WO2010020725A1 - Method of detecting an uneven braking situation in a motor vehicle, method for controlling steering using the detection method and vehicle able to implement these methods - Google Patents

Method of detecting an uneven braking situation in a motor vehicle, method for controlling steering using the detection method and vehicle able to implement these methods Download PDF

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Publication number
WO2010020725A1
WO2010020725A1 PCT/FR2009/051269 FR2009051269W WO2010020725A1 WO 2010020725 A1 WO2010020725 A1 WO 2010020725A1 FR 2009051269 W FR2009051269 W FR 2009051269W WO 2010020725 A1 WO2010020725 A1 WO 2010020725A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
forces
situation
wheels
asymmetric
Prior art date
Application number
PCT/FR2009/051269
Other languages
French (fr)
Inventor
Christophe Bouet
Bertrand Gruyelle
Jean-Guillaume Meyrignac
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.)
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Publication date
Application filed by Renault S.A.S. filed Critical Renault S.A.S.
Priority to EP09807958A priority Critical patent/EP2313298A1/en
Publication of WO2010020725A1 publication Critical patent/WO2010020725A1/en

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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
    • 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
    • B60W30/02—Control of vehicle driving stability
    • 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1764—Regulation during travel on surface with different coefficients of friction, e.g. between left and right sides, mu-split or between front and rear
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of 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
    • 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
    • B60W40/02—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 ambient conditions
    • B60W40/06—Road conditions
    • B60W40/064—Degree of grip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
    • 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • B60T2210/12—Friction

Definitions

  • the invention relates to a method for detecting an asymmetric braking situation for a motor vehicle, a steering control method using the detection method, and a vehicle capable of implementing said methods.
  • ABS Brake assist systems of a vehicle
  • Such a system controls the braking on each wheel of the vehicle, with the aim of avoiding the locking of the wheels. Indeed, if the wheels of the vehicle are blocked, it is no longer possible to control the trajectory of the vehicle. By keeping the wheels rolling, the ability to steer the vehicle is maintained, for example in a curve situation.
  • DE 10 2006 050 215 A1 shows an improved system for detecting an asymmetric adherence situation.
  • the system estimates brake forces on each of the wheels depending on the pressure in the brake system. He infers a moment of yaw due to differences in these forces and pilot actuators accordingly, by acting on the steering system, or by controlling the brakes to decrease the yaw moment.
  • the estimation of the braking forces from the brake pressure is not very precise, because the braking force as a function of the braking pressure is not constant and varies according to many parameters, such as the brake temperature, the state of wear, the presence of water or dust.
  • the braking pressure is adjusted by an anti-lock system, which has a non-negligible reaction time. Consideration of an asymmetrical adherence situation is delayed, and the vehicle may already be in a difficult situation before the system reacts.
