阅读说明：本技术 在弯道中超车时的车辆速度调节 (Vehicle speed regulation during passing in a curve ) 是由 C·贝勒 E·法夫罗 于 2020-02-05 设计创作，主要内容包括：本发明涉及一种方法,所述方法用于调节至少部分自动化驾驶的车辆的速度,所述车辆在与第二通行车道相邻的第一通行车道上通行。该方法包括步骤(10-80),在所述步骤中,在检测到表征弯道的未来区段的曲率半径的情况下,把减速阶段强加给所述第一车辆直到达到适配于所述曲率半径的第一减速速度,这除了第一车辆正在超车在所述第二通行车道上通行的第二车辆的情况之外,因为在该情况下,确定所述第二车辆的当前速度,然后,当所述第一减速速度小于该当前速度时,由大于该当前速度的第二减速速度替换所述第一减速速度。(The invention relates to a method for regulating the speed of an at least partially automatically driven vehicle which travels in a first traffic lane adjacent to a second traffic lane. The method comprises a step (10-80) in which, in the event of detection of a radius of curvature characterizing a future section of the curve, a deceleration phase is imposed to said first vehicle until a first deceleration speed adapted to said radius of curvature is reached, except in the case of a second vehicle which the first vehicle is overtaking in transit on said second traffic lane, since in that case the current speed of said second vehicle is determined, and then, when said first deceleration speed is less than this current speed, said first deceleration speed is replaced by a second deceleration speed greater than this current speed.)

1. A speed adjustment method for adjusting the speed of a first vehicle (V1) driven at least partially automatically, said first vehicle passing on a first traffic lane (VC1) and knowing the radius of curvature of a future section to be taken from said first traffic lane, said first traffic lane being adjacent to a second traffic lane (VC2), said speed adjustment method comprising a step (10-80) of imposing a deceleration phase to said first vehicle (V1) until reaching a first deceleration speed adapted to said radius of curvature, when a radius of curvature characterizing said future section of a curve is detected, characterized in that, in said step (10-80), when said first vehicle (V1) is passing a second vehicle (V2) passing on said second traffic lane (VC2), determining a current speed of the second vehicle (V2), and then, when the first decelerated speed is less than the determined current speed, replacing the first decelerated speed with a second decelerated speed that is greater than the determined current speed.

2. The speed adjustment method according to claim 1, characterized in that in said step (10-80), a maximum deceleration speed is determined from a first maximum lateral acceleration that the first vehicle (V1) can undergo in the curve taking into account the radius of curvature of the curve, and a second deceleration speed that is less than or equal to the determined maximum deceleration speed is determined.

3. A speed regulation method according to claim 2, characterised in that in said step (10-80), when the determined maximum deceleration speed is less than or equal to the current speed of the second vehicle (V2), a second deceleration speed less than or equal to the determined maximum deceleration speed and therefore less than or equal to the current speed is imposed.

4. A speed regulation method according to claim 2 or 3, characterised in that in step (10-80) the maximum deceleration speed is also determined as a function of a second maximum lateral acceleration which follows a minimum level of passenger comfort of the first vehicle (V1).

5. A speed regulation method according to any one of claims 2 to 4, characterized in that in step (10-80) the maximum deceleration speed is also determined according to at least one parameter selected from the following: -a speed set value for speed regulation of the first vehicle (V1), -a speed limit imposed on the first traffic lane (VC1), -a current speed and/or a current acceleration of the second vehicle (V2), -a number of vehicles travelling in front of the second vehicle (V2) on the second traffic lane (VC2), -a presence of other vehicles following the first vehicle (V1) on the first traffic lane (VC1), and-a presence of other vehicles followed by the first vehicle (V1) or by the second vehicle (V2).

