US 12,420,779 B2
Method for controlling a motor vehicle to avoid a target with Euler-spiral path refinement
Geoffrey Bruno, Issy les Moulineaux (FR); Anh-Lam Do, Antony (FR); Khoa Duc Nguyen, Sartrouville (FR); and Juan-Pablo Sanchez-Perez, Sannois (FR)
Assigned to AMPERE S.A.S., Boulogne Billancourt (FR); and NISSAN MOTOR CO., LTD., Yokohama (JP)
Appl. No. 18/258,096
Filed by RENAULT S.A.S, Boulogne Billancourt (FR); and NISSAN MOTOR CO., LTD., Yokohama (JP)
PCT Filed Dec. 16, 2021, PCT No. PCT/EP2021/086291
§ 371(c)(1), (2) Date Jun. 16, 2023,
PCT Pub. No. WO2022/129398, PCT Pub. Date Jun. 23, 2022.
Claims priority of application No. 20 13448 (FR), filed on Dec. 17, 2020.
Prior Publication US 2024/0034311 A1, Feb. 1, 2024
Int. Cl. B60W 30/09 (2012.01); B62D 15/02 (2006.01)
CPC B60W 30/09 (2013.01) [B62D 15/0265 (2013.01); B60W 2520/10 (2013.01); B60W 2540/18 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A method for controlling a motor vehicle for avoidance of a target, the motor vehicle being provided with at least two perception sensors, the control method comprising:
determining data from the at least two sensors,
merging the data from the at least two sensors so as to determine at least a steering wheel angle, a speed of the vehicle and a heading of the vehicle,
planning of a target avoidance path in the form of a clothoid,
refining the target avoidance path as a function of the steering wheel angle, the speed of the vehicle and the heading of the vehicle and based on solving of an optimization problem,
controlling the vehicle so as to implement the refined path,
the refining the target avoidance path comprising a first series of substeps to further improve the avoidance path as a function of a length of the path, of a direction of rotation of the steering wheel, and of a final heading and a second series of substeps to refine the further improved path as a function of an initial heading and of the direction of rotation of the steering wheel,
wherein the first series of substeps comprises the following substeps:
initialization parameters of the optimization problem are determined as a function of the reference path and of the data from the merge, the initialization parameters comprising a reference longitudinal displacement, a reference lateral displacement, a reference vehicle heading, a reference vehicle path curvature, an initial heading of the vehicle, and an initial steering wheel angle,
the optimization problem is solved and a determination is made as to whether an optimal solution exists by determining when the solution of the optimization problem corresponds to a minimum of a predefined cost function and when the solution of the optimization problem satisfies a constraint on the final heading of the vehicle,
when the solution of the optimization problem corresponds to the minimum of the predefined cost function and when the solution of the optimization problem satisfies the constraint on the final heading of the vehicle, the steering wheel angle profile is determined from the instant of activation of the control method, then a determination is made as to whether the sign of the steering wheel angle associated with a first extremum of the steering wheel angle profile has the same sign as the sign of the steering wheel angle of the reference path and when there is a sign opposite the sign of the steering wheel angle associated with the first extremum over the duration of the optimized path; when such is the case, the solution of the optimization problem is considered as an improved path, and
wherein a constraint of the optimization problem is that a final value of the lateral displacement of the improved path is greater than or equal to the final value of the lateral displacement targeted by the reference path.