FR3092914B1 - Method for determining the trajectory of a vehicle comprising four steered wheels - Google Patents

Method for determining the trajectory of a vehicle comprising four steered wheels Download PDF

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Publication number
FR3092914B1
FR3092914B1 FR1901574A FR1901574A FR3092914B1 FR 3092914 B1 FR3092914 B1 FR 3092914B1 FR 1901574 A FR1901574 A FR 1901574A FR 1901574 A FR1901574 A FR 1901574A FR 3092914 B1 FR3092914 B1 FR 3092914B1
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FR
France
Prior art keywords
vehicle
trajectory
determining
steered wheels
wheels
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1901574A
Other languages
French (fr)
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FR3092914A1 (en
Inventor
Silva Jorge Da
Salim Zair
Maxime Derome
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Renault SAS
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Renault SAS
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Publication date
Application filed by Renault SAS filed Critical Renault SAS
Priority to FR1901574A priority Critical patent/FR3092914B1/en
Publication of FR3092914A1 publication Critical patent/FR3092914A1/en
Application granted granted Critical
Publication of FR3092914B1 publication Critical patent/FR3092914B1/en
Active legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/103—Side slip angle of vehicle body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • B60W2050/0033—Single-track, 2D vehicle model, i.e. two-wheel bicycle model
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/005—Sampling
    • B60W2050/0051—Sampling combined with averaging
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/26—Wheel slip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/84—Rear wheel steering; All wheel steerings

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

Procédé de détermination de la trajectoire d'un véhicule comprenant quatre roues directrices Procédé de détermination de la trajectoire d'un véhicule (1) comprenant deux roues avant (2f) directrices et deux roues arrière (2r) directrices, caractérisé en ce qu'il comprend : une première étape (E31) de calcul d'une vitesse (v) du véhicule, une deuxième étape (E32) de calcul d'un angle de braquage formé par les roues avant (δf), une troisième étape (E33) de calcul d'un angle de braquage formé par les roues arrière (δr), une quatrième étape (E34) de calcul d'un angle de glissement (β) du véhicule (1) en fonction : de l'angle de braquage formé par les roues avant (δf), de l'angle de braquage formé par les roues arrière (δr), et de la vitesse (v) du véhicule, une cinquième étape (E35) de calcul de la trajectoire du véhicule en fonction de l'angle de glissement (β) du véhicule (1). Figure pour l’abrégé : figure 6Method for determining the trajectory of a vehicle comprising four steered wheels Method for determining the trajectory of a vehicle (1) comprising two front steered wheels (2f) and two rear steered wheels (2r), characterized in that it comprises: a first step (E31) of calculating a speed (v) of the vehicle, a second step (E32) of calculating a steering angle formed by the front wheels (δf), a third step (E33) of calculation of a steering angle formed by the rear wheels (δr), a fourth step (E34) of calculating a sliding angle (β) of the vehicle (1) as a function of: the steering angle formed by the front wheels (δf), the steering angle formed by the rear wheels (δr), and the speed (v) of the vehicle, a fifth step (E35) of calculating the trajectory of the vehicle as a function of the angle slip (β) of the vehicle (1). Figure for the abstract: figure 6

FR1901574A 2019-02-15 2019-02-15 Method for determining the trajectory of a vehicle comprising four steered wheels Active FR3092914B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1901574A FR3092914B1 (en) 2019-02-15 2019-02-15 Method for determining the trajectory of a vehicle comprising four steered wheels

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1901574A FR3092914B1 (en) 2019-02-15 2019-02-15 Method for determining the trajectory of a vehicle comprising four steered wheels
FR1901574 2019-02-15

Publications (2)

Publication Number Publication Date
FR3092914A1 FR3092914A1 (en) 2020-08-21
FR3092914B1 true FR3092914B1 (en) 2021-01-22

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
FR1901574A Active FR3092914B1 (en) 2019-02-15 2019-02-15 Method for determining the trajectory of a vehicle comprising four steered wheels

Country Status (1)

Country Link
FR (1) FR3092914B1 (en)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4121954A1 (en) * 1991-07-03 1993-01-07 Bosch Gmbh Robert METHOD FOR OBTAINING THE YEAR SPEED AND / OR THE LATERAL SPEED
FR2917363B1 (en) * 2007-06-13 2010-01-22 Renault Sas SYSTEM AND METHOD FOR CONTROLLING THE STEERING WHEEL BRAKING OF A MOTOR VEHICLE IN A BRAKING SITUATION WITH ASYMMETRIC ADHESION.
DE102010050278A1 (en) * 2010-11-02 2012-05-03 Audi Ag Method for estimating attitude angle settled during travel of vehicle, involves providing mathematical model, which interrelates to measured input parameters by non-measured parameter
JP6127560B2 (en) * 2013-02-13 2017-05-17 日産自動車株式会社 Road shape prediction device

Also Published As

Publication number Publication date
FR3092914A1 (en) 2020-08-21

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