6. A speed regulation method according to any one of claims 1 to 5, characterised in that in step (10-80) the second deceleration speed is also determined according to at least one parameter selected from the following: -a speed set value for speed regulation of the first vehicle (V1), -a speed limit imposed on the first traffic lane (VC1), -a current speed and/or a current acceleration of the second vehicle (V2), -a number of vehicles travelling in front of the second vehicle (V2) on the second traffic lane (VC2), -a presence of other vehicles following the first vehicle (V1) on the first traffic lane (VC1), and-a presence of other vehicles followed by the first vehicle (V1) or by the second vehicle (V2).

7. The speed regulation method according to any one of claims 1 to 6, characterized in that, in the step (10-80), when the first traffic lane (VC1) and the second traffic lane (VC2) have different destinations, the replacement of the first deceleration speed by the second deceleration speed is not performed.

8. A computer program product comprising a set of instructions capable, when executed by a processing means, of implementing a speed adjustment method according to any one of the preceding claims, to adjust the speed of an at least partially automatically driven vehicle (V1) passing on a first traffic lane (VC1) adjacent to a second traffic lane (VC2) and knowing the radius of curvature of a future section to be taken from said first traffic lane.

9. Speed regulation Device (DR) for a first vehicle (V1) driven at least partially automatically, said first vehicle passing on a first traffic lane (VC1) and knowing a radius of curvature of a future section to be taken from said first traffic lane, said first traffic lane being adjacent to a second traffic lane (VC2), said speed regulation Device (DR) comprising at least one Processor (PR) and at least one Memory (MD) configured for executing, when a radius of curvature characterizing said future section of a curve is detected, an operation aimed at imposing a deceleration phase on said first vehicle (V1) until a first deceleration speed adapted to said radius of curvature is reached, characterized in that, when said first vehicle (V1) is overtaking a second vehicle (V2) passing on said second traffic lane (VC2), the Processor (PR) and the Memory (MD) are configured for performing operations aimed at determining a current speed of the second vehicle (V2) and then replacing the first deceleration speed by a second deceleration speed greater than the determined current speed when the first deceleration speed is less than the determined current speed.

10. An at least partially automatically driven vehicle (V1) which passes on a first traffic lane (VC1) and knows the radius of curvature of a future section to be taken from the first traffic lane, the first traffic lane being adjacent to a second traffic lane (VC2), characterized in that it comprises a speed regulation Device (DR) according to claim 9.

Technical Field

The present invention relates to vehicles that are at least partially automated (or autonomously) driven and optionally of the motorized type, and more precisely to the regulation of the speed of such vehicles.

Background

In the following, a land vehicle is considered to be driven at least partially automatically (or autonomously) when it is driven on the road automatically (i.e. partially or completely (without driver intervention)) during an automated driving phase, or when it is driven manually (and therefore with interference of the driver of said land vehicle on the steering wheel (or steering column) and/or the pedal (or gear lever)) during a manual driving phase. For example, automated (or autonomous) driving of a vehicle (that is at least partially automated driven) may be intended to partially or fully maneuver the vehicle, or to provide any type of assistance to the natural person driving the vehicle. Thus, the automated (or autonomous) driving covers any automated (or autonomous) driving from level 1 to level 5 in the classification table of the OICA (i.e., International automobile manufacturers Association).

Furthermore, by "land vehicle" is herein understood any type of vehicle that can be run on roads, in particular motor vehicles, utility vehicles, mopeds, motorcycles, minibuses, buses, storage robots in warehouses or road management appliances.

Some vehicles that are driven at least partially automatically (or autonomously) comprise regulation means responsible for regulating the speed of the vehicle according to a speed set point, optionally selected by the driver of the vehicle. Some of these adjustment devices comprise an optional configuration which enables the radius of curvature of a future section to be taken from the traffic lane on which its vehicle is travelling to be adapted to the speed of the vehicle. This alternative configuration is commonly referred to as CSA (i.e., "Current Speed Adaptation").

