WO2002022414A1 - Braking action control method and device - Google Patents

Braking action control method and device Download PDF

Info

Publication number
WO2002022414A1
WO2002022414A1 PCT/FR2001/002765 FR0102765W WO0222414A1 WO 2002022414 A1 WO2002022414 A1 WO 2002022414A1 FR 0102765 W FR0102765 W FR 0102765W WO 0222414 A1 WO0222414 A1 WO 0222414A1
Authority
WO
WIPO (PCT)
Prior art keywords
braking
vehicle
slip
control method
implemented
Prior art date
Application number
PCT/FR2001/002765
Other languages
French (fr)
Inventor
Pascal Bodin
Bernard Guillerey
Original Assignee
Renault S.A.S.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Renault S.A.S. filed Critical Renault S.A.S.
Priority to EP01967434A priority Critical patent/EP1345799A1/en
Priority to JP2002526635A priority patent/JP2004509004A/en
Publication of WO2002022414A1 publication Critical patent/WO2002022414A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/122—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger for locking of reverse movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/08—Brake-action initiating means for personal initiation hand actuated
    • B60T7/10—Disposition of hand control
    • B60T7/107—Disposition of hand control with electrical power assistance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/06—Hill holder; Start aid systems on inclined road
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18118—Hill holding

Definitions

  • the present invention relates to the field of motor vehicles, passenger cars, public transport vehicles, goods transport vehicles, special, agricultural, handling, work, etc. vehicles.
  • Automatic parking brakes for vehicles save space and increase operating comfort for the driver.
  • Document JP-A-7 144 623 discloses a parking brake which automatically applies the wheels, if the stop mode is commanded, if the vehicle speed is lower than a prescribed value, and if braking is in progress.
  • the invention proposes to improve the automatic parking brakes.
  • the invention proposes new services increasing the safety of use of the vehicle.
  • the control method is intended for a vehicle braking means.
  • a vehicle slip detection is implemented, if a slip is detected, braking is increased, if a slip is not detected, braking is maintained.
  • the invention applies, in particular, to the control of a parking brake.
  • said detection is implemented after the vehicle has stopped.
  • said detection is implemented before stopping the engine. In one embodiment of the invention, after stopping the engine, said detection is implemented for a predetermined period.
  • said detection is implemented by a slip sensor.
  • said detection is implemented by a wheel lock sensor.
  • the braking is increased incrementally up to an upper limit.
  • braking of predetermined value is applied.
  • the invention also relates to a device for controlling a braking means of a vehicle, comprising means for detecting a slip of the vehicle, and a means for controlling an increase in braking if a slip is detected and a maintenance of the braking, if a slip is not detected.
  • the device comprises a computer, memory means and instructions stored in the memory means.
  • the means for detecting a slip of the vehicle may comprise a sensor dedicated to this task or a sensor for locking the wheels of the vehicle.
  • the computer is able to receive and interpret information on stopping the engine of the vehicle.
  • the invention also relates to a computer program comprising program code means for implementing the steps of the method, when said program is running on a computer.
  • the invention also relates to a medium capable of being read by a device for reading program code means which are stored therein and which are suitable for implementing the steps of the method, when said program is running on a computer.
  • the device comprises a computer, memory means and instructions stored in the memory means.
  • the means for detecting a slip of the vehicle may be in the form of a specific sensor or an anti-lock brake system capable of providing information relating to the slip. of the vehicle, for example via a multiplex bus.
  • the device can be active for a fixed period after the vehicle has stopped. Said predetermined duration may be between 5 and 12 hours, advantageously between 6 and 10 hours, for example around 8 hours.
  • This duration is determined as a function of the stabilization of expansion of the braking system due to temperature variations, this stabilization depending on the type of vehicle and on the temperature of the braking system.
  • the braking system in particular the calipers in the case of disc brakes, is very rigid, it will adapt little to the dimensional variations linked to expansion and the tightening may prove to be insufficient during cooling.
  • a slightly rigid braking system will better adapt to said dimensional variations.
  • FIG. 1 is a schematic view of a vehicle equipped with an automatic brake
  • - Figure 2 is a flow diagram of process steps according to one aspect of the invention.
  • FIG. 3 is a flow diagram of process steps according to another aspect of the invention.
  • a vehicle referenced 1 as a whole is provided with two front wheels 2, one of which. only visible, equipped with brakes and two rear wheels 3, 4 equipped with brakes 5, a powertrain controlled by a computer 6 and, optionally, an anti-lock braking system 7 connected to four parameter sensors of rotation, each associated with a front 2 or rear wheel 4.
  • a powertrain controlled by a computer 6 and, optionally, an anti-lock braking system 7 connected to four parameter sensors of rotation, each associated with a front 2 or rear wheel 4.
  • at least one parking brake control button 8 is provided in the passenger compartment of the vehicle.