  • the object of the invention is therefore to provide a method that can detect very quickly the situation of an asymmetric adherence situation of a motor vehicle
  • the subject of the invention is a method of detecting an asymmetric adhesion situation for a motor vehicle traveling in a longitudinal direction, a method in which longitudinal forces are measured on each wheel of the vehicle, and the measured efforts between them to deduce that the vehicle is asymmetric adhesion or not.
  • the sums of the longitudinal forces on the wheels of the same side are compared, and it is determined that the vehicle is asymmetrically adhered as a function of the difference between the sums. Considering that the center of gravity of the vehicle is in the longitudinal plane of symmetry of the vehicle, an imbalance between the efforts on either side of this plane generates a yaw moment. By comparing the sum of the forces on each side, the situation is detected in which the asymmetrical adhesion causes different forces between each side and generates a moment of yaw.
  • the vehicle is in an asymmetrical adhesion situation if the difference of the sums of forces is greater than a predetermined threshold.
  • the longitudinal forces on the wheels of the same train are compared in pairs, and it is determined that the vehicle is in an asymmetric grip situation as a function of the difference of the forces on the wheels of the vehicle. the same axle. This method makes it possible to detect an adhesion anomaly on a single wheel.
  • the invention also relates to a trajectory control method, in which an asymmetrical adhesion situation is detected according to the method as described above, and action is therefore taken to control the trajectory accordingly. Risky situations are avoided, even if the driver does not react early enough in an asymmetric grip situation.
  • the invention also relates to a motor vehicle comprising a system for detecting an asymmetric adhesion situation, characterized in that it comprises wheel force sensors for measuring longitudinal forces on each wheel and means of treatment to compare the measured effort between them and deduce that the vehicle is asymmetric adhesion or not.
  • the vehicle comprises steering correction means, the processing means controlling the steering correction means for, when an asymmetrical grip situation is detected during braking, applying a steering correction to orient the vehicle towards the side with the weakest grip.
  • the steering correction means comprise a four-wheel steering system. Steering compensation is thus more efficient because compensation can be applied to a larger number of wheels.
  • a vehicle according to the invention comprises four steering wheels. Each wheel is equipped with a force sensor capable of delivering a measurement signal corresponding to a longitudinal force. A control unit receives the four signals from the sensors. It processes these signals in order to deduce the existence of an asymmetric adherence situation. Suitable force sensors are for example described in document EP 1 176 324 A1.
  • An asymmetrical adhesion situation is diagnosed if the sum of the forces on the right wheels differs in absolute value from the sum of the forces on the left wheels of a value greater than a threshold S, if the force on the front right wheel differs in absolute value of the force on the front left wheel of a value greater than a threshold Sv, or if the force on the right rear wheel differs in absolute value from the force on the left rear wheel of a higher value at a threshold Sr.
  • control unit controls the orientation of the steering wheels in order to compensate for the drift that may arise from this situation.