When this alternative configuration exists, control forces a deceleration phase to the vehicle until a selected deceleration speed (or passing speed in the curve) is reached, and then forces an acceleration phase to the vehicle until a speed equal to the speed set point is obtained, whenever the radius of curvature of the future section taken characterizes a curve. The acceleration in the acceleration phase depends on the radius of curvature of the road section located in front of the vehicle. The acceleration may thus be limited or unrestricted. For the sake of simplicity, said alternative configuration enables to temporarily reduce the speed of the vehicle in the event of detection of a next curve, in order to facilitate the passage of the vehicle in this curve and thus improve the comfort of the passengers.

A drawback of this type of alternative configuration consists in the management of overtaking in the case of autonomous driving in a curve, in particular on a motorway or motorway. This management proves problematic, for example, when a first vehicle equipped with an alternative configuration of this type passes on a first traffic lane adjacent to a second traffic lane on which a second vehicle passes, and when said first vehicle is passing the second vehicle just before reaching the curve. In fact, in this case, the selected deceleration speed (or the transit speed in the curve) may be less than the current speed of the second vehicle and, therefore, the first vehicle is at a speed less than the speed of the second vehicle throughout the curve, which may cause a slowing of the traffic flow, which may not be understood by at least one of the drivers of the vehicles following the first vehicle, even when one of these drivers does not notice the slowing or decides to overtake the first vehicle from the second traffic lane by following the second vehicle (which is prohibited by road regulations), which slowing may prove dangerous.

The invention therefore aims in particular to improve the situation.

Disclosure of Invention

To this end, the invention provides, in particular, a method for adjusting the speed of an at least partially automatically driven vehicle, which vehicle passes on a first traffic lane and knows the radius of curvature of a future section to be taken from the first traffic lane, which first traffic lane is adjacent to a second traffic lane, on the one hand, and on the other hand, the method comprising a step in which, in the event of detection of the radius of curvature of the future section characterizing a curve, a deceleration phase is imposed on the first vehicle until a first deceleration speed (or a passing speed in the curve) adapted to the radius of curvature is reached.

The method is characterized in that, in the steps of the method, when the first vehicle is overtaking a second vehicle passing on the second traffic lane:

-determining the current speed of the second vehicle, and then

-when said first deceleration speed is less than the determined current speed, replacing said first deceleration speed by a second deceleration speed (or passing speed in a curve) greater than the determined current speed.

The speed of the first vehicle remains greater than the speed of the second vehicle overtaking in the curve (except for special situations), avoiding causing a slowing of the traffic flow and avoiding the driver of the vehicle following the first vehicle attempting to overtake the first vehicle from the second traffic lane by following the second vehicle.

The method according to the invention may comprise further features which may be employed alone or in combination, in particular:

-in a step of the method, a maximum deceleration speed may be determined from a first maximum lateral acceleration that the first vehicle may experience in the curve by taking into account the radius of curvature of the curve, and a second deceleration speed that is less than or equal to the determined maximum deceleration speed may be determined;

+ in a step of the method, when the determined maximum deceleration speed is less than or equal to the current speed of the second vehicle, a second deceleration speed less than or equal to the determined maximum deceleration speed and therefore less than or equal to the current speed may be imposed;

+ in a step of the method, the maximum deceleration speed may also be determined as a function of a second maximum lateral acceleration, which follows a minimum level of passenger comfort of the first vehicle;

+ in the step of the method, the maximum deceleration speed may also be determined according to at least one parameter chosen from: a speed set point for speed adjustment of the first vehicle, a speed limit imposed on the first traffic lane, a current speed and/or a current acceleration of the second vehicle, a number of vehicles travelling ahead of the second vehicle on the second traffic lane, a presence of other vehicles following the first vehicle on the first traffic lane, and a presence of other vehicles followed by the first vehicle or by the second vehicle;

-in the steps of the method, the second deceleration speed may also be determined according to at least one parameter chosen from among: a speed set point for speed adjustment of the first vehicle, a speed limit imposed on the first traffic lane, a current speed and/or a current acceleration of the second vehicle, a number of vehicles travelling ahead of the second vehicle on the second traffic lane, a presence of other vehicles following the first vehicle on the first traffic lane, and a presence of other vehicles followed by the first vehicle or by the second vehicle;

in a step of the method, the replacement of the first deceleration speed by the second deceleration speed may not be performed when the first traffic lane and the second traffic lane have different destinations.