  • the vehicle 1 further comprises a braking control device in the form of a box 9 provided with a calculation unit, of the processor type, memory means, a control program and actuators 10 acting on cables 11 and 12 suitable for mechanically control the application of the rear brakes 5 dedicated to the rear wheels 4.
  • a braking control device in the form of a box 9 provided with a calculation unit, of the processor type, memory means, a control program and actuators 10 acting on cables 11 and 12 suitable for mechanically control the application of the rear brakes 5 dedicated to the rear wheels 4.
  • the rotation parameter sensors may be in the form of an assembly comprising a rotating part integral in rotation with the wheel with which it is associated, for example of the magnetic or optical encoder type, and a non-rotating part, integral of the vehicle axle and provided with means for detecting the rotation of the rotating part, for example of the Hall effect sensor or optical sensor type depending on the type of encoder.
  • the rotation parameter sensors are connected to the anti-lock braking system 7 by means of electric cables or by a communication bus.
  • the anti-lock braking system 7 includes a computing unit, of the processor type, memory means and is capable of individually controlling the release of the brakes 5 when a locking state of a wheel is detected.
  • the anti-lock system 7 is connected to the housing 9 via an electric cable or a communication bus.
  • the brake control button 8 is connected to the housing 9.
  • the computer 6 of the powertrain is also connected to the housing 9 to provide it with information relating to an on or off state of said powertrain.
  • a specific sensor dedicated to the housing 9 is associated with one of the wheels or with one of the wheel half-shafts and provides said housing 9 with information relating to the stopping or movement of the vehicle.
  • the vehicle is provided with a sensor 13 for longitudinal inclination relative to the horizontal
  • said sensor 13 may be connected to the housing 9 so as to be able to take direct account of the inclination of the vehicle in order to develop a control for braking.
  • the housing 9 further comprises a time clock.
  • the braking control device operates, as illustrated in FIG. 2.
  • the action of the driver on the parking brake control button 8 passes a variable F provided in an algorithm whose code is stored in memory means of the unit 9 to the value 1, which corresponds to the activation of the braking. Regardless of the driver's action, if the automatic braking conditions are met, said braking is also activated and the variable F changes to 1. State 0 corresponds to inactive braking. From active braking, the algorithm will control the passage or not to stronger braking.
  • t be a variable which is worth 0 if the time elapsed since the last powertrain shutdown is less than a predetermined value, of the order of a few hours, and corresponding to the duration of thermal stabilization of the braking system and therefore to the end of the evolution of thermal expansions, t is 1, if said duration is greater than the predetermined value.
  • G be a variable relating to the slip equal to 0 if the slip is zero or less than a predetermined value which can be established according to the number of increments of an encoder. G is equal to 1, if the slip is not zero or if it is greater than said predetermined value.
  • Fmax be a variable which is worth 0 if an upper limit of braking setpoint is not reached, in which case an increase in the braking setpoint can be authorized and which is worth 1 if the upper limit of braking setpoint is reached.
  • the clamping force controlled by the calculation unit of the box 9 is managed, whether the information relating to the inclination of the vehicle is available or not. It may not be available, either by construction, or following the deterioration of the inclination sensor, case in which the invention proposes a degraded mode from the usual mode for managing the automatic parking braking. This avoids taking excessive margins for the clamping force instruction to keep the vehicle stationary, whatever the slope and the vehicle load. This avoids oversizing the braking system, in particular at the calipers in the case of disc brakes, which leads to additional costs, overweight and fatigue problems.
  • the information generally called
  • fine odometry characterizing the slip between the wheels and the braking system, is still available for a certain period, of the order of a few hours, after the powertrain has been switched off.
  • the unit for calculating the parking brake management unit 9 when the conditions authorizing automatic braking are met or when manual braking is requested, applies a so-called "standard" braking force instruction. Each time a slip is detected, the braking setpoint is increased by a determined increment, up to the upper braking setpoint limit value.
  • the standard braking setpoint allows the vehicle to remain stationary on a slope of 15% with a static coefficient of friction of 0.4, the vehicle being fully loaded.
  • the maximum braking setpoint can allow the vehicle to remain stationary on a slope of 30% with a coefficient of friction static of 0.4, the vehicle being again loaded to the maximum.
  • the invention makes it possible to create a brake application instruction which adapts to the slope and to the load of the vehicle.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention concerns a method for controlling a vehicle braking action, which consists in detecting whether the vehicle is slipping, and if slipping is detected in increasing the braking action, while if slipping is not detected in maintaining the braking action.

