WO2019053357A1 - Procédé d'optimisation d'un paramètre indicateur de vitesse véhicule destiné aux fonctions d'assistance de direction et aux fonctions de sécurisation - Google Patents
Procédé d'optimisation d'un paramètre indicateur de vitesse véhicule destiné aux fonctions d'assistance de direction et aux fonctions de sécurisation Download PDFInfo
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- WO2019053357A1 WO2019053357A1 PCT/FR2018/052191 FR2018052191W WO2019053357A1 WO 2019053357 A1 WO2019053357 A1 WO 2019053357A1 FR 2018052191 W FR2018052191 W FR 2018052191W WO 2019053357 A1 WO2019053357 A1 WO 2019053357A1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/049—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting sensor failures
Definitions
- the present invention relates to methods for managing power steering systems for vehicles.
- assistance functions which are intended to assist a driver in steering the vehicle, either by providing a manual steering assistance effort, or by ensuring a true automatic control of the vehicle by servocontrolling the trajectory of said vehicle (for example for automatic parking, called “park assist", or maintenance in a lane keeping traffic lane), and secondly security functions, intended to confer on the system, and more particularly on the assistance functions, a sufficient level of security and reliability.
- the safety standard ISO-26262 proposes to define, from a risk analysis, "ASIL” ("Automotive Safety Integrity Level”) safety levels, rated from the lowest to the most demanding, “ QM “(" Quality Management ", that is to say not relevant for safety), then” A “,” B “,” C “and finally” D “, and which are determined by characterizing each dangerous situation ( or “dreaded event”) possible by three parameters:
- ASIL Automotive Safety Integrity Level
- ASIL level depends on the combination (of the product) of these three parameters. Thus, for example, a dangerous event causing critical injuries S3, with a high probability of occurrence E4, and uncontrollable C3, will fall under level ASIL D (the highest).
- the same C3 uncontrollable event causing S3 critical injuries, but having a lower probability of occurrence, one or more degree (s) lower than the maximum degree, will have its ASIL level lowered by one or more degrees by result.
- the ASIL level will thus be reduced to C in the case of an exposure E3, or even to A in the case of an exposure El.
- the assistance functions and the security functions generally use, among their input data, an estimation of the instantaneous longitudinal speed of the vehicle.
- a strong pressure on the accelerator can create a loss of adhesion of the driving wheels, which begin to skate and are therefore subject to a significant increase in their rotational speed, without the actual speed of the vehicle increases significantly.
- the real speed of the vehicle will then be much lower than that estimated from the speed of rotation of the wheels.
- An overestimation of the vehicle speed may certainly be favorable to the security functions, by allowing said security functions to control the vehicle more strictly, and in particular to make more responsive steering corrections, or to limit the amplitude of the vehicle. steering maneuvers, which are potentially more dangerous at high speeds than at low speeds.
- an overestimation of the speed may also result in an undesirable reduction of conventional driving assistance, or a restriction of the booster force that is generated by the management assistance.
- One solution could be to use two different vehicle speed evaluations, of different origins, namely a first evaluation for the assistance functions, and the other evaluation, possibly voluntarily overestimated, for the security functions, in order to guarantee both the comfort of the assistance and the security of the different functions of the steering system at satisfactory ASIL levels.
- the objects assigned to the invention therefore aim at overcoming the aforementioned drawbacks and at proposing a new management method for a power steering system which makes it possible to simply and reliably manage the instantaneous speed information and the joint execution of the functions. assistance and security functions that depend on this instantaneous speed information.
- Objects assigned to the invention are achieved by means of a method of managing a vehicle power steering system, said power steering system having a plurality of functions including at least one assist function for assisting a driver in the control of the vehicle and at least one security function intended to confer on said assistance function a predetermined ASIL level within the meaning of the ISO-26262 standard, said assistance function and said security function each making use of the same vehicle speed indicator parameter which is considered representative of the longitudinal speed of the vehicle, said method being characterized in that it comprises a step (a) of functional speed estimation, during which a first value of speed, called “functional speed", which is representative of the actual longitudinal speed of the vehicle at a given moment, and which is used by default as a vehicle speed indicator parameter, according to a first mode of operation called "operating mode normal ", a step (b) for estimating a speed increase, during which a second speed value, referred to as a" speed magnifier ", is estimated to be greater than the functional speed and representative of an upper limit.