The invention also provides a computer program product comprising a set of instructions capable, when executed by a processing means, of implementing a speed adjustment method of the type described above, to adjust the speed of an at least partially automatically driven vehicle passing on a first traffic lane and knowing the radius of curvature of a future section to be taken from the first traffic lane, the first traffic lane being adjacent to a second traffic lane.

The invention also provides a speed regulation device for fitting on an at least partially automated driven vehicle, said vehicle passing on a first traffic lane and knowing a radius of curvature of a future section to be taken from said first traffic lane, said first traffic lane being adjacent to a second traffic lane, on the one hand, and comprising at least one processor and at least one memory configured to perform, in the event of detection of a radius of curvature characterizing said future section of a curve, an operation aimed at imposing a deceleration phase on the first vehicle until reaching a first deceleration speed adapted to said radius of curvature.

The speed regulation device is characterized in that, when said first vehicle is overtaking a second vehicle passing on said second passage lane, the processor and the memory of said speed regulation device are configured to perform operations aimed at determining a current speed of said second vehicle and then replacing said first decelerated speed by a second decelerated speed greater than the determined current speed when said first decelerated speed is less than the determined current speed.

The invention also provides a vehicle, optionally of the motor type, driven at least partially automatically, which passes on a first traffic lane, which is adjacent to a second traffic lane, and which knows the radius of curvature of a future section to be taken from the first traffic lane, and which comprises a speed regulation device of the type described above.

Drawings

Other features and advantages of the present invention will become more apparent upon reading the following detailed description and the accompanying drawings, in which:

figure 1 shows schematically and functionally a vehicle located on one of two traffic lanes of a road, said vehicle being equipped with a speed regulation device according to the invention,

figure 2 schematically shows an example of an algorithm implementing the speed regulation method according to the invention,

fig. 3 shows schematically in a graph a first evolution curve (C1), a second evolution curve (C2) and a third evolution curve (C3) of the respective speeds of a first vehicle equipped with a speed regulation device according to the invention, a first vehicle equipped with a speed regulation device of the prior art and a second vehicle overtaking as a function of distance, and

figure 4 shows schematically and functionally an embodiment of the speed regulation device according to the invention.

Detailed Description

The invention aims in particular to provide a speed regulation method and an associated speed regulation device DR for allowing regulation of the speed of a first vehicle V1 driven at least partially automatically (or autonomously), at least in the presence of a curve.

In the following, as a non-limiting example, the first vehicle V1 driven automatically (or autonomously) is considered to be of the motorized type. Such as an automobile, as shown in a non-limiting manner in fig. 1. The invention is not limited to this type of vehicle. The invention relates to virtually any type of land vehicle that is driven at least partially automatically and that can be passed on a land-passing lane. Thus, the vehicle may also relate to a storage robot or road management appliance in a utility vehicle, a moped, a motorcycle, a minibus, a bus, a warehouse. In general, the present invention relates to any land vehicle that may be more than another land vehicle.

Fig. 1 schematically and functionally shows a road R comprising a first traffic lane VC1 and a second traffic lane VC2 on which a first vehicle V1 and a second vehicle V2 respectively travel. The first traffic lane VC1 is delimited (or framed) by two boundary lines d1 and d2, while the second traffic lane VC2 is delimited (or framed) by two boundary lines d2 and d 3. In addition, in this fig. 1, the first vehicle V1 is overtaking (or passing over) the second vehicle V2.

The first vehicle V1 comprises at least one speed regulation device DR according to the invention. In the example shown without limitation in fig. 1, the first vehicle V1 also optionally comprises a sensor CP, an evaluation circuit CAN and a driving assistance device DA, which will be described below.