Description

Procédé et dispositif de commande de freinage. Braking control method and device.
La présente invention concerne le domaine des véhicules automobiles, voitures particulières, véhicules de transport en commun, véhicules de transport de marchandises, engins spéciaux, agricoles, de manutention, de travaux, etc. Les freins de parking automatiques pour véhicules permettent un gain de place et un confort d'utilisation plus élevé pour le conducteur.The present invention relates to the field of motor vehicles, passenger cars, public transport vehicles, goods transport vehicles, special, agricultural, handling, work, etc. vehicles. Automatic parking brakes for vehicles save space and increase operating comfort for the driver.
On connaît par le document JP-A-7 144 623, un frein de parking qui assure le serrage des roues de façon automatique, si le mode d'arrêt est commandé, si la vitesse du véhicule est inférieure à une valeur prescrite, et si un freinage est en cours.Document JP-A-7 144 623 discloses a parking brake which automatically applies the wheels, if the stop mode is commanded, if the vehicle speed is lower than a prescribed value, and if braking is in progress.
L'invention propose d'améliorer les freins de parking automatiques.The invention proposes to improve the automatic parking brakes.
L'invention propose de nouvelles prestations accroissant la sécurité d'utilisation du véhicule. Le procédé de commande, selon un aspect l'invention, est destiné à un moyen de freinage d'un véhicule. On met en œuvre une détection du glissement du véhicule, si un glissement est détecté on augmente le freinage, si un glissement n'est pas détecté on maintient le freinage. L'invention s'applique, notamment, à la commande d'un frein de parking.The invention proposes new services increasing the safety of use of the vehicle. The control method, according to one aspect of the invention, is intended for a vehicle braking means. A vehicle slip detection is implemented, if a slip is detected, braking is increased, if a slip is not detected, braking is maintained. The invention applies, in particular, to the control of a parking brake.
Dans un mode de réalisation de l'invention, ladite détection est mise en œuvre après un arrêt du véhicule.In one embodiment of the invention, said detection is implemented after the vehicle has stopped.
Dans un mode de réalisation de l'invention, ladite détection est mise en œuvre avant un arrêt du moteur. Dans un mode de réalisation de l'invention, après un arrêt du moteur ladite détection est mise en œuvre pendant une durée prédéterminée.In one embodiment of the invention, said detection is implemented before stopping the engine. In one embodiment of the invention, after stopping the engine, said detection is implemented for a predetermined period.
Dans un mode de réalisation de l'invention, ladite détection est mise en œuvre par un capteur de glissement.In one embodiment of the invention, said detection is implemented by a slip sensor.
Dans un mode de réalisation de l'invention, ladite détection est mise en œuvre par un capteur de blocage des roues.In one embodiment of the invention, said detection is implemented by a wheel lock sensor.
De préférence, si un glissement est détecté on augmente le freinage de façon incrémentale jusqu'à une limite supérieure. Dans un mode de réalisation de l'invention, lors de l'activation du moyen de freinage, on applique un freinage de valeur prédéterminée.Preferably, if a slip is detected, the braking is increased incrementally up to an upper limit. In one embodiment of the invention, when the braking means are activated, braking of predetermined value is applied.
L'invention concerne également un dispositif de commande d'un moyen de freinage d'un véhicule comprenant un moyen pour détecter un glissement du véhicule, et un moyen pour commander une augmentation du freinage si un glissement est détecté et un maintien du freinage, si un glissement n'est pas détecté.The invention also relates to a device for controlling a braking means of a vehicle, comprising means for detecting a slip of the vehicle, and a means for controlling an increase in braking if a slip is detected and a maintenance of the braking, if a slip is not detected.
Avantageusement, le dispositif comprend un calculateur, des moyens mémoires et des instructions stockées dans les moyens mémoires.Advantageously, the device comprises a computer, memory means and instructions stored in the memory means.
Le moyen pour détecter un glissement du véhicule peut comprendre un capteur dédié à cette tâche ou un capteur de blocage des roues du véhicule.The means for detecting a slip of the vehicle may comprise a sensor dedicated to this task or a sensor for locking the wheels of the vehicle.
Dans un mode de réalisation de l'invention, le calculateur est apte à recevoir et interpréter une information d'arrêt du moteur du véhicule.In one embodiment of the invention, the computer is able to receive and interpret information on stopping the engine of the vehicle.
L'invention concerne également un programme d'ordinateur comprenant des moyens de code programme pour mettre en œuvre les étapes du procédé, lorsque ledit programme fonctionne sur un ordinateur.The invention also relates to a computer program comprising program code means for implementing the steps of the method, when said program is running on a computer.
L'invention concerne également un support capable d'être lu par un dispositif de lecture de moyens de code programme qui s'y trouvent stockés et qui sont aptes à la mise en œuvre des étapes du procédé, lorsque ledit programme fonctionne sur un ordinateur.The invention also relates to a medium capable of being read by a device for reading program code means which are stored therein and which are suitable for implementing the steps of the method, when said program is running on a computer.
Avantageusement, le dispositif comprend un calculateur, des moyens mémoire et des instructions stockées dans les moyens mémoire.Advantageously, the device comprises a computer, memory means and instructions stored in the memory means.