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

Abstract

In a method of determining a situation of uneven grip in a motor vehicle travelling in a longitudinal direction, loads are measured in the longitudinal direction on each wheel of the vehicle; the loads measured are compared against one another to deduce from this whether or not the vehicle is in an uneven grip situation. Course (electronic stability) control method using this detection. Vehicle designed to implement these methods.

Description

PROCEDE DE DETECTION D'UNE SITUATION DE FREINAGE METHOD FOR DETECTING A BRAKING SITUATION
ASYMETRIQUE POUR UN VEHICULE AUTOMOBILE, PROCEDE DEASYMMETRIC FOR A MOTOR VEHICLE, METHOD OF
CONTROLE DE DIRECTION UTILISANT LE PROCEDE DE DETECTION, ETDIRECTION CONTROL USING THE DETECTION METHOD, AND
VEHICULE APTE A METTRE EN ŒUVRE CES PROCEDESVEHICLE ABLE TO IMPLEMENT THESE PROCESSES
L'invention concerne un procédé de détection d'une situation de freinage asymétrique pour un véhicule automobile, un procédé de contrôle de direction utilisant le procédé de détection, et un véhicule apte à mettre en œuvre lesdits procédés.The invention relates to a method for detecting an asymmetric braking situation for a motor vehicle, a steering control method using the detection method, and a vehicle capable of implementing said methods.
Lorsqu'un véhicule automobile roule selon une direction longitudinale, et que ses roues exercent des forces dans ladite direction soit dans une situation de freinage, soit dans une situation motrice, il se peut que les limites d'adhérence d'au moins l'une des roues soient atteintes. Si les limites d'adhérence ne sont pas identiques d'une roue à l'autre, en particulier parce que la nature du sol n'est pas la même sous chaque roue, un couple de lacet est créé sur le véhicule qui a tendance à faire dévier le véhicule de la trajectoire voulue.When a motor vehicle is traveling in a longitudinal direction, and its wheels exert forces in said direction either in a braking situation or in a driving situation, it is possible that the adhesion limits of at least one wheels are reached. If the limits of adhesion are not identical from one wheel to another, in particular because the nature of the ground is not the same under each wheel, a pair of yaw is created on the vehicle which tends to deflect the vehicle from the desired path.
On connaît des systèmes d'aide au freinage d'un véhicule, connus sous le nom d'ABS. Un tel système contrôle le freinage sur chaque roue du véhicule, avec pour objectif d'éviter le blocage des roues. En effet, si les roues du véhicule sont bloquées, il n'est plus possible de contrôler la trajectoire du véhicule. En gardant aux roues une possibilité de rouler, on conserve une aptitude à diriger le véhicule, par exemple dans une situation de courbe.Brake assist systems of a vehicle, known as ABS, are known. Such a system controls the braking on each wheel of the vehicle, with the aim of avoiding the locking of the wheels. Indeed, if the wheels of the vehicle are blocked, it is no longer possible to control the trajectory of the vehicle. By keeping the wheels rolling, the ability to steer the vehicle is maintained, for example in a curve situation.
Le document DE 10 2006 050 215 Al montre un système perfectionné de détection d'une situation d'adhérence asymétrique. Le système estime des forces de freinage sur chacune des roues en fonction de la pression dans le circuit de freinage. Il en déduit un moment de lacet dû à des différences dans ces forces et pilote des actionneurs en conséquence, en agissant sur le système de direction, ou en pilotant les freins afin de diminuer le moment de lacet.DE 10 2006 050 215 A1 shows an improved system for detecting an asymmetric adherence situation. The system estimates brake forces on each of the wheels depending on the pressure in the brake system. He infers a moment of yaw due to differences in these forces and pilot actuators accordingly, by acting on the steering system, or by controlling the brakes to decrease the yaw moment.
L'estimation des forces de freinage à partir de la pression de freinage est peu précise, car la force de freinage en fonction de la pression de freinage n'est pas constante et évolue en fonction de nombreux paramètres, tels que la température des freins, l'état d'usure, la présence d'eau ou de poussières. De plus, la pression de freinage est ajustée par un système d'antiblocage, qui a un temps de réaction non négligeable. La prise en compte d'une situation d'adhérence asymétrique s'en trouve retardée, et le véhicule risque d'être déjà dans une situation délicate avant que le système réagisse. L'invention vise donc à fournir un procédé qui puisse détecter très rapidement la situation d'une situation d'adhérence asymétrique d'un véhicule automobileThe estimation of the braking forces from the brake pressure is not very precise, because the braking force as a function of the braking pressure is not constant and varies according to many parameters, such as the brake temperature, the state of wear, the presence of water or dust. In addition, the braking pressure is adjusted by an anti-lock system, which has a non-negligible reaction time. Consideration of an asymmetrical adherence situation is delayed, and the vehicle may already be in a difficult situation before the system reacts. The object of the invention is therefore to provide a method that can detect very quickly the situation of an asymmetric adherence situation of a motor vehicle