- such a method makes it possible to promote the use, as a parameter indicating the speed of the vehicle, of the functional speed, which represents an estimate very close to the real speed of the vehicle under normal conditions, and this in order to optimize the behavior of the assistance function or functions, and thus to optimize driving comfort, but on the condition that the value of the functional speed remains acceptable to ensure the proper functioning of the security functions.
- the method provides a substitution signal, namely a signal of underestimated speed, which is determined from a speed increase, by nature higher than the real speed of the vehicle and therefore favorable to said security functions.
- a substitution signal namely a signal of underestimated speed, which is determined from a speed increase, by nature higher than the real speed of the vehicle and therefore favorable to said security functions.
- the method makes it possible to define, and recalculate in real time, at each instant, and regardless of the real speed of the vehicle, a "safety tunnel", which is between a high value corresponding to the upper limit. speed and a low value corresponding to the underestimated speed, and to ensure that the vehicle speed indicator parameter selected for the application of the assistance and security functions is permanently in said security tunnel, in order to guarantee reliable operation of the security functions.
- said functional speed signal is used as a speed indicator parameter of the vehicle, to promote the accuracy and comfort of the assistance functions, without affecting the reliability of the security functions.
- the method according to the invention makes it possible to automatically select the vehicle speed indicator signal that is most appropriate to the situation at the instant considered, while systematically guaranteeing the reliable operation of the security functions.
- a single underestimated speed information as a vehicle speed indicator parameter, i.e. a single speed signal, common to the assistance functions and security functions, advantageously allows to reduce the structure, both hardware and software, of the steering system, and reduce the cost of said system.
- Figure 1 illustrates a reduction law according to the invention.
- Figure 2 illustrates, in a block diagram, the operating principle of a method according to the invention within a power steering system.
- FIG. 3 illustrates, by means of a graph representing a change over time of the various speed signals used by the method, an instantaneous switching from the normal operating mode to the security mode.
- FIG. 4 illustrates, by means of a graph representing a change over time of the different speed signals used by the method, a delayed switching from the normal operating mode to the security mode.
- FIGS. 5A and 5B illustrate, by means of graphs representing a change over time of the various speed signals used by the method, the implementation of switching from the security mode to a reinforced security mode, respectively after a first instantaneous switching according to FIG. 3 and after a first delayed commutation according to FIG.
- the present invention relates to a method for managing a power steering system 1 for a vehicle.
- Such a power steering system 1 preferably comprises, in a manner known per se, a steering wheel intended to be maneuvered by the driver of the vehicle, and which controls, preferably by means of a steering column provided with a pinion, the displacement of a steering mechanism for changing the orientation of one or more steering wheels 2.
- Said steering mechanism preferably comprises a rack, which is mounted movable in translation in a steering box fixed to the chassis of the vehicle, on which meshes the pinion, and at the ends of which are fixed steering rods which allow to modify the yaw orientation, i.e. the steering angle, of the rocket carrier carrying the wheels 2.
- An assistance motor preferably electric, is also coupled to the steering mechanism to provide an assist force, typically an assist torque, which facilitates the maneuvering of said steering mechanism and thus the modification of the steering angle. .
- the power steering system 1 also comprises a plurality of functions F1, F2, including at least one assistance function F1 designed to assist a driver in the control of the vehicle and at least one security function F2 intended to confer on said function a predetermined ASIL level within the meaning of ISO-26262.
- the assistance function F1 is chosen from: a manual steering assistance function, intended to provide, by means of the assistance engine, an assistance effort to facilitate the movement of the steering mechanism and / or the steering wheel, said manual steering assistance function being able in particular to be a conventional assistance function, intended to provide an assistance effort to amplify the manual effort provided by the driver to help the driver to turn the wheel, or a reminder function to remind the driver flying to its central position, which corresponds to a straight line trajectory after a turn;
- a manual steering assistance function intended to provide, by means of the assistance engine, an assistance effort to facilitate the movement of the steering mechanism and / or the steering wheel
- said manual steering assistance function being able in particular to be a conventional assistance function, intended to provide an assistance effort to amplify the manual effort provided by the driver to help the driver to turn the wheel, or a reminder function to remind the driver flying to its central position, which corresponds to a straight line trajectory after a turn;
- an automatic piloting function providing an automatic control of the vehicle trajectory, such as a lane keeping function, an automatic obstacle avoidance function, or a parking function automatic ("park assist").
