Method for the lateral avoidance of a mobile zone by a vehicle

Details Method for the lateral avoidance of a mobile zone by a vehicle Method for the lateral avoidance of a mobile zone by a vehicle

G - Physics

01

C

G01C 21/00 (2006.01) G01C 21/20 (2006.01)

Patent

CA 2257336

For the lateral avoidance of a mobile zone (10) by a vehicle (1) based on periodically supplied information concerning the mobile zone to be avoided (10) and on an initially scheduled route (2) for the vehicle, the method comprises: defining periodically (18) the envelope of the said zone (10), determining (19) a circumscribed circle (12) to the said envelope, and the speed vector (3) of the circle (12), determining the route (2) portion situated on the passage of the circle (12), if the vehicle must enter the circle (12), computing (24) port (B1-B2-B3) and starboard (A1-A2-A3) trajectories for avoiding the zone defined by the circle (12), selecting one of these two avoidance trajectories (A1-A2-A3, B1-B2-B3) according to the length of the newly computed avoidance routes and the direction of movement of the zone to be avoided (10).

Pour l'évitement latéral par un véhicule (1) d'une zone mobile (10) à partir d'informations fournies périodiquement concernant une zone mobile à éviter (10) et d'une route initialement prévue (2) du véhicule, le procédé selon l'invention comprend la définition périodique (18) de l'enveloppe de la zone à éviter (10), la détermination (19) d'un cercle circonscrit (12) à ladite enveloppe, et du vecteur vitesse (3) du cercle (12), la détermination de la portion de la route (2) se situant sur le passage du cercle (12), si le véhicule doit pénétrer dans le cercle (12), le calcul (24) de trajectoires d'évitement bâbord (B1-B2- B3) et tribord (A1-A2-A3) de la zone délimitée par le cercle (12), et la sélection d'une de ces deux trajectoires d'évitement (A1-A2-A3, B1-B2-B3) en fonction de la longueur des nouvelles routes d'évitement calculées, et de la direction de déplacement de la zone à éviter (10).

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