Note that in order for the invention to be practicable, it is necessary for the first vehicle V1 to know at each moment the radius of curvature rc of the future section of the first traffic lane VC1 that the first vehicle is ready to take during overtaking. This knowledge can be derived from an analysis of the environment, or from road information defining each section of the traced road R, in particular the radius of curvature rc (or its inverse, i.e. curvature) of said section, or from an analysis of the coordinates (e.g. GPS) of the road R.

The analysis of the environment may for example originate from the (permanent) presence of the at least one sensor CP and the analysis circuit CAN in the first vehicle V1, as shown in non-limiting manner on fig. 1.

This sensor CP may for example comprise at least one digital camera mounted in the front part of the vehicle (for example on the windscreen or on the inside rear-view mirror) and responsible for acquiring digital images from the environment at least in front of the first vehicle V1 (and optionally on a part of the two sides of said first vehicle V1).

Note that here, the number of sensors CP is equal to 1, but the number may take any value greater than or equal to 1 (at least one sensor is on the front), as long as data can be acquired from the environment at least in front of the first vehicle V1. Thus, the first vehicle V1 may also include at least one ultrasonic sensor, or at least one radar or lidar, or at least one other camera mounted in the rear portion, and/or cameras mounted on both sides.

The evaluation circuit CAN is configured to evaluate at least the digital images acquired by the sensor CP from the environment at least in front of the first vehicle V1 in order to determine data at least characteristic of a first traffic lane VC1 on which the first vehicle V1 temporarily passes. For example, these environmental data may define at least the radius of curvature rc (or curvature) of the section of the first traffic lane VC1 bounded by the two boundaries d1 and d2 that the first vehicle V1 is ready to take. Note that these environmental data may also define, for example: the direction of travel (cap) of the first vehicle V1, and/or an estimate of the derivative of said radius of curvature rc, and/or the width of the delimitation, and/or the separation distance of the two limits (here d1 and d2), and/or the speed of the vehicle detected in the surrounding environment, and/or the acceleration of the vehicle detected in the surrounding environment.

In the example shown without limitation in fig. 1, the analysis circuit CAN is part of a computer CAL loaded in the first vehicle V1. But this is not mandatory. In fact, the analysis circuit CAN may comprise an inherent computer or may be part of the sensor CP. The evaluation circuit CAN thus be implemented in the form of an electrical or electronic circuit or component (or "hardware") in combination with a software module (or information or "software").

In a variant, the speed of the second vehicle V2 that is exceeded may be determined using only at least one environmental map and onboard radar. In this case, the road information (defining each section of the thoroughfare R) may come from a database defining a very precise road map, either loaded in the first vehicle V1 or accessible by said first vehicle V1 via a wave channel. Thereby, the geographical position of a future section of the first vehicle V1, which is ready to take a lane from the first traffic lane VC1, is determined accurately, for example by means of a navigation aid (optionally temporarily) loaded in the first vehicle V1, and then the radius of curvature rc (or curvature) associated with this future section is determined from the database.

In the absence of the sensor CP but in the presence of the coordinates of the road R (for example GPS), the analysis circuit CAN is configured to analyze these coordinates in order to determine environmental data defining at least the radius of curvature (or the curvature) of the section of the first traffic lane VC1 delimited by the two borderlines d1 and d2 that the first vehicle V1 is ready to take. These coordinates of the road R may be provided, for example, by a navigation aid (optionally temporarily) loaded in the first vehicle V1.

The optional driving assistance device DA is used, for example, to control an (at least partially) automated (or autonomous) driving of the first vehicle V1 in dependence on environmental data. This control is carried out by means of determined commands for the components of the first vehicle (V1) required for the movement of the first vehicle V1, such as the drive train (or GMP), the brake system and the transmission components (e.g. automatic gearbox).

The (driving) assistance device DA comprises here an inherent computer, but this is not mandatory. In fact, the (driving) assistance device DA may be part of a computer ensuring at least one other function in the first vehicle V1. In addition, the evaluation circuit CAN be part of the driver assistance device DA.

As mentioned above, the present invention provides, among other things, a speed adjustment method for allowing automated adjustment of the speed of the first vehicle V1.