- the security function F2 distinct from the assistance function F1, may for example be designed to restrict, when the longitudinal speed of the vehicle increases and / or exceeds a certain threshold, the intensity of the assistance effort determined by the assistance function F1, in order to avoid that the assistance function F1 causes, especially when the vehicle is traveling at a high speed (typically above 50 km / h, 90 km / h or 120 km / h). km / h), abrupt steering movements that could cause the vehicle to lurch at such speeds.
- the security function F2 guarantees an ASIL level at least equal to B, preferably at least equal to C, or even equal to D in the sense of the ISO-26262 standard.
- the assistance function F1 and the safety function F2 each use the same vehicle speed indicator parameter V_param which is considered as representative of the longitudinal speed of the vehicle, as can be seen in FIG. 2.
- each of said functions F1, F2 requires, for its own execution, the knowledge of a speed information, representative of the longitudinal velocity of the vehicle, said speed information being provided here at the input of each of said functions F1, F2 in the form of a signal called "speed indicator parameter" V_param.
- the method therefore comprises a functional speed estimation step (a), during which a first speed value, called “functional speed” V_func, is estimated, which is representative of the real longitudinal speed of the vehicle at a moment considered.
- This functional speed V_func is used by default as a speed indicator parameter of the vehicle V_param, according to a first operating mode called "normal operating mode".
- this functional speed V_func will, in normal operation, that is to say in the absence of wheel slip and in the absence of hardware failure of a sensor or a calculator responsible for estimating said functional V_func, equal to the actual speed of the vehicle to +/- 10%, or even +/- 5%, that is to say, will have a very good accuracy.
- the functional speed signal V_func may be relatively sensitive to the disturbances or failures that affect the vehicle or the calculation of said signal, so that its ASIL (guaranteed) level may be low.
- this functional speed V_func may tend to be slightly underestimated, which is, in certain situations, not acceptable for the security functions F2.
- the functional speed information V_func can come from a third party system, which is on board the vehicle but which is separate from the power steering system 1, such as for example an electronic stability program ( “Electronic Stability Program”) or Anti-Locking System (“AntiBlocking System”).
- the functional speed V_func will then be part of the information available on the on-board network 20, of the CAN ("Controller Area Network") or FlexRay (computer bus) type, and may be retrieved by the power steering system 1 during the step (at).
- the estimation of the functional speed V_func can be carried out by the power steering system 1 itself, for example from measurements of the rotational speed V_roue of one or more wheels 2 of the vehicle, as shown in Figure 2.
- the average speed of rotation of the wheels 2 of the vehicle typically the average speed of rotation of two wheels 2 or four wheels 2, converted into linear speed, taking into account in particular the diameter, may be considered as the functional speed V_func. said wheels (including the tires).
- the method also comprises a step (b) for estimating a speed enhancer, during which a second speed value, called “velocity magnifier” V_upper, is estimated which is distinct from, and greater than, the functional speed V_func and which is representative of an increase of the real longitudinal speed of the vehicle at said instant.
- V_upper a second speed value
- This speed increaser V_upper represents an upper speed limit, that is to say a longitudinal speed value which is known to be not less than the value of the real longitudinal speed of the vehicle at the instant considered. .
- the speed increaser V_upper will preferably be higher (in absolute value) than the real longitudinal speed of the vehicle with a value between 0 km / h and 30 km / h.
- V_upper speed master signal will be intrinsically “secure” in that it will have an ASIL level higher than that of the functional speed signal V_func.
- the V_upper speed increaser information can be retrieved from the on-board network 20, from third-party embedded systems such as ESP or ABS, or be determined by the power steering system 1 itself.
- V_upper speed increaser which will eliminate any risk of using as parameter speed parameter V_param a value per too underestimated that could distort the execution of the F2 security function.
- the method then comprises a step (c) for calculating an underestimated speed during which a predetermined reduction law LR is applied to the speed increaser V_upper so as to obtain an underestimated speed value V_under, which is lower than the speed increaser V_upper of a predetermined reduction value V_reduc fixed by said reduction law LR:
- the reduction value V_under is chosen so that it defines, with respect to the V_upper speed increaser, the width of a "tunnel" ST, which is comprised between a high value corresponding to the V_upper speed increaser and a low value corresponding to the underestimated speed V_under, and wherein said underestimated speed corresponds to a minimum admissible value to guarantee the correct operation of the security function F2.