L'invention a pour objet un procédé de détection d'une situation d'adhérence asymétrique pour un véhicule automobile se déplaçant selon une direction longitudinale, procédé selon lequel on mesure des efforts dans la direction longitudinale sur chaque roue du véhicule, et on compare les efforts mesurés entre eux pour en déduire que le véhicule est en situation d'adhérence asymétrique ou non.The subject of the invention is a method of detecting an asymmetric adhesion situation for a motor vehicle traveling in a longitudinal direction, a method in which longitudinal forces are measured on each wheel of the vehicle, and the measured efforts between them to deduce that the vehicle is asymmetric adhesion or not.
Par une mesure directe des efforts au niveau des roues, on dispose sans délai d'une information sur la situation du véhicule. L'analyse de cette situation et la réaction à mettre en œuvre en est très rapide. Par ailleurs, la mesure étant directe, elle est très précise et ne fait pas intervenir d'hypothèse sur des lois entre efforts et mesures indirectes. Selon un mode de réalisation, on compare les sommes des efforts longitudinaux sur les roues d'un même côté, et on détermine que le véhicule est en situation d'adhérence asymétrique en fonction de l'écart entre les sommes. En considérant que le centre de gravité du véhicule est dans le plan de symétrie longitudinal du véhicule, un déséquilibre entre les efforts de part et d'autre de ce plan génère un moment de lacet. En comparant la somme des efforts de chaque côté, on détecte la situation dans laquelle l'adhérence asymétrique provoque des efforts différents entre chaque côté et génère un moment de lacet.By a direct measurement of the forces at the wheels, there is immediately available information on the situation of the vehicle. The analysis of this situation and the reaction to be implemented is very fast. Moreover, the measure being direct, it is very precise and does not involve hypothesis on laws between efforts and indirect measures. According to one embodiment, the sums of the longitudinal forces on the wheels of the same side are compared, and it is determined that the vehicle is asymmetrically adhered as a function of the difference between the sums. Considering that the center of gravity of the vehicle is in the longitudinal plane of symmetry of the vehicle, an imbalance between the efforts on either side of this plane generates a yaw moment. By comparing the sum of the forces on each side, the situation is detected in which the asymmetrical adhesion causes different forces between each side and generates a moment of yaw.
On détermine par exemple que le véhicule est en situation d'adhérence asymétrique si la différence des sommes des efforts est supérieure à un seuil prédéterminé. Selon un autre mode de réalisation, on compare deux à deux les efforts longitudinaux sur les roues d'un même train, et on détermine que le véhicule est en situation d'adhérence asymétrique en fonction de l'écart des efforts sur les roues d'un même essieu. Ce procédé permet de détecter une anomalie d'adhérence sur une seule roue.For example, it is determined that the vehicle is in an asymmetrical adhesion situation if the difference of the sums of forces is greater than a predetermined threshold. According to another embodiment, the longitudinal forces on the wheels of the same train are compared in pairs, and it is determined that the vehicle is in an asymmetric grip situation as a function of the difference of the forces on the wheels of the vehicle. the same axle. This method makes it possible to detect an adhesion anomaly on a single wheel.
On détermine par exemple que le véhicule est en situation d'adhérence asymétrique si la différence des efforts sur les roues d'un même essieu est supérieure à un seuil prédéterminé. L'invention a aussi pour objet un procédé de contrôle de trajectoire, selon lequel on détecte une situation d'adhérence asymétrique selon le procédé tel que décrit précédemment, et on agit sur des moyens de contrôle de la trajectoire en conséquence. On évite des situations à risques, même si le conducteur ne réagit pas suffisamment tôt dans une situation d'adhérence asymétrique.It is determined, for example, that the vehicle is in an asymmetrical grip situation if the difference in the forces on the wheels of the same axle is greater than a predetermined threshold. The invention also relates to a trajectory control method, in which an asymmetrical adhesion situation is detected according to the method as described above, and action is therefore taken to control the trajectory accordingly. Risky situations are avoided, even if the driver does not react early enough in an asymmetric grip situation.