Le moyen pour détecter un glissement du véhicule peut se présenter sous la forme d'un capteur spécifique ou d'un système antiblocage de freins apte à fournir une information relative au glissement du véhicule, par exemple par l'intermédiaire d'un bus multiplexe. Le dispositif peut être actif pendant une durée déterminée après un arrêt du véhicule. Ladite durée prédéterminée pourra être comprise entre 5 et 12 heures, avantageusement entre 6 et 10 heures, par exemple aux alentours de 8 heures.The means for detecting a slip of the vehicle may be in the form of a specific sensor or an anti-lock brake system capable of providing information relating to the slip. of the vehicle, for example via a multiplex bus. The device can be active for a fixed period after the vehicle has stopped. Said predetermined duration may be between 5 and 12 hours, advantageously between 6 and 10 hours, for example around 8 hours.
Cette durée est déterminée en fonction de la stabilisation de dilatation du système de freinage due aux variations de température, cette stabilisation dépendant du type de véhicule et de la température du système de freinage. En effet, si le système de freinage, notamment les étriers dans le cas de freins à disques, est très rigide, il s'adaptera peu aux variations dimensionnelles liées à la dilatation et le serrage risquera de s'avérer insuffisant lors du refroidissement. Un système de freinage peu rigide s'adaptera mieux auxdites variations dimensionnelles.This duration is determined as a function of the stabilization of expansion of the braking system due to temperature variations, this stabilization depending on the type of vehicle and on the temperature of the braking system. In fact, if the braking system, in particular the calipers in the case of disc brakes, is very rigid, it will adapt little to the dimensional variations linked to expansion and the tightening may prove to be insufficient during cooling. A slightly rigid braking system will better adapt to said dimensional variations.
La présente invention sera mieux comprise et d'autres avantages apparaîtront à la lecture de la description détaillée d'un mode de réalisation pris à titre d'exemple nullement limitatif et illustré par les dessins annexés, sur lesquels :The present invention will be better understood and other advantages will appear on reading the detailed description of an embodiment taken by way of nonlimiting example and illustrated by the appended drawings, in which:
- la figure 1 est une vue schématique d'un véhicule équipé d'un frein automatique; - la figure 2 est un organigramme d'étapes de procédé selon un aspect de l'invention; et- Figure 1 is a schematic view of a vehicle equipped with an automatic brake; - Figure 2 is a flow diagram of process steps according to one aspect of the invention; and
- la figure 3 est un organigramme d'étapes de procédé selon un autre aspect de l'invention.- Figure 3 is a flow diagram of process steps according to another aspect of the invention.
Comme on peut le voir sur la figure 1 , un véhicule référencé 1 dans son ensemble est pourvu de deux roues avant 2, dont une. seule est visible, équipées de freins et de deux roues arrière 3, 4 équipées de freins 5, d'un groupe motopropulseur commandé par un calculateur 6 et, de façon optionnelle, d'un système antiblocage de freins 7 relié à quatre capteurs de paramètres de rotation, chacun associé à une roue avant 2 ou arrière 4. Dans l'habitacle du véhicule, est prévu au moins un bouton de commande de freinage de parking 8.As can be seen in Figure 1, a vehicle referenced 1 as a whole is provided with two front wheels 2, one of which. only visible, equipped with brakes and two rear wheels 3, 4 equipped with brakes 5, a powertrain controlled by a computer 6 and, optionally, an anti-lock braking system 7 connected to four parameter sensors of rotation, each associated with a front 2 or rear wheel 4. In the passenger compartment of the vehicle, at least one parking brake control button 8 is provided.
Le véhicule 1 comprend, en outre, un dispositif de commande de freinage se présentant sous la forme d'un boîtier 9 pourvu d'une unité de calcul, du genre à processeur, de moyens mémoire, d'un programme de commande et d'actionneurs 10 agissant sur des câbles 11 et 12 aptes à commander mécaniquement le serrage des freins arrière 5 dédié aux roues arrière 4.The vehicle 1 further comprises a braking control device in the form of a box 9 provided with a calculation unit, of the processor type, memory means, a control program and actuators 10 acting on cables 11 and 12 suitable for mechanically control the application of the rear brakes 5 dedicated to the rear wheels 4.
Les capteurs de paramètres de rotation peuvent se présenter sous la forme d'un ensemble comprenant une partie tournante solidaire en rotation de la roue à laquelle il est associé, par exemple du type codeur magnétique ou optique, et d'une partie non tournante, solidaire de l'essieu du véhicule et pourvue de moyens de détection de la rotation de la partie tournante, par exemple du genre capteur à effet Hall ou capteur optique en fonction du type du codeur. Les capteurs de paramètres de rotation sont reliés au système antiblocage de roues 7 par l'intermédiaire de câbles électriques ou par un bus de communication. Le système antiblocage de roues 7 comprend une unité de calcul, du genre à processeur, des moyens mémoire et est apte à commander individuellement le desserrage des freins 5 lors d'une détection d'un état de blocage d'une roue. Le système antiblocage 7 est relié au boîtier 9 par l'intermédiaire d'un câble électrique ou d'un bus de communication. Le bouton de commande de freinage 8 est relié au boîtier 9. Le calculateur 6 du groupe motopropulseur est également relié au boîtier 9 pour lui fournir une information relative à un état de marche ou d'arrêt dudit groupe motopropulseur. A titre de variante, un capteur spécifique dédié au boîtier 9 est associé à l'une des roues ou à l'un des demi-arbres de roue et fournit audit boîtier 9 une information relative à l'arrêt ou au déplacement du véhicule.The rotation parameter sensors may be in the form of an assembly comprising a rotating part integral in rotation with the wheel with which it is associated, for example of the magnetic or optical encoder type, and a non-rotating part, integral of the vehicle axle and provided with means for detecting the rotation of the rotating part, for example of the Hall effect sensor or optical sensor type depending on the type of encoder. The rotation parameter sensors are connected to the anti-lock braking system 7 by means of electric cables or by a communication bus. The anti-lock braking system 7 includes a computing unit, of the processor type, memory means and is capable of individually controlling the release of the brakes 5 when a locking state of a wheel is detected. The anti-lock system 7 is connected to the housing 9 via an electric cable or a communication bus. The brake control button 8 is connected to the housing 9. The computer 6 of the powertrain is also connected to the housing 9 to provide it with information relating to an on or off state of said powertrain. As a variant, a specific sensor dedicated to the housing 9 is associated with one of the wheels or with one of the wheel half-shafts and provides said housing 9 with information relating to the stopping or movement of the vehicle.
