Method for controlling the lateral position of a vehicle on a traffic lane
A method for controlling the lateral position of a vehicle on a traffic lane includes: a first controlling of the vehicle following a first reference trajectory, alerting the driver if the lateral distance separating the vehicle from the edge of the traffic lane is less than a first threshold, then detecting a command applied to a steering wheel of the vehicle, then a second controlling of the vehicle following a second reference trajectory, the second trajectory being determined depending on the command applied to the steering wheel, and alerting the driver if the lateral distance separating the vehicle from the edge of the traffic lane is less than a second threshold, the second threshold being less than the first threshold.
1. A method for controlling a lateral position of a vehicle on a traffic lane, the method comprising:
during a first period:
automatically controlling the lateral position of the vehicle within the traffic lane to follow a first reference trajectory, and
monitoring, while automatically controlling the lateral position of the vehicle within the traffic lane to follow the first reference trajectory, a lateral distance separating the vehicle from an edge of the traffic lane, and alerting a driver of the vehicle when the lateral distance separating the vehicle from the edge of the traffic lane is less than or equal to a first threshold;
then
detecting a command applied to a steering wheel of the vehicle by a driver for shifting the vehicle toward an edge of the traffic lane; then
stopping the first period; and
during a second period:
automatically controlling the lateral position of the vehicle within the traffic lane to follow a second reference trajectory, the second reference trajectory being determined according to the command applied to the steering wheel by the driver, and
monitoring, while automatically controlling the lateral position of the vehicle within the traffic lane to follow the second reference trajectory, the lateral distance separating the vehicle from an edge of the traffic lane, and alerting the driver when the lateral distance separating the vehicle from the edge of the traffic lane is less than or equal to a second threshold, the second threshold being less than the first threshold.
2. The control method as claimed in claim 1 , further comprising at least one of:
calculating the first threshold according to a width of the traffic lane and according to a lateral speed of the vehicle on the traffic lane, and
calculating the second threshold according to the width of the traffic lane and according to the lateral speed of the vehicle on the traffic lane.
3. The control method as claimed in claim 1 , further comprising stopping the alert given to the driver when the lateral distance separating the vehicle from the edges of the traffic lane is greater than or equal to a third threshold, the third threshold being greater than the first threshold.
4. The control method as claimed in claim 1 , wherein the automatically controlling during the first period or the automatically controlling during the second period comprises:
calculating a first steering torque of steered wheels of the vehicle,
calculating a gain, the gain being a decreasing function of a torque applied to the steering wheel by the driver,
calculating a second steering torque of the steered wheels of the vehicle by a multiplication of the first torque and of the gain.
5. The control method as claimed in claim 1 , further comprising verifying at least one criterion relating to said command, said automatically controlling during the second period being implemented in response to the at least one criterion being satisfied, the verifying at least one criterion comprising at least one of:
comparing a lateral deviation of the vehicle with respect to the first reference trajectory with a minimum lateral deviation threshold,
comparing the lateral deviation of a vehicle with respect to the first reference trajectory with a maximum lateral deviation threshold,
comparing a torque applied to the steering wheel of the vehicle with a minimum torque threshold, and
comparing the torque applied to the steering wheel of the vehicle with a maximum torque threshold.
6. The control method as claimed in claim 1 , further comprising determining a lateral offset of the vehicle with respect to the first reference trajectory subsequent to the command applied to the steering wheel by the driver, the second reference trajectory being defined according to the first reference trajectory and the lateral offset, the determination comprising a detection of an increase followed by a stabilization of a torque applied to the steering wheel by the driver and/or a detection of an increase followed by a stabilization of a state parameter of the vehicle.
7. The control method as claimed in claim 1 , wherein the automatically controlling during the second period comprises:
calculating a reference state vector of the vehicle,
calculating an observed state vector of the vehicle,
calculating a setpoint of a steering angle of steered wheels of the vehicle according to a difference between the reference state vector and the observed state vector, and
transitioning at a start of the second period, the transitioning comprising replacing a component of an observed state vector of the vehicle with a component calculated such that a steering angle setpoint of the steered wheels of the vehicle is equal to a current value of the steering angle of the steered wheels.
8. The control method as claimed in claim 1 , further comprising:
temporarily maintaining the automatically controlling during the second period, then,
during a third period, automatically controlling the position of the vehicle to follow the first reference trajectory.
9. A non-transitory computer readable medium storing a program that, when executed by a computer, causes the computer to execute the control method as claimed in claim 1 .
10. A motor vehicle, comprising:
steered wheels connected to a steering wheel, means for detecting an environment of the vehicle, means for alerting a driver of the vehicle, and at least one computer configured to implement the control method as claimed in claim 1 .