SIDE GUIDING METHOD FOR AN AUTONOMOUS OR PARTIALLY AUTONOMOUS VEHICLE WITHIN A TRAFFIC LANE

摘要

The invention relates to a method of lateral guiding of a vehicle, hereinafter host vehicle, traveling on a lane delimited by two delimitation lines, an interior line and an exterior line, the method comprising the following steps: - determining ( 30) the position of the host vehicle on the roadway on which it is traveling, and, if the roadway is divided into several traffic lanes, determine which lane the host vehicle is on; - calculating (32-38) a differential quantity, representative of the difference between, on the one hand, the difference between the host vehicle and the external delimitation line, and, on the other hand, the difference between the host vehicle and the interior delimitation line; - determining (40) that an exit lane is adjacent to the lane of the host vehicle if the following conditions are met: ○ the host vehicle is on the outermost lane of the road; ○ the differential quantity is greater than a predetermined threshold; and, - if these conditions are satisfied, take into account (42) only the interior delimitation line of the taxiway as a reference for the lateral guidance of the host vehicle.