Egalement, à titre de variante, on peut prévoir que le boîtier 9 reçoive directement les signaux émis par un ou plusieurs des capteurs de paramètres de rotation et interprète lesdits signaux pour déterminer si le véhicule est à l'arrêt ou se déplace.Also, as a variant, provision may be made for the box 9 to directly receive the signals emitted by one or more of the rotation parameter sensors and interpret said signals to determine whether the vehicle is stopped or moving.
De façon optionnelle, si le véhicule est pourvu d'un capteur 13 d'inclinaison longitudinale par rapport à l'horizontale, ledit capteur 13 pourra être relié au boîtier 9 pour pouvoir tenir compte directement de l'inclinaison du véhicule pour élaborer une commande de freinage. Bien entendu, le boîtier 9 comprend, en outre, une horloge temporelle.Optionally, if the vehicle is provided with a sensor 13 for longitudinal inclination relative to the horizontal, said sensor 13 may be connected to the housing 9 so as to be able to take direct account of the inclination of the vehicle in order to develop a control for braking. Of course, the housing 9 further comprises a time clock.
L'ensemble des éléments consommateurs d'énergie électrique est relié une batterie 14. L'échange d'information entre les différents éléments est assuré par un bus de communication 15, par exemple de type CAN. Le dispositif de commande de freinage fonctionne, comme illustré sur la figure 2. L'action du conducteur sur le bouton 8 de commande de freinage de parking fait passer une variable F prévue dans un algorithme dont le code est stocké dans des moyens mémoire du boîtier 9 à la valeur 1 , ce qui correspond à l'activation du freinage. Indépendamment de l'action du conducteur, si les conditions de freinage automatique sont réunies, ledit freinage est également activé et la variable F passe à 1. L'état 0 correspond à un freinage inactif. A partir d'un freinage actif, l'algorithme va commander le passage ou non à un freinage plus fort. Soit t, une variable qui vaut 0 si la durée écoulée depuis la dernière coupure du groupe motopropulseur est inférieure à une valeur prédéterminée, de l'ordre de quelques heures, et correspondant à la durée de stabilisation thermique du système de freinage et donc à la fin de l'évolution des dilatations thermiques, t vaut 1, si ladite durée est supérieure à la valeur prédéterminée. Soit G, une variable relative au glissement valant 0 si le glissement est nul ou inférieur à une valeur prédéterminée qui peut être établie d'après le nombre d'incréments d'un codeur. G vaut 1, si le glissement est non nul ou s'il est supérieur à ladite valeur prédéterminée. Soit Fmax une variable qui vaut 0 si une limite supérieure de consigne de freinage n'est pas atteinte, cas auquel on peut autoriser une augmentation de la consigne de freinage et qui vaut 1 si la limite supérieure de consigne de freinage est atteinte.All of the elements consuming electrical energy are connected to a battery 14. The exchange of information between the different elements is ensured by a communication bus 15, for example of CAN type. The braking control device operates, as illustrated in FIG. 2. The action of the driver on the parking brake control button 8 passes a variable F provided in an algorithm whose code is stored in memory means of the unit 9 to the value 1, which corresponds to the activation of the braking. Regardless of the driver's action, if the automatic braking conditions are met, said braking is also activated and the variable F changes to 1. State 0 corresponds to inactive braking. From active braking, the algorithm will control the passage or not to stronger braking. Let t be a variable which is worth 0 if the time elapsed since the last powertrain shutdown is less than a predetermined value, of the order of a few hours, and corresponding to the duration of thermal stabilization of the braking system and therefore to the end of the evolution of thermal expansions, t is 1, if said duration is greater than the predetermined value. Let G be a variable relating to the slip equal to 0 if the slip is zero or less than a predetermined value which can be established according to the number of increments of an encoder. G is equal to 1, if the slip is not zero or if it is greater than said predetermined value. Let Fmax be a variable which is worth 0 if an upper limit of braking setpoint is not reached, in which case an increase in the braking setpoint can be authorized and which is worth 1 if the upper limit of braking setpoint is reached.
Le freinage de parking étant activé, on a F=l. On effectue alors un test sur la variable t. Si t=0, on passe à une étape de test sur la valeur de la variable G. Si t vaut 1, alors on arrête l'algorithme.With the parking brake activated, we have F = l. We then perform a test on the variable t. If t = 0, we pass to a test step on the value of the variable G. If t is 1, then we stop the algorithm.
Lors du test de la variable G, si on a G=0, on recommence les étapes précédentes. Si on a G=l , on teste la variable Fmax. Si Fmax = 1 , on arrête l'algorithme et on maintient le freinage à sa valeur maximale. Si Fmax = 0, on émet une commande à destination des actionneurs 10. Cette commande peut être exprimée au moyen d'une variable ΔF qui, si elle vautWhen testing the variable G, if we have G = 0, we repeat the previous steps. If we have G = l, we test the variable Fmax. If Fmax = 1, the algorithm is stopped and the braking is maintained at its maximum value. If Fmax = 0, a command is sent to the actuators 10. This command can be expressed by means of a variable ΔF which, if it is worth
