Nissan Motor Company Limited

Ampere S.a.s.

Renault S.a.s.

Raphael Quilliard

Pedro Kvieska

Simon Mustaki

Maud Peyret

Guillaume Germain

Ludovic Bot

Julien De Schrynmakers

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.

Method for controlling the lateral position of a vehicle on a traffic lane

A method for detecting an exit lane for a motor vehicle includes: detecting, in images acquired by an onboard camera, marking lines on the ground on the right and on the left laterally delimiting the main traffic lane, determining first and second heading angles with respect to the detected marking lines, providing a first, standard exit lane detection state, based on the comparison of the first and second heading angles with a predetermined threshold, and providing a second, coaxial exit lane detection state, based on the comparison between the derivatives with respect to time of the variation of the first and second heading angles and of the verification that the value of the first or the second heading angle remains substantially close to a zero value.

Method for detecting an exit lane for a motor vehicle

A method for calculating a lateral position of an ego motor vehicle on a traffic lane includes calculating a first theoretical lateral position of the ego vehicle, calculating a second theoretical lateral position of the ego vehicle, calculating a third theoretical lateral position of the ego vehicle, calculating the lateral position of the ego vehicle using a weighted average of the first lateral position, the second lateral position, and the third lateral position.

Method for calculating the lateral position of a motor vehicle

A control method is provided for controlling a lateral position of a motor vehicle. The control method includes calculating a sighting distance of a detector means embedded in the vehicle, calculating a first component of a steering angle setpoint of a steered wheels of the vehicle, and calculating a second component of the steering angle setpoint. The first component is an open loop component of a control system, while the second component is a closed loop component of the control system. The first component is weighted by a gain that is a decreasing function of the sighting distance.

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Massy, France

Raphael Quilliard