US 12,030,492 B2
Method and device for determining a deceleration setpoint value of an autonomous vehicle
Vincent Deschamps, Malakoff (FR); Jean-Baptiste Braconnier, Palaiseau (FR); Claire Belle, Seloncourt (FR); and Eric Favreau, Masevaux (FR)
Assigned to STELLANTIS AUTO SAS, Poissy (FR)
Appl. No. 18/264,924
Filed by PSA AUTOMOBILES SA, Poissy (FR)
PCT Filed Jan. 20, 2022, PCT No. PCT/FR2022/050106
§ 371(c)(1), (2) Date Aug. 9, 2023,
PCT Pub. No. WO2022/180315, PCT Pub. Date Sep. 1, 2022.
Claims priority of application No. 2101722 (FR), filed on Feb. 23, 2021.
Prior Publication US 2024/0034316 A1, Feb. 1, 2024
Int. Cl. B60W 30/14 (2006.01); B60W 60/00 (2020.01)
CPC B60W 30/143 (2013.01) [B60W 60/00 (2020.02); B60W 2520/10 (2013.01); B60W 2552/10 (2020.02); B60W 2555/60 (2020.02); B60W 2720/10 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A method for determining a deceleration setpoint value of an autonomous vehicle, the autonomous vehicle comprising an adaptive cruise control capable of decelerating the autonomous vehicle according to a first deceleration setpoint, referred to as standard deceleration, the autonomous vehicle traveling along a first lane at a first speed, the vehicle heading into a second lane subject to a speed limit (208) at a distance, D, relative to the beginning of the second lane, said method comprising the steps wherein:
A necessary deceleration is calculated, referred to as calculated deceleration, to decelerate the autonomous vehicle, over the distance D, from the first speed to a second speed, the second speed being greater than or equal to the speed limit of the second lane;
The deceleration setpoint of the autonomous vehicle is determined such that:
If the calculated deceleration is greater than a supported threshold, the supported threshold being greater than the standard deceleration, then the deceleration setpoint value of the autonomous vehicle is equal to the supported threshold;
Otherwise, if the calculated deceleration is greater than the standard deceleration, then the deceleration setpoint value of the autonomous vehicle is equal to the calculated deceleration;
Otherwise, the deceleration setpoint value is equal to the standard deceleration;
The adaptive cruise control applies the deceleration setpoint thus determined in order to decelerate the autonomous vehicle from the beginning of the second lane,
wherein, if the calculated deceleration is greater than the standard deceleration, the method further comprises the steps wherein:
a preventive deceleration setpoint value of the autonomous vehicle is determined, the preventive deceleration setpoint value being applied by the adaptive cruise control when the autonomous vehicle is traveling along the first lane to decelerate the autonomous vehicle from the first speed to a third speed;
a new deceleration necessary to decelerate the autonomous vehicle, over the distance D, from the third speed to the second speed, is calculated;
a new deceleration setpoint of the autonomous vehicle is determined such that:
If the new calculated deceleration is greater than a supported threshold, the supported threshold being greater than the standard deceleration, then the new deceleration setpoint value of the autonomous vehicle is equal to the supported threshold;
Otherwise, if the new calculated deceleration is greater than the standard deceleration, then the deceleration setpoint value of the autonomous vehicle is equal to the calculated deceleration;
The adaptive cruise control applies the new deceleration setpoint thus determined in order to decelerate the autonomous vehicle from the beginning of the second lane.