0, provoque le maintien du serrage des étriers de freins dans son état courant, et si elle vaut 1, commande l'augmentation du serrage d'une valeur incrémentale prédéterminée. Après l'émission de la commande d'augmentation du serrage des freins, on recommence les étapes précédentes. On peut prévoir un seul incrément. Ainsi, si le freinage standard s'avère insuffisant, on passe à un freinage élevé devant normalement suffire aux situations d'usage normal. Ce mode de réalisation est illustré sur la figure 3. Les étapes sont similaires à celles illustrées sur la figure 2 à la différence qu'après le test sur la variable G, si G = 1 on passe à une commande ΔF = 1 , qui commande l'augmentation du serrage et on arrête l'algorithme. Dans ce cas il n'y a pas de test sur la variable Fmax et pas de retour au début du procédé après la commande ΔF = 1.0, causes the brake calipers to remain in their current state, and if it is equal to 1, controls the increase in the application of a predetermined incremental value. After issuing the command to increase the brake application, the previous steps are repeated. Only one increment can be expected. Thus, if the standard braking proves to be insufficient, one passes to a high braking which should normally suffice for normal use situations. This embodiment is illustrated in FIG. 3. The steps are similar to those illustrated in FIG. 2 with the difference that after the test on the variable G, if G = 1 we pass to a command ΔF = 1, which commands increasing the tightening and we stop the algorithm. In this case there is no test on the variable Fmax and no return to the start of the process after the command ΔF = 1.
En d'autres termes, on gère l'effort de serrage commandé par l'unité de calcul du boîtier 9, que l'information relative à l'inclinaison du véhicule soit disponible ou non. Elle peut ne pas être disponible, soit par construction, soit suite à la détérioration du capteur d'inclinaison, cas dans lequel l'invention propose un mode dégradé du mode habituel de gestion du freinage automatique de parking. On évite ainsi de prendre des marges excessives pour la consigne d'effort de serrage de maintien à l'arrêt du véhicule, quelles que soient la pente et la charge du véhicule. On évite ainsi un surdimensionnement du système de freinage, en particulier au niveau des étriers dans le cas de freins à disques, qui entraîne des surcoûts, des surpoids et des problèmes de fatigue. On se base sur le fait que l'information généralement appeléeIn other words, the clamping force controlled by the calculation unit of the box 9 is managed, whether the information relating to the inclination of the vehicle is available or not. It may not be available, either by construction, or following the deterioration of the inclination sensor, case in which the invention proposes a degraded mode from the usual mode for managing the automatic parking braking. This avoids taking excessive margins for the clamping force instruction to keep the vehicle stationary, whatever the slope and the vehicle load. This avoids oversizing the braking system, in particular at the calipers in the case of disc brakes, which leads to additional costs, overweight and fatigue problems. We base ourselves on the fact that the information generally called
"odométrie fine", caractérisant le glissement entre les roues et le système de freinage, est encore disponible pendant une certaine durée, de l'ordre de quelques heures, après la coupure du groupe motopropulseur."fine odometry", characterizing the slip between the wheels and the braking system, is still available for a certain period, of the order of a few hours, after the powertrain has been switched off.
En l'absence d'informations relatives à l'inclinaison longitudinale du véhicule, l'unité de calcul du boîtier 9 de gestion du frein de parking, lorsque les conditions autorisant un freinage automatique sont réunies ou lorsqu'un freinage manuel est demandé, applique une consigne d'effort de freinage dite "standard". A chaque fois qu'un glissement est détecté, la consigne de freinage est augmentée d'un incrément déterminé, et ce jusqu'à la valeur supérieure limite de consigne de freinage.In the absence of information relating to the longitudinal tilt of the vehicle, the unit for calculating the parking brake management unit 9, when the conditions authorizing automatic braking are met or when manual braking is requested, applies a so-called "standard" braking force instruction. Each time a slip is detected, the braking setpoint is increased by a determined increment, up to the upper braking setpoint limit value.
A titre d'exemple, la valeur de consigne de freinage standard permet le maintien à l'arrêt d'un véhicule sur une pente de 15% avec un coefficient de friction statique de 0,4, le véhicule étant chargé au maximum. La consigne de freinage maximal peut permettre le maintien à l'arrêt du véhicule sur une pente de 30% avec un coefficient de friction statique de 0,4, le véhicule étant là encore chargé au maximum.For example, the standard braking setpoint allows the vehicle to remain stationary on a slope of 15% with a static coefficient of friction of 0.4, the vehicle being fully loaded. The maximum braking setpoint can allow the vehicle to remain stationary on a slope of 30% with a coefficient of friction static of 0.4, the vehicle being again loaded to the maximum.
Bien entendu, si l'on dispose de l'information d'inclinaison longitudinale du véhicule, on peut appliquer dès la première émission d'une consigne de freinage, une consigne adaptée à l'inclinaison du véhicule. Au contraire, en l'absence d'information relative à l'inclinaison, l'invention permet de créer une consigne de serrage de frein qui s'adapte à la pente et à la charge du véhicule. Of course, if one has the longitudinal tilt information of the vehicle, one can apply from the first emission of a braking instruction, a instruction adapted to the inclination of the vehicle. On the contrary, in the absence of information relating to the inclination, the invention makes it possible to create a brake application instruction which adapts to the slope and to the load of the vehicle.

