Driving assistance device and method

• US 10,640,099 B2
• Filed: 12/06/2016
• Issued: 05/05/2020
• Est. Priority Date: 12/07/2015
• Status: Active Grant

• Current Assignee: Valeo Schalter und Sensoren GmbH (Valeo SE)
• Original Assignee: Valeo Schalter und Sensoren GmbH (Valeo SE)
• Inventors: Picron, Vanessa, Bradai, Benazouz, Heitzmann, Thomas, Fournigault, Damien, Taccoen, Didier, Maurel, Pascal, Cousin, Frederic, Randriazanamparany, Roland, Vatamanu, Lucian
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Louie, Wae L
• Application Number:
  US15/782,020
• Publication Number:
  US 20180362011A1
• Time in Patent Office: 1,246 Days
• Field of Search: 701 96
• CPC Class Codes: B60W 10/02 including control of driveline clutches
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2710/027 Clutch torque
• CPC Class Codes: B60W 2710/0644 Engine speed
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18063 Creeping
• CPC Class Codes: F16D 2500/30401 On-off signal indicating the engage or disengaged position of the clutch
• CPC Class Codes: F16D 2500/30406 Clutch slip
• CPC Class Codes: F16D 2500/30806 Engaged transmission ratio
• CPC Class Codes: F16D 2500/30814 Torque of the input shaft
• CPC Class Codes: F16D 2500/3108 Vehicle speed
• CPC Class Codes: F16D 2500/3124 Driving conditions, e.g. climbing hills, cornering, traffic
• CPC Class Codes: F16D 2500/3125 Driving resistance, i.e. external factors having an influence in the traction force, e.g. road friction, air resistance, road slope
• CPC Class Codes: F16D 2500/3127 Road slope
• CPC Class Codes: F16D 2500/31413 Clutch pedal position
• CPC Class Codes: F16D 2500/3144 Accelerator pedal position
• CPC Class Codes: F16D 48/06 Control by electric or electronic means, e.g. of fluid pressure
• CPC Class Codes: G01S 15/89 : for mapping or imaging
• CPC Class Codes: G01S 15/931 : of land vehicles
• CPC Class Codes: G01S 17/86 : Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/89 : for mapping or imaging
• CPC Class Codes: G01S 17/931 : of land vehicles
• CPC Class Codes: G01S 7/4808 : Evaluating distance, position or velocity data
• CPC Class Codes: G06F 18/25 : Fusion techniques
• CPC Class Codes: G06V 10/80 : Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level multimodal speaker identification or verification G10L17/10
• CPC Class Codes: G06V 20/56 : exterior to a vehicle by using sensors mounted on the vehicle

Abstract

The invention relates to a driving assistance device for a motor vehicle comprising:

• • a camera (9) capable of generating a first map of the environment of the motor vehicle (8);
  • a transit time sensor (12) capable of generating a second map of the vehicle environment (8);
  • a driving assistance module comprising:
    • a fusion unit capable of generating a precise map of the frontal environment of the vehicle, the precise map being generated by the fusion unit as a function of the first map and the second map;
    • a movement computation unit capable of generating an acceleration setpoint of the vehicle as a function of the precise map of the vehicle environment.

Claims

1. A driving assistance device for a motor vehicle comprising:

a camera capable of generating a first map of the environment of the motor vehicle in a first frontal environment area of the vehicle between a first minimum distance and a first maximum distance;

a transit time sensor capable of generating a second map of the environment of the vehicle in a second frontal environment area of the vehicle between a second minimum distance below the first minimum distance and a second maximum distance between the first minimum distance and the first maximum distance so that the first environment area of the vehicle and the second environment area of the vehicle comprise a common area of the environment of the vehicle; and

a driving assistance module comprising;

a fusion unit capable of generating a precise map of the frontal environment of the vehicle in a third frontal environment area of the vehicle, the precise map being generated by the fusion unit as a function of the first map and the second map, the third frontal environment area of the vehicle comprising the intersection of the first frontal environment area of the vehicle and the second frontal environment area of the vehicle;

a movement computation unit capable of generating an acceleration setpoint of the vehicle as a function of the precise map of the vehicle environment.

2. The driving assistance device as claimed in claim 1, further comprising an ultrasound sensor capable of generating a third map of the vehicle environment in a fourth frontal environment area of the vehicle between a third minimum distance below the second minimum distance and a third maximum distance between the second minimum distance and the first maximum distance, and wherein the fusion unit of the driving assistance module is capable of generating the precise map of the frontal environment of the vehicle on the basis of the first, second and third maps, the third environment area of the vehicle comprising the intersection of the first, second and fourth frontal environment areas of the vehicle.