This (speed regulation) method may be implemented at least partly by a (speed) regulation device DR, which for this purpose comprises at least one processor PR and at least one memory MD. In the example shown in non-limiting manner in fig. 1, the (speed) regulation means DR comprise an inherent computer. But this is not mandatory. In fact, the regulation device DR may be part of a computer ensuring at least one other function in the first vehicle V1. Thus, the adjusting device can be part of the driving assistance device DA, for example. The regulating device DR may thus be embodied in the form of an electrical or electronic circuit or a combination of components and software modules. The memory MD is a random access memory in order to store instructions for implementing the adaptation method by the processor PR. The Processor PR is, for example, a Digital Signal Processor (or DSP) (i.e., "Digital Signal Processor").

As shown on fig. 2, the (speed regulation) method according to the invention comprises steps 10-80, which can be subdivided into sub-steps 10 to 80 and which are started when a speed regulation function (of the regulation device DR) is activated (by the driver of the first vehicle V1 or by the optional driving assistance device DA).

In sub-step 10, it is detected (by the processor PR and the memory MD) that the radius of curvature rc of the future section of the first vehicle V1, which is ready to take a lane from the first traffic lane VC1, is characteristic of a curve, said radius of curvature having just been communicated by the analysis circuit CAN.

It is important to note that in this context a "curve" is understood to mean a road section whose radius of curvature rc entails a speed reduction which serves to improve the comfort for the driver and passengers and also enables the first vehicle V1 to pass through said curve better.

The detection of a curve may for example result from a comparison of this radius of curvature rc with a radius of curvature threshold src predefined by the processor PR. It is understood that when the radius of curvature rc is smaller than the radius of curvature threshold src (i.e. rc < src), the steps of the method end and the processor PR and the memory MD wait for receiving the next radius of curvature rc.

In sub-step 20, when rc > src, it is decided (by the processor PR and the memory MD) to impose a deceleration phase on the first vehicle V1 (more precisely here, for example, on the auxiliary device DA) until a first deceleration speed (or passing speed in a curve) vd1 adapted to the radius of curvature rc is reached.

Then, in sub-step 30, when the first vehicle V1 is overtaking a second vehicle V2 passing on the second passing lane VC2, the current speed V of the second vehicle V2 is determined (by the processor PR and the memory MD)_v2And comparing the first decelerated speed vd1 with the current speed v_v2。

As mentioned above, the current speed v_v2It CAN be determined by the analysis circuit CAN on the basis of environmental data determined by the sensor(s) loaded in the first vehicle V1 (in particular by the CP) and/or transmitted by vehicles in the vicinity of the first vehicle V1 (optionally the second vehicle V2) and/or by road infrastructure (for example by means of messages of the Car2X or V2X type) to the first vehicle V1.

It is noted that in the sub-step 40, when the first vehicle V1 does not enter the passing phase, or when the first decelerated speed vd1 is greater than the current speed vd1_v2(i.e., vd1>v_v2) The deceleration phase is imposed (by the processor PR and the memory MD) on the first vehicle V1 until the first decelerated speed vd1 is reached. The imposition is implemented through the generation of instructions or commands. However, the device is not suitable for use in a kitchenThereafter, in sub-step 50, when the first deceleration speed vd1 is reached by the first vehicle V1, an acceleration phase is imposed (by the processor PR and the memory MD) on said first vehicle V1, for example until a speed equal to the speed set value cv is obtained (this speed optionally being adapted according to the speeds of the other vehicles located in front of the first vehicle V1). It is considered that the curve no longer imposes a constraint on the speed of the first vehicle V1. It is understood here that the acceleration phase is imposed to the first vehicle V1 by the auxiliary device DA control. This acceleration phase may be imposed either just after the deceleration phase, or after a predefined period of time has elapsed at the end of the deceleration phase, or when the radius of curvature rc of the future section of the first vehicle V1 that is ready to take a track becomes sufficiently large that a new deceleration phase is not required.