De manière particulière, lorsqu'on détecte une situation d'adhérence asymétrique pendant un freinage, on applique une correction de direction pour orienter le véhicule en direction du côté à l'adhérence la plus faible. On compense ainsi la tendance du véhicule à dévier vers le côté avec le plus d'adhérence lors du freinage. L'invention a aussi pour objet un véhicule automobile comportant un système de détection d'une situation d'adhérence asymétrique, caractérisé en ce qu'il comporte des capteurs d'efforts aux roues pour mesurer des efforts longitudinaux sur chaque roue et des moyens de traitement pour comparer les efforts mesurés entre eux et en déduire que le véhicule est en situation d'adhérence asymétrique ou non .In particular, when an asymmetric grip situation is detected during braking, apply a steering correction to steer the vehicle towards the side with the weakest grip. This compensates for the tendency of the vehicle to deviate to the side with the most grip during braking. The invention also relates to a motor vehicle comprising a system for detecting an asymmetric adhesion situation, characterized in that it comprises wheel force sensors for measuring longitudinal forces on each wheel and means of treatment to compare the measured effort between them and deduce that the vehicle is asymmetric adhesion or not.
De manière particulière, le véhicule comporte des moyens de correction de direction, les moyens de traitement pilotant les moyens de correction de direction pour, lorsqu'une situation d'adhérence asymétrique est détectée pendant un freinage, appliquer une correction de direction pour orienter le véhicule en direction du côté à l'adhérence la plus faible. Selon un mode de réalisation particulier, les moyens de correction de direction comportent un système à quatre roues directrices. La compensation de direction est ainsi plus efficace, car la compensation peut intervenir sur un plus grand nombre de roues. Dans un exemple de réalisation de l'invention, un véhicule conforme à l'invention comporte quatre roues directrices. Chaque roue est équipée d'un capteur d'efforts apte à délivrer un signal de mesure correspondant à un effort longitudinal. Une unité de contrôle reçoit les quatre signaux issus des capteurs. Elle traite ces signaux afin d'en déduire l'existence d'une situation d'adhérence asymétrique . Des capteur d'efforts adaptés sont par exemple décrits dans le document EP 1 176 324 Al.In particular, the vehicle comprises steering correction means, the processing means controlling the steering correction means for, when an asymmetrical grip situation is detected during braking, applying a steering correction to orient the vehicle towards the side with the weakest grip. According to a particular embodiment, the steering correction means comprise a four-wheel steering system. Steering compensation is thus more efficient because compensation can be applied to a larger number of wheels. In an exemplary embodiment of the invention, a vehicle according to the invention comprises four steering wheels. Each wheel is equipped with a force sensor capable of delivering a measurement signal corresponding to a longitudinal force. A control unit receives the four signals from the sensors. It processes these signals in order to deduce the existence of an asymmetric adherence situation. Suitable force sensors are for example described in document EP 1 176 324 A1.
Une situation d'adhérence asymétrique est diagnostiquée si la somme des efforts sur les roues droites diffère en valeur absolue de la somme des efforts sur les roues gauches d'une valeur supérieure à un seuil S, si l'effort sur la roue avant droite diffère en valeur absolue de l'effort sur la roue avant gauche d'une valeur supérieure à un seuil Sv, ou si l'effort sur la roue arrière droite diffère en valeur absolue de l'effort sur la roue arrière gauche d'une valeur supérieure à un seuil Sr.An asymmetrical adhesion situation is diagnosed if the sum of the forces on the right wheels differs in absolute value from the sum of the forces on the left wheels of a value greater than a threshold S, if the force on the front right wheel differs in absolute value of the force on the front left wheel of a value greater than a threshold Sv, or if the force on the right rear wheel differs in absolute value from the force on the left rear wheel of a higher value at a threshold Sr.
En réponse à cette situation d'adhérence asymétrique, l'unité de contrôle pilote l'orientation des roues directrices afin de compenser la dérive qui pourrait naître de cette situation. In response to this situation of asymmetrical adhesion, the control unit controls the orientation of the steering wheels in order to compensate for the drift that may arise from this situation.