Claims

REVENDICATIONS
I . Procédé de commande d'un moyen de freinage d'un véhicule, dans lequel on met en œuvre une détection du glissement du véhicule, si un glissement est détecté on augmente le freinage, si un glissement n'est pas détecté on maintient le freinage. I. Method for controlling a vehicle braking means, in which a vehicle slip detection is implemented, if a slip is detected, the braking is increased, if a slip is not detected, the braking is maintained.
2. Procédé de commande selon la revendication 1, dans lequel ladite détection est mise en œuvre après un arrêt du véhicule.2. Control method according to claim 1, wherein said detection is implemented after a stop of the vehicle.
3. Procédé de commande selon la revendication 1 ou 2, dans lequel ladite détection est mise en œuvre avant un arrêt du moteur.3. Control method according to claim 1 or 2, wherein said detection is implemented before stopping the engine.
4. Procédé de commande selon l'une quelconque des revendications précédentes, dans lequel après un arrêt du moteur ladite détection est mise en œuvre pendant une durée prédéterminée.4. Control method according to any one of the preceding claims, in which after an engine stop, said detection is implemented for a predetermined period.
5. Procédé de commande selon l'une quelconque des revendications précédentes, dans lequel ladite détection est mise en œuvre par un capteur de glissement. 5. Control method according to any one of the preceding claims, in which said detection is implemented by a slip sensor.
6. Procédé de commande selon l'une quelconque des revendications précédentes, dans lequel ladite détection est mise en œuvre par un capteur de blocage des roues.6. Control method according to any one of the preceding claims, in which said detection is implemented by a wheel lock sensor.
7. Procédé de commande selon l'une quelconque des revendications précédentes, dans lequel si un glissement est détecté on augmente le freinage de façon incrémentale jusqu'à une limite supérieure.7. Control method according to any one of the preceding claims, in which if a slip is detected the braking is increased incrementally up to an upper limit.
8. Procédé de commande selon l'une quelconque des revendications précédentes, dans lequel lors de l'activation du moyen de freinage, on applique un freinage de valeur prédéterminée.8. Control method according to any one of the preceding claims, in which upon activation of the braking means, braking of predetermined value is applied.
9. Dispositif de commande (9) d'un moyen de freinage (5) d'un véhicule (1), caractérisé par le fait qu'il comprend un moyen pour détecter un glissement du véhicule, et un moyen pour commander une augmentation du freinage si un glissement est détecté et un maintien du freinage, si un glissement n'est pas détecté.9. Control device (9) for a braking means (5) of a vehicle (1), characterized in that it comprises means for detecting a slippage of the vehicle, and means for controlling an increase in the braking if a slip is detected and continued braking if a slip is not detected.
10. Programme d'ordinateur comprenant des moyens de code programme pour mettre en œuvre les étapes du procédé selon l'une quelconque des revendications 1 à 8, lorsque ledit programme fonctionne sur un ordinateur.10. Computer program comprising program code means for implementing the steps of the method according to any one of claims 1 to 8, when said program is running on a computer.
I I. Support capable d'être lu par un dispositif de lecture de moyens de code programme qui s'y trouvent stockés et qui sont aptes à la mise en oeuvre des étapes du procédé selon l'une quelconque des revendications 1 à 8, lorsque ledit programme fonctionne sur un ordinateur. I I. Support capable of being read by a reading device of program code means which are stored therein and which are suitable for carrying out the steps of the method according to any one of claims 1 to 8, when said program is running on a computer.
PCT/FR2001/002765 2000-09-13 2001-09-06 Braking action control method and device WO2002022414A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP01967434A EP1345799A1 (en) 2000-09-13 2001-09-06 Braking action control method and device
JP2002526635A JP2004509004A (en) 2000-09-13 2001-09-06 Braking control method and control device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR00/11631 2000-09-13
FR0011631A FR2813838B1 (en) 2000-09-13 2000-09-13 BRAKING CONTROL METHOD AND DEVICE

Publications (1)

Publication Number Publication Date
WO2002022414A1 true WO2002022414A1 (en) 2002-03-21

Family

ID=8854227

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/FR2001/002765 WO2002022414A1 (en) 2000-09-13 2001-09-06 Braking action control method and device

Country Status (4)

Country Link
EP (1) EP1345799A1 (en)
JP (1) JP2004509004A (en)
FR (1) FR2813838B1 (en)
WO (1) WO2002022414A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2905330A1 (en) * 2006-08-31 2008-03-07 Bosch Gmbh Robert METHOD FOR DETECTING THE SKATING OF A MOTOR VEHICLE
FR2950600A1 (en) * 2009-09-29 2011-04-01 Renault Sa ARRANGEMENT OF AN AUTOMATIC PARKING BRAKE CALCULATOR IN SUCH A MOTOR VEHICLE AND A MOTOR VEHICLE HAVING SUCH AN ARRANGEMENT

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2838083B1 (en) * 2002-04-03 2004-07-02 Peugeot Citroen Automobiles Sa METHOD FOR MANAGING THE SLOPE STABILITY OF A MOTOR VEHICLE EQUIPPED WITH A PILOT CLUTCH
FR2850925B1 (en) * 2003-02-07 2005-04-29 Peugeot Citroen Automobiles Sa METHOD AND SYSTEM FOR MANAGING THE CONDITION AND OPERATION OF A MOTOR VEHICLE