Conversely, in sub-step 70, when the first decelerated speed vd1 is less than the current speed v_v2(i.e., vd1<v_v2) When it is determined (by the processor PR and the memory MD) that the current speed v is greater than the determined current speed v_v2And a second decelerated speed vd 2. Then, in sub-step 80, the first deceleration speed vd1 is replaced (by the processor PR and the memory MD) by a second deceleration speed vd2 and therefore a deceleration phase is imposed on the first vehicle V1 until this second deceleration speed vd2 is reached. The imposition is implemented through the generation of instructions or commands.

Thus, in a curve (except for the special case mentioned more below), the speed of the first vehicle V1 remains greater than the speed of the second vehicle V2 overtaking, which makes it possible to avoid slowing down the traffic flow and to avoid the driver of the vehicle following the first vehicle V1 trying to overtake said first vehicle V1 from the second traffic lane VC2 by following the second vehicle V2.

When the second deceleration speed vd2 is reached by the first vehicle V1, the sub-step 50 is executed (by the processor PR and the memory MD) so as to impose an acceleration phase (for example until a speed equal to the speed set-point cv is obtained).

It is noted that in steps 10-80 of the method, in sub-step 60, (the processor PR and the memory MD) may be determined from a first maximum lateral acceleration that the first vehicle V1 may experience in the curve taking into account the radius of curvature rc of the curveFixed maximum deceleration speed vd_max. In this case, in sub-step 70, (processor PR and memory MD) may determine that it is less than or equal to the maximum deceleration speed vd determined_maxAnd a second decelerated speed vd 2. It is noted that in some special cases, a determined maximum deceleration speed vd may be obtained_maxIs less than or equal to the determined current speed v_v2And therefore in these particular cases it is possible to impose a deceleration speed vd which is less than or equal to the determined maximum deceleration speed vd_maxAnd is therefore less than or equal to the determined current speed v_v2And a second decelerated speed vd 2.

The first maximized lateral acceleration is determined, for example, by the assist device DA. The first maximum lateral acceleration can also be determined by the adjustment device DR.

For example, in sub-step 60, (processor PR and memory MD) may also determine a maximum deceleration speed vd from a second maximum lateral acceleration_maxThe second maximum lateral acceleration follows a minimum level of passenger comfort of the first vehicle V1. This second maximized lateral acceleration is a priori strictly less than the first maximized lateral acceleration (which the first vehicle V1 may bear without risk).

Also for example, in sub-step 60, (processor PR and memory MD) may also determine the maximum deceleration speed vd according to at least one parameter selected from the following parameters_max: speed set-point cv (for speed regulation of first vehicle V1), speed limit imposed on first traffic lane VC1, current speed and/or current acceleration of second vehicle V2, number of vehicles traveling ahead of second vehicle V2 on second traffic lane VC2, presence of other vehicles following first vehicle V1 on first traffic lane VC1, and presence of other vehicles followed by first vehicle V1 or by second vehicle V2. These different (local background) parameters may be determined by the analysis circuit CAN based on environmental data determined by the sensor(s) loaded in the first vehicle V1 (in particular by the CP) and/or may be transmitted by vehicles in the vicinity of the first vehicle V1 and/or by road infrastructure (for example by means of messages of the type Car2X or V2X)To the first vehicle V1.

In fact, it is understood that the local background related to the passage on the road R is of critical concern. In fact, during a cut-in, it is preferred that the first vehicle V1 be positioned as quickly as possible in front of the second vehicle V2 so as not to obstruct other vehicles from doing the same and not to disturb the driver of the second vehicle V2. Likewise, the higher the traffic density, the more it is necessary to follow the current speed of the traffic flow (here on the first traffic lane VC1) in order to avoid the occurrence of accidents or slowdowns, while following road regulations.

Also for example, in sub-step 70, (the processor PR and the memory MD) may also determine the second deceleration speed vd2 according to at least one parameter chosen from among: the speed set point cv, the speed limit imposed on the first traffic lane VC1, the current speed and/or current acceleration of the second vehicle V2, the number of vehicles traveling ahead of the second vehicle V2 on the second traffic lane VC2, the presence of other vehicles following the first vehicle V1 on the first traffic lane VC1, and the presence of other vehicles followed by the first vehicle V1 or by the second vehicle V2.

