Abstract: A vehicle control system includes a lateral control device. The lateral control device includes: a lateral controller for performing lateral control of the vehicle defined by a set of control parameters, based on minimizing a difference in a control value between a reference trajectory curve and a current trajectory curve described by the vehicle; a maximum distance determination unit for projecting the determined road layout information up to a given distance in front of the vehicle, and for determining the maximum distance at which the polynomial function representing the road layout satisfies one or more control conditions based on projected road layout information; a limit checking unit for determining a stability envelope and for checking whether limits of the stability envelope are reached by the vehicle based on the determined maximum distance. The control adapter adapts the control parameters of the lateral controller if the limits are reached.

Abstract: A method for assisting with driving a motor vehicle includes generating a control response to be made with respect to a current situation and sending a command to an actuator in order to control the vehicle. In accordance with an item of quality information regarding the result of the command, the method further includes generating, by reinforcement learning, a new control response, the new control response being optimized with respect to the current situation.

Abstract: A system controls a vehicle. The vehicle implements at least one control application using a variable measured by at least one sensor of a perception system installed in the vehicle. The control system includes an adaptive controller to dynamically activate one or more elementary controllers of a set of elementary controllers including at least two elementary controllers, each elementary controller can apply a control function of a vehicle parameter acting on actuators of the vehicle, the control functions being separate, based on a precision indicator of the perception system determined according to a real-time value of the variable.

Abstract: A control method for controlling the lateral movement of a motor vehicle including a steering structure for following a predetermined trajectory on a road. The control method includes selecting at least one environmental parameter external to the motor vehicle. The selection of the environmental parameter is a function of a collision risk associated with this environmental parameter. The command for the steering structure is determined according to the collision risk and according to the lateral shift of the motor vehicle.

Abstract: A method for managing the position of a vehicle includes estimating first positions of the vehicle at various times, measuring second positions of the vehicle at these same various times, in the case of a discrepancy between the first and second positions, considering the first positions as current positions of the vehicle at these various times, incrementing a counter when a discrepancy exists between a first position and a second position at the same time, and when the counter reaches a threshold value, placing the vehicle in a safe mode.

Abstract: A method predicts the trajectory of an ego vehicle travelling in a main lane. A lane change by the ego vehicle from the main lane to an adjacent lane is determined according to an estimate of the dynamic behavior of a group of vehicles travelling in the adjacent lane. The group of vehicles includes at least one main vehicle which is located near the ego vehicle and a secondary vehicle which is located behind the ego vehicle.

Abstract: A device for controlling the movement of a motor vehicle, including a longitudinal controller and a lateral controller which are capable of generating, from first information relating to the road layout and second information relating to the dynamic behaviour of the vehicle, control commands intended for actuators for controlling the longitudinal and lateral movement of the vehicle. The device includes a prediction model which is supplied with the first and second information and is capable of determining future states of the vehicle for future positions of the vehicle over a plurality of iterations defining a future road portion. The model is connected to a module for determining whether driving limit values are violated, which module is capable of determining, for each future state, whether one of the state variables defining the future state reaches or exceeds a driving limit value, and of deducing a future risk situation.

Abstract: A method of autonomous driving for low-speed or zero-speed maneuvering of a motor vehicle includes modifying the orientation of the steerable wheels of the vehicle while the speed of the vehicle is zero or substantially zero, or less than or equal to a threshold, in particular a threshold equal to 1 km/h.

Abstract: The guiding of an autonomous vehicle on a lane includes, when a bend entrance is detected, a first step of guiding the vehicle towards an outer part of the lane.

Abstract: A method for determining a trajectory of an autonomous vehicle includes a first phase that is carried out while the trajectory of the vehicle is controlled manually. The first phase includes calculating a first theoretical trajectory of the vehicle, measuring a trajectory actually followed by the vehicle, and calculating a correction factor. Calculating the correction factor includes a comparison of the first theoretical trajectory with the trajectory actually followed. The method also includes a second phase that is carried out while the trajectory of the vehicle is controlled autonomously. The second phase includes calculating a second theoretical trajectory of the vehicle, and calculating a customised trajectory of the vehicle. Calculating the customised trajectory is based on the second theoretical trajectory and on the correction factor.