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59145658A (en) * 1983-02-09 1984-08-21 Mazda Motor Corp Electrically-driven parking-brake apparatus
WO1989001887A1 (en) * 1987-08-28 1989-03-09 Robert Bosch Gmbh Automatic parking brake
DE3909907A1 (en) * 1989-03-25 1990-09-27 Bosch Gmbh Robert Parking brake for motor vehicles
DE19525552A1 (en) * 1995-07-13 1997-01-16 Teves Gmbh Alfred Method and arrangement for holding a vehicle on an inclined road
DE19625919A1 (en) * 1996-06-28 1998-01-02 Bosch Gmbh Robert System for controlling the braking effect in a motor vehicle

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61287846A (en) * 1985-06-14 1986-12-18 Toyota Motor Corp Automatic vehicle stop holding type brake device
JPH08198071A (en) * 1995-01-27 1996-08-06 Mitsubishi Motors Corp Parking brake safety device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59145658A (en) * 1983-02-09 1984-08-21 Mazda Motor Corp Electrically-driven parking-brake apparatus
WO1989001887A1 (en) * 1987-08-28 1989-03-09 Robert Bosch Gmbh Automatic parking brake
DE3909907A1 (en) * 1989-03-25 1990-09-27 Bosch Gmbh Robert Parking brake for motor vehicles
DE19525552A1 (en) * 1995-07-13 1997-01-16 Teves Gmbh Alfred Method and arrangement for holding a vehicle on an inclined road
DE19625919A1 (en) * 1996-06-28 1998-01-02 Bosch Gmbh Robert System for controlling the braking effect in a motor vehicle

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 008, no. 276 (M - 346) 18 December 1984 (1984-12-18) *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2905330A1 (en) * 2006-08-31 2008-03-07 Bosch Gmbh Robert METHOD FOR DETECTING THE SKATING OF A MOTOR VEHICLE
FR2950600A1 (en) * 2009-09-29 2011-04-01 Renault Sa ARRANGEMENT OF AN AUTOMATIC PARKING BRAKE CALCULATOR IN SUCH A MOTOR VEHICLE AND A MOTOR VEHICLE HAVING SUCH AN ARRANGEMENT
WO2011039437A1 (en) * 2009-09-29 2011-04-07 Renault Sas Automatic parking brake computer arrangement in a motor vehicle, and motor vehicle comprising such an arrangement

Also Published As

Publication number Publication date
EP1345799A1 (en) 2003-09-24
FR2813838A1 (en) 2002-03-15
JP2004509004A (en) 2004-03-25
FR2813838B1 (en) 2003-02-07

Similar Documents

Publication Publication Date Title
EP1679242B1 (en) Protection procedure in a braking system of a vehicle with electric brakes
FR2853609A1 (en) Brake installation monitoring and controlling process for use in vehicle, involves taking measure modifying deceleration on wheel brake and constantly maintaining or modifying vehicle deceleration only in negligible manner
US9994204B2 (en) Vehicular brake system
FR2964927A1 (en) AUTOMATIC RECALIBRATION METHOD OF AN ELECTRIC PARKING BRAKE
WO2002022414A1 (en) Braking action control method and device
FR2997379A1 (en) SYSTEM FOR MAINTAINING PRESS EFFORT BY COMBINED ACTION OF TWO ORGANS.
FR3090542A1 (en) AUTONOMOUS VEHICLE WITH EMERGENCY BRAKE
EP1547891B1 (en) Electric vehicle brake control, with energy recuperation
FR2813837A1 (en) System for controlling automatic parking brake of stationary or slow moving automotive vehicle, has detectors to maintain active braking during driver's absence from vehicle, even if parking brake is disengaged
JP5956001B2 (en) Electric brake device
JP5705680B2 (en) Electric brake device
EP1188630B1 (en) Method and device for controlling the braking
FR3104098A1 (en) METHOD OF CONTROL OF THE STATE OF COUPLING OF A DRIVE MACHINE TO THE WHEELS OF A VEHICLE IN THE EVENT OF ACTION OF AN ACTIVE SAFETY FUNCTION
EP1188631B1 (en) Method and device for controlling the braking
EP1236632B1 (en) Method and procedure for brake control
WO2024115501A1 (en) Braking system comprising a parking brake device with increased operational reliability
FR3120590A1 (en) METHOD FOR CONTROLLING AN ELECTRIC PARKING BRAKE SUITABLE FOR NEW BRAKES
FR2721265A1 (en) Recuperative braking control method for electric vehicle
EP3478547B1 (en) Motor vehicle parking brake control device
WO2023237441A1 (en) Method for controlling a power-driven parking brake in an emergency
WO2023094417A1 (en) Method for electrically controlling a parking brake
WO2023131751A1 (en) Method for managing the electrical power supply to a braking system
EP4344967A1 (en) Braking system comprising at least one parking brake
FR2958608A1 (en) METHOD FOR CONTROLLING A MECHANICAL COUPLING MEANS OF AXLES OF A TRANSMISSION SYSTEM OF A MOTOR VEHICLE
FR2907743A1 (en) Motor vehicle immobilization controlling method for use during parking of vehicle, involves controlling pressure increase of program with respect to actuation of brake, when temperature of actuators is greater than determined temperature

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): JP

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE TR

DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
121 Ep: the epo has been informed by wipo that ep was designated in this application
WWE Wipo information: entry into national phase

Ref document number: 2001967434

Country of ref document: EP

WWE Wipo information: entry into national phase

Ref document number: 2002526635

Country of ref document: JP

WWP Wipo information: published in national office

Ref document number: 2001967434

Country of ref document: EP