3. The driving assistance device as claimed in claim 1, wherein the driving assistance module further comprises a targeting unit capable of selecting a target to be tracked from among a set of obstacles of the vehicle environment identified by the precise map, and wherein the movement computation unit is capable of computing a distance separating the vehicle from the selected target and of generating the acceleration setpoint of the vehicle as a function of said computed distance separating the vehicle from the selected target.

4. The driving assistance device as claimed in claim 3, wherein the movement computation unit is capable of computing a speed and an acceleration of the selected target by deducing the distance between the vehicle and the selected target, the acceleration setpoint of the vehicle being computed as a function of the acceleration of the selected target.

5. The driving assistance device as claimed in claim 1, wherein the transit time sensor is an infrared sensor.

6. The driving assistance device as claimed in claim 1, wherein the fusion unit is capable of combining together one of the objects identified by the first map and a corresponding object from the objects identified by the second map and of determining a position in the precise map of an object corresponding to said combined objects of the first map and the second map.

7. The driving assistance device as claimed in claim 1, wherein the fusion unit is capable of generating a precise map of the vehicle environment identifying a set of mobile objects and a road marking of the vehicle environment, the movement computation unit being capable of generating a lateral movement setpoint as a function of the road marking identified by the precise map.

8. The driving assistance device as claimed in claim 1, further comprising:

a gearbox ratio sensor, wherein the driving assistance module is capable of detecting a condition for entering a driving assistance method, the entry condition comprising a gearbox ratio condition that is met when the gearbox ratio is equal to a predetermined gearbox ratio selected from the first gear ratio and the second gear ratio of the gearbox,

the vehicle further comprising;

an engine control unit for;

computing a vehicle speed setpoint as a function of the acceleration setpoint and a current speed of the vehicle;

computing a vehicle dynamics management torque setpoint as a function of the vehicle speed setpoint, the current speed of the vehicle and a current torque of the powertrain;

computing a gearbox input torque setpoint as a function of the engaged gearbox ratio and of the vehicle dynamics management torque setpoint;

regulating the engine speed as a function of the gearbox input torque setpoint; and

computing a clutch torque setpoint as a function of the gearbox input torque setpoint and of the clutch status, and

a clutch control unit capable of regulating a physical quantity controlling the torque that is transferred by the clutch as a function of the clutch torque setpoint.

9. The driving assistance device as claimed in claim 8, further comprising a human-machine interface comprising a driver information means configured to transmit a signal for detecting conditions for entering the driving assistance method, the condition for entering the driving assistance method further comprising the activation of an activation unit by the driver.

10. The driving assistance device as claimed in claim 8, further comprising a road grade sensor, the driving assistance module being further configured to determine a road grade, the predetermined gearbox ratio being the second gear ratio in response to a negative or zero road grade and the first gear ratio in response to a positive road grade.

11. The driving assistance device as claimed in claim 8, further comprising a vehicle pedal activation sensor, and wherein the driving assistance module is further configured to:

detect a condition for exiting the driving assistance method, the exit condition comprising a condition for activating a pedal of the vehicle, the condition for activating a pedal of the vehicle being met when a user presses on either the vehicle acceleration pedal or the vehicle clutch pedal; and

terminate the driving assistance method when the output condition is met.

12. A driving assistance method for a motor vehicle in a heavy traffic situation comprising:

providing a first map of the vehicle environment in a first frontal environment area of the vehicle between a first minimum distance and a first maximum distance;

providing a second map of the vehicle environment in a second frontal environment area of the vehicle between a second minimum distance of the vehicle below the first minimum distance and a second maximum distance between the first minimum distance and the first maximum distance;

generating a precise map of the vehicle environment as a function of the first map and the second map;

computing an acceleration setpoint as a function of the precise map of the vehicle environment; and

sending the computed acceleration setpoint to an engine control unit.

13. The driving assistance method as claimed in claim 12, further comprising:

detecting a condition for entering a driving assistance method, the entry condition comprising a gearbox ratio condition, the gearbox ratio condition being met when the gearbox ratio is equal to a predetermined gearbox ratio selected from the first gear ratio and the second gear ratio of the gearbox; and

transmitting a signal that indicates the possibility of activating the assisted driving,

wherein the steps of computing an acceleration setpoint and of sending the acceleration setpoint are performed in response to the detection of the activation of a means for activating the assisted driving.