Nissan Motor Company Limited

Renault S.a.s.

Ampere S.a.s.

Khoa Duc Nguyen

Geoffrey Bruno

Alain Haddad

Anh Lam Do

Anh-Lam Do

Juan-Pablo Sanchez-perez

Clement Coste

Goeffrey Bruno

Marouane Lehim

Henri Manuel Filipe

A method controls a motor vehicle equipped with at least two perception sensors to avoid a target. The control method includes: determining data of the sensors, fusing the data of the sensors so as to determine the steering wheel angle, the vehicle speed and the vehicle heading, planning an avoidance path to avoid the target, taking the form of a Euler spiral, refining the avoidance path depending on the steering wheel angle, on the vehicle speed and on the vehicle heading and based on the solution of an optimisation problem, controlling the vehicle so as to follow the refined path, the refining the path including honing the avoidance path depending on the path length, on the direction of steering wheel rotation and on the final heading and refining the honed trajectory depending on the initial heading and on the direction of steering wheel rotation.

Method for controlling a motor vehicle to avoid a target with Euler-spiral path refinement

A method generates a setpoint for controlling a steering system and a differential braking system of a motor vehicle. The method includes: acquiring a value relating to a total yawing moment to be applied to the motor vehicle such that it follows a required path, and the speed of the motor vehicle, calculating, as a function of the speed, at least one threshold relating to the maximum proportion of the total yawing moment that the steering system or that the differential braking system can provide, determining, as a function of the threshold, a distribution rate relating to the proportion of the total yawing moment that the steering system or that the differential braking system must provide, and generating a setpoint for controlling the steering system and the differential braking system as a function of the distribution rate and of the value relating to the total yawing moment.

Method for generating a setpoint for the combined control of a wheel-steering system and of a differential braking system of a motor vehicle

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Sartrouville, France

Khoa Duc Nguyen