It is also noted that, in the sub-step 80, when the first traffic lane VC1 and the second traffic lane VC2 have different destinations, the replacement of the first deceleration speed vd1 by the second deceleration speed vd2 may not be performed (the processor PR and the memory MD). In fact, it is considered that the first traffic lane VC1 and the second traffic lane VC2 are no longer immediately adjacent and therefore the first vehicle V1 is not considered to be in the passing phase of the passing second vehicle V2.

It is further noted that the deceleration phase duration and the deceleration speed vd1 or vd2 are preferably determined in order to follow the longitudinal comfort.

Fig. 3 shows schematically in a graph a first evolution curve C1, a second evolution curve C2 and a third evolution curve C3 of the first vehicle V1, of a further vehicle similar to the first vehicle V1 but equipped with a speed regulation device of the prior art, and of the second vehicle V2, each of which evolves with distance (in km/h) during a passing phase in which the second vehicle V2 is passed in a curve by the first vehicle V1 and the further vehicle.

Here (curve C3) it is assumed that the second vehicle V2 has a constant current speed V of approximately 107km/h before, during and after the curve_v2. By using the speed regulation device of the prior art (curve C2), when reaching a bend, the other vehicle undergoes a deceleration phase until reaching a first deceleration speed vd1 equal to about 103km/h, and then an acceleration phase until reaching a speed equal to the speed set value cv (here equal to about 112 km/h). Thus, the other vehicle is at a constant speed V less than the second vehicle V2 in the curve_v2Which may be detrimental to traffic and may even present a hazard. On the other hand (curve C1), when coming into a curve, the first vehicle V1 undergoes a deceleration phase until it is equal to about 109km/h (and therefore greater than V)_v2) And then the acceleration phase is carried out until it is at a speed equal to the speed set value cv (here equal to about 112 km/h). Thus, the first vehicle V1 permanently has a constant speed V in a curve that is greater than the second vehicle V2_v2And thus there is no risk of traffic being disadvantaged or potentially dangerous.

It is noted that the invention also provides a computer program product comprising a set of instructions capable, when executed by a processing means of the electronic circuit (or hardware) type (for example, a computer CA), of implementing the speed regulation method described above, to regulate the speed of the first vehicle V1 (in particular when said first vehicle is ready to pass in a curve).

It is further noted that in fig. 4, the conditioning device DR is very schematically shown with only a random access memory MD and a processor PR, which may comprise an integrated (or printed) circuit, or a plurality of integrated (or printed) circuits coupled together by a wired or wireless connection. An "integrated (or printed) circuit" is understood to mean any type of device capable of performing at least one electrical or electronic operation. However, as shown in a non-limiting manner in fig. 4, the conditioning means DR may also comprise a mass memory MM, in particular for storing the acquired environmental data and optionally intermediate data involved in all the calculations and processes. In addition, the adjusting device DR may also comprise an input interface IE for receiving at least the acquired environmental data and optionally positioning data of the first vehicle V1 (provided by a navigation aid which is permanently or temporarily present in the first vehicle V1 (when said navigation aid is part of a portable device, a smartphone (or "smartphone") or a tablet carried by the passenger)), for using these data in said calculations or processes, optionally after having been shaped and/or demodulated and/or amplified in a manner known per se by means of a digital signal processor PR'. Furthermore, the control device DR may also comprise an output interface IS, which serves in particular to transmit the first deceleration speed vd1 and the second deceleration speed determined by the control device.

One or more of the substeps of the speed adjustment method may be performed by different components. Thus, the speed adjustment method may be implemented by a plurality of processors, random access memories, mass storage, input interfaces, output interfaces, and/or digital signal processors. In these cases, the conditioning apparatus DR may be dispersed in a local area network (e.g., a plurality of processors coupled to each other) or a wide area network.