (100) or from a camera (130) of the first vehicle (100).
  7. [Claim 7] Computer program comprising instructions, executable by a microprocessor or a microcontroller, for implementing the method according to any one of claims 1 to 6, when executed by the microprocessor or the microcontroller.
  8. [Claim s] Electronic device (110) configured to implement the steps of the method according to any one of claims 1 to 6.
  9. [Claim 9] Motor vehicle (100) comprising the electronic device (110) according to claim 8.

Description

DESCRIPTION TITLE OF THE INVENTION: Method for controlling a motor vehicle to anticipate a lane change, associated device and vehicle. [1.] The present invention claims priority from French application 2307072 filed on 03.07.2023, the content of which (text, drawings and claims) is incorporated herein by reference. The invention relates to the automated driving of motor vehicles. [2.] There is a need to improve the efficiency and fluidity of such automated driving. [3.] For this purpose, the invention relates to a method for (electronic) controlling a first motor vehicle, traveling in a first lane, at a first (instantaneous) speed (in a direction of travel and/or a direction of travel), the method being characterized in that it comprises the following steps: - Determination of a second duration, at the end of which (at the earliest), a gap between: - A second vehicle traveling (in the direction of travel and/or the direction of travel) in a second lane adjacent to the first lane, at a second speed strictly lower than the first speed, and, according to one embodiment, located at a second geographical location, and A third vehicle preceding the second vehicle in the second lane at a third speed strictly lower than the second speed, will be lower than a first (predetermined) threshold, such that the second vehicle will then change lanes to (join) the first lane (for example, the second vehicle will initiate a lane change, for example, by initiating or commanding a changing direction of the second vehicle, and the method may include, for example, this lane change), - Determination of a first duration, at the end of which (at the earliest), the first vehicle will have overtaken (in other words: overtaken) the second vehicle (i.e.: if the second vehicle nevertheless remained in the second lane at the second speed), - Comparison of: - The second duration minus the first duration, with - A second threshold (predetermined), - If the second duration minus the first duration is less than (or equal to) the second (predetermined) threshold, then (sending, to the first vehicle, a) command from the first vehicle (in other words: the first vehicle comprising a direction, command of the direction) so that the first vehicle changes lane to join (in other words: to travel in) a third lane located opposite the second lane with respect to the first lane (the third lane is for example adjacent to the first lane, but the third lane may not be adjacent to the first lane, for example, because a vehicle is traveling in the lane adjacent to the first lane, opposite the second lane, and is obstructing the first vehicle from changing lane). [4.] Thus the invention allows the first vehicle to anticipate, by changing lanes, the lane change of the second vehicle, when it is preceded by a third vehicle traveling more slowly, and thus to avoid the first vehicle having to slow down following the lane change of the second vehicle. [5.] The second lane is understood to be adjacent to the first lane by the fact that there is no other lane (or any construction) between the first lane and the second lane. In other words, the first lane and the second lane are separated only by a road marking. The fact that the third lane may be adjacent to the first lane is interpreted in the same way. [6.] According to one embodiment, if the second duration minus the first duration is greater than the second (predetermined) threshold, the method comprises a step of controlling (the direction) of the first vehicle so that the first vehicle remains (in other words: circulates) in the first lane. [7.] In one embodiment, the gap is a distance between the second vehicle and the third vehicle. Alternatively, the gap is the time required to travel that distance at (a speed equal to) the second speed minus the third speed. [8.] According to one embodiment, the first threshold is between 1 and 3 seconds (alternatively, the first threshold may have other values). [9.] According to one embodiment, the second threshold is between 1 and 3 seconds (alternatively, the second threshold may have other values). [10.] According to one embodiment, the first duration is determined from the first speed, the second speed and the second geographic location of the second vehicle, the control method further comprising the following steps (prior to the step of determining the first duration): - Reception of the first speed (e.g. from an odometer of the first vehicle), - First determination of the second speed and determination of the second geographical location (the second location is for example relative to the first location), [11.] For example, the step of determining the first duration may include the following steps: - Calculation of a first distance distl between the first vehicle and a geometric projection of the second vehicle in the first traffic lane (according to a projection direction which can be a direction perpendicular to the direction and direction of traffic or to the