Claims

REVENDICATIONS
1. Procédé de détection d'une situation d'adhérence asymétrique pour un véhicule automobile se déplaçant selon une direction longitudinale, procédé caractérisé en ce que : on mesure directement des efforts dans la direction longitudinale sur chaque roue du véhicule ; on compare les efforts mesurés entre eux pour en déduire que le véhicule est en situation d'adhérence asymétrique ou non.1. A method of detecting an asymmetric adhesion situation for a motor vehicle moving in a longitudinal direction, characterized in that: one directly measures efforts in the longitudinal direction on each wheel of the vehicle; the forces measured between them are compared to deduce that the vehicle is in asymmetric adhesion or not.
2. Procédé selon la revendication 1, selon lequel on compare les sommes des efforts longitudinaux sur les roues d'un même côté, et on détermine que le véhicule est en situation d'adhérence asymétrique en fonction de l'écart entre les sommes.2. Method according to claim 1, wherein the sums of the longitudinal forces on the wheels of the same side are compared, and it is determined that the vehicle is asymmetrically adhered as a function of the difference between sums.
3. Procédé selon la revendication 2, selon lequel on détermine que le véhicule est en situation d'adhérence asymétrique si la différence des sommes des efforts est supérieure à un seuil prédéterminé (S) .3. Method according to claim 2, wherein it is determined that the vehicle is in an asymmetric adhesion situation if the difference of the sums of the forces is greater than a predetermined threshold (S).
4. Procédé selon la revendication 1, selon lequel on compare deux à deux les efforts longitudinaux sur les roues d'un même train, et on détermine que le véhicule est en situation d'adhérence asymétrique en fonction de l'écart des efforts sur les roues d'un même essieu.4. The method of claim 1, wherein is compared in pairs the longitudinal forces on the wheels of the same train, and it is determined that the vehicle is asymmetrically adhered according to the deviation of the forces on the wheels of the same axle.
5. Procédé selon la revendication 4, selon lequel on détermine que le véhicule est en situation d'adhérence asymétrique si la différence des efforts sur les roues d'un même essieu est supérieure à un seuil prédéterminé (Sa, Sr) .5. Method according to claim 4, wherein it is determined that the vehicle is asymmetrically adhered if the difference in the forces on the wheels of the same axle is greater than a predetermined threshold (Sa, Sr).
6. Procédé de contrôle de trajectoire, caractérisé en ce qu'on détecte une situation d'adhérence asymétrique selon le procédé de l'une des revendications 1 à 5, et on agit sur des moyens de contrôle de la trajectoire en conséquence.6. A method of trajectory control, characterized in that an asymmetric adhesion situation is detected according to the method of one of claims 1 to 5, and acts on control means of the trajectory accordingly.
7. Procédé selon la revendication 6, selon lequel, lorsqu'on détecte une situation d'adhérence asymétrique pendant un freinage, on applique une correction de direction pour orienter le véhicule en direction du côté à l'adhérence la plus faible.The method of claim 6, wherein, when detecting an asymmetric adherence situation during braking, steering correction is applied to steer the vehicle toward the side with the weakest grip.
8. Véhicule automobile comportant un système de détection d'une situation d'adhérence asymétrique, caractérisé en ce qu'il comporte des capteurs d'efforts aux roues pour mesurer des efforts longitudinaux sur chaque roue et des moyens de traitement pour comparer les efforts mesurés entre eux et en déduire que le véhicule est en situation d'adhérence asymétrique ou non. 8. A motor vehicle comprising a system for detecting an asymmetrical adhesion situation, characterized in that it comprises wheel force sensors for measuring longitudinal forces on each wheel and processing means for comparing the measured forces. between them and deduce that the vehicle is asymmetrically adhered or not.
9. Véhicule selon la revendication 8, caractérisé en ce qu'il comporte des moyens de correction de direction, les moyens de traitement pilotant les moyens de correction de direction pour, lorsqu'une situation d'adhérence asymétrique est détectée pendant un freinage, appliquer une correction de direction pour orienter le véhicule en direction du côté à l'adhérence la plus faible.9. Vehicle according to claim 8, characterized in that it comprises direction correction means, the processing means controlling the direction correction means for, when an asymmetrical adhesion situation is detected during braking, apply a steering correction to steer the vehicle towards the side with the weakest grip.
10. Véhicule selon la revendication 9, dans lequel les moyens de correction de direction comportent un système à quatre roues directrices. The vehicle of claim 9, wherein the steering correction means comprises a four-wheel steering system.
PCT/FR2009/051269 2008-08-19 2009-06-30 Method of detecting an uneven braking situation in a motor vehicle, method for controlling steering using the detection method and vehicle able to implement these methods WO2010020725A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP09807958A EP2313298A1 (en) 2008-08-19 2009-06-30 Method of detecting an uneven braking situation in a motor vehicle, method for controlling steering using the detection method and vehicle able to implement these methods

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0855616 2008-08-19
FR0855616A FR2935122B1 (en) 2008-08-19 2008-08-19 METHOD FOR DETECTING ASYMMETRIC BRAKING FOR A MOTOR VEHICLE.

