Method for activating an obstacle avoidance system for a motor vehicle

A method for triggering an obstacle avoidance system for a motor vehicle running on a road, comprising:

• detecting at least one object situated in an environment of the motor vehicle and acquiring data relating to the detected said at least one object,
• determining, for said at least one object, a parameter relating to a time remaining before the motor vehicle can strike said at least one object, as a function of the acquired data,
• determining at least one path deviation to be performed to avoid said at least one object, and
• activating the obstacle avoidance system to avoid said at least one object according to values of said parameter and each of at least one path deviation,
• wherein said determining at least one path deviation comprises:
• calculating a relative lateral speed as a function of the at least one path deviation between a lateral speed of the motor vehicle with respect to the road in a first reference frame oriented according to a tangent to the road at the motor vehicle and a lateral speed of said at least one object with respect to the road in a second reference frame oriented according to a tangent to the road at said at least one object, and
• determining each of at least one path deviation as a function of the relative lateral speed,
• the triggering method further comprising:
• calculating a maneuvering time necessary to avoid said at least one object as a function of said path deviation,
• wherein the activating the obstacle avoidance system is performed according to said maneuvering time.

A motor vehicle comprising:

• at least one drive wheel,
• a steering system for each drive wheel configured to be maneuvered by an actuator controlled by a computer,
• wherein the computer is configured to,
• detect at least one object situated in an environment of the motor vehicle and acquire data relating to the detected said at least one object,
• determine, for said at least one object, a parameter relating to a time remaining before the motor vehicle can strike said at least one object, as a function of the acquired data,
• determine at least one path deviation to be performed to avoid said at least one object, and
• activate an obstacle avoidance system to avoid said at least one object according to values of said parameter and each of at least one path deviation,
• wherein said at least one path deviation is determined by:
• calculating a relative lateral speed as a function of the at least one path deviation between a lateral speed of the motor vehicle with respect to the road in a first reference frame oriented according to a tangent to the road at the motor vehicle and a lateral speed of said at least one object with respect to the road in a second reference frame oriented according to a tangent to the road at said at least one object, and
• determining each of at least one path deviation as a function of the relative lateral speed, a function of said parameter, and as a function of an angle formed between a speed vector of the object and the tangent to the road at said at least one object.