公开(公告)号：US20240092364A1

公开(公告)日：2024-03-21

申请号：US18262461

申请日：2022-01-11

Applicant: RENAULT S.A.S

Inventor： Marouane BENAZIZ ,  Maud PEYRET

IPC: B60W30/18

CPC classification number: B60W30/18163 ,  B60W2520/12 ,  B60W2552/10

Abstract: A module includes a device for transmitting a first setpoint state vector as the input to a closed control loop of a path control device such that the vehicle travelling in a first lane moves to a second lane, the path being modelled by a first Bezier curve, and a device for modelling, using a second Bezier curve, a path for returning the vehicle to the middle of the first lane when the lane change is aborted. The second Bezier curve is parameterized using the lateral position and the lateral speed of the lane change path for changing from the first lane to the second lane at the time when the lane change is aborted

公开(公告)号：US20230211786A1

公开(公告)日：2023-07-06

申请号：US17998557

申请日：2021-05-05

Applicant: RENAULT S.A.S

Inventor： Maud PEYRET

IPC: B60W30/18 ,  B60W40/10

CPC classification number: B60W30/18163 ,  B60W40/10 ,  B60W2520/10 ,  B60W2520/12 ,  B60W2552/53

Abstract: A motor-vehicle path-controlling module is arranged to model the path of the vehicle during a change in traffic lane by a Bezier curve relating a value of a parameter to a value of a lateral deviation of the vehicle from the center of a traffic lane and to a value of a time-dependent variable representative of the variation in the change of path; determine a setpoint state vector of a closed feedback loop of a path-controlling device, the loop being designed to control the motor vehicle so that it follows the path modelled by the Bezier curve, the vector being determined on the basis of the lateral deviation, of the time-dependent variable and of the parameter, and transmit the setpoint state vector to the input of the loop.

公开(公告)号：US20230018073A1

公开(公告)日：2023-01-19

申请号：US17782017

申请日：2020-11-30

Applicant: Renault s.a.s. ,  NISSAN Motor Co., Ltd.

Inventor： Francois BORDELAIS ,  Vakanga FADIGA ,  Maud PEYRET

IPC: B60W30/14

Abstract: A method for determining a speed profile to be followed by a vehicle, including acquiring event data including a distance from an event and a target speed at this event for the vehicle, and determining a speed profile to be followed as a function of time, between an initial speed and the target speed in three successive distinct phases, respectively a first phase in which the jerk is set constant at a predetermined maximum jerk value to reach an optimal target acceleration value, a second phase in which the optimal target acceleration value is kept constant, and a third phase in which the jerk is again set constant to reach a zero acceleration value at the end of the third phase. The optimal target acceleration value is such that the distance required to carry out the three phases of the profile is equal to the distance from the event.