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WO2010020725A1 true WO2010020725A1 (en) 2010-02-25

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PCT/FR2009/051269 WO2010020725A1 (en) 2008-08-19 2009-06-30 Method of detecting an uneven braking situation in a motor vehicle, method for controlling steering using the detection method and vehicle able to implement these methods

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EP (1) EP2313298A1 (en)
FR (1) FR2935122B1 (en)
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Citations (7)

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Publication number Priority date Publication date Assignee Title
US5865514A (en) * 1994-11-23 1999-02-02 Itt Manufacturing Enterprises Inc. Circuit arrangement for a braking system with anti-lock control system
US20010038242A1 (en) * 2000-04-26 2001-11-08 Yuji Soejima Braking force control system for vehicle
EP1424263A2 (en) 2002-11-26 2004-06-02 Toyota Jidosha Kabushiki Kaisha Vehicle steering control device
US20050247510A1 (en) * 2004-03-26 2005-11-10 Toyota Jidosha Kabushiki Kaisha Running stability control device for vehicle based upon longitudinal forces of wheels
FR2876337A1 (en) * 2004-10-08 2006-04-14 Renault Sas Rear wheel braking controlling method for motor vehicle, involves finding braking pressure threshold value provided, as maximum braking pressure difference between rear wheels, with respect to instantaneous velocity and braking angle values
US20070294009A1 (en) * 2006-06-15 2007-12-20 Yoshiyuki Yasui Steering Control Apparatus for a Vehicle
JP2008037259A (en) * 2006-08-07 2008-02-21 Toyota Motor Corp Drive control device for braking of going straight ahead of vehicle and drive control method

Family Cites Families (1)

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Publication number Priority date Publication date Assignee Title
FR2843194A1 (en) * 2002-07-31 2004-02-06 Soc Technologie Michelin Stm METHOD AND DEVICE FOR DETERMINING AN EFFORT EXERCISED ON A WHEEL BY THE GROUND

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5865514A (en) * 1994-11-23 1999-02-02 Itt Manufacturing Enterprises Inc. Circuit arrangement for a braking system with anti-lock control system
US20010038242A1 (en) * 2000-04-26 2001-11-08 Yuji Soejima Braking force control system for vehicle
EP1424263A2 (en) 2002-11-26 2004-06-02 Toyota Jidosha Kabushiki Kaisha Vehicle steering control device
US20050247510A1 (en) * 2004-03-26 2005-11-10 Toyota Jidosha Kabushiki Kaisha Running stability control device for vehicle based upon longitudinal forces of wheels
FR2876337A1 (en) * 2004-10-08 2006-04-14 Renault Sas Rear wheel braking controlling method for motor vehicle, involves finding braking pressure threshold value provided, as maximum braking pressure difference between rear wheels, with respect to instantaneous velocity and braking angle values
US20070294009A1 (en) * 2006-06-15 2007-12-20 Yoshiyuki Yasui Steering Control Apparatus for a Vehicle
JP2008037259A (en) * 2006-08-07 2008-02-21 Toyota Motor Corp Drive control device for braking of going straight ahead of vehicle and drive control method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2313298A1 *

Also Published As

Publication number Publication date
FR2935122A1 (en) 2010-02-26
FR2935122B1 (en) 2011-03-04
EP2313298A1 (en) 2011-04-27

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