- the reduction value (value of underestimate) V_reduced which results from the application of the law of reduction LR is advantageously sufficient to allow, even to favor, an appropriate execution of the function of assistance Fl, so as not to be source of discomfort for the driver, but nevertheless weak enough in order not to reduce too much the speed estimation used as parameter indicating the vehicle speed V_param, and thus not to compromise the reliable execution of the security function F2, and thus to guarantee that said security function F2 and the system Assisted steering systems 1 operate at the desired ASIL level.
- the method then comprises a comparison step (d) in which the functional speed value V_func is compared, in absolute value, with the underestimated speed value V_under, and, if the absolute value of the functional speed
- This corrective switching makes it possible to selectively assign to the speed indicator parameter of the vehicle V_param sometimes the functional speed value V_func, as long as said functional speed value is, in absolute value, greater than or equal to the underestimated speed V_under, c ' that is to say, as long as said functional speed value remains in the safety tunnel ST acceptable for the security function F2, and sometimes the underestimated speed value, that is to say the acceptable lower limit of the tunnel ST security, when the value of the functional speed falls below said acceptable lower limit V_under.
- the vehicle speed indicator parameter V_param is permanently (or almost permanently) maintained above the low lower limit V_under of the security tunnel, which guarantees the proper functioning of the security function F2.
- the switching occurs only when the functional speed V_func is too low and crosses the lower limit set by the underestimated speed V_under, that is to say only in case of error of estimation or failure, of so that, in the absence of error or failure, the functional speed signal V_func is preferred which is a more accurate and realistic estimate the actual longitudinal speed of the vehicle than the speed increaser V_upper and / or the underestimated speed V_under, and this so as to promote, in normal operation, the reliability and comfort of the assistance function Fl.
- the method also comprises a shared use step during which the same vehicle speed indicator parameter V_param, equal to either the functional speed V_func or the underrated value V_under, is used, such as input of each of the aforementioned assistance functions F1 and F2.
- the reduction law LR is preferably established beforehand, by tests and / or simulations in which, at a given real longitudinal speed, not zero, of the vehicle, the indicator parameter is progressively lowered, and artificially, in absolute value. of the vehicle V_param which is taken into consideration by the assistance functions Fl and F2 securing, and the corresponding reactions of the F2 and / or the vehicle security function are observed, until a low threshold of speed indicator parameter V_param_thresh_low from which it can be seen that the security function F2 no longer manages to ensure a security in accordance with the desired ASIL level at the given real longitudinal speed, and then, from this low indicator parameter threshold, it is fixed.
- velocity V_param_thresh_low a reduction value V_reduc retained for the law of reduction LR.
- the reduction value can be determined
- V_reduc_max V_reduc from the difference, called “maximum permissible reduction value" V_reduc_max, between firstly the functional speed V_func, or more preferably the speed increaser V_upper, at the moment when one reaches the low threshold of parameter indicator of speed V_param_thresh_low, and secondly said low threshold speed parameter parameter V_param_thresh_low, that is to say:
- V_reduc f (V_reduc_max)
- V_reduc V_reduc_max
- the reduction value V_reduc as a fraction of the maximum permissible reduction value V_reduc_max, for example:
- fraction being even more preferably comprised (in absolute value) between 70% and 90% of the maximum allowable reduction value V_reduc_max:
- the reduction law LR is empirically constructed by operating the power steering system 1, and more generally the vehicle, at a given real speed, and therefore at a given speed boost V_upper, and by successively testing several decreasing values of the speed parameter parameter V_param (in absolute value), that is to say intentionally distorting the speed indicator parameter V_param, in order to simulate increasing defects in the estimation of the functional speed V_func which, in the absence of corrective switching specific to the invention, would induce an increasingly significant underestimation of said functional speed V_func and therefore of the indicator parameter V_param, until a low threshold of speed indicator parameter V_param_thresh_low which causes a failure of the security function F2, for example by rendering the security function inoperative or incapable of to compensate a dangerous event in time (feared event).
- a maximum allowable reduction value V_reduc_max is identified from which, if said maximum allowable reduction value V_reduc_max is deduced from said V_upper speed increaser, to calculate the V_param speed parameter parameter used by the F2 security function, the induced fault degrades the performance of the function sufficiently securing F2 so that said function is "downgraded" to an ASIL level lower than the ASIL level required by the specifications.
- the low speed parameter threshold V_param_thresh_low ie the underestimate limit which causes the failure of the security function F2, therefore corresponds empirically to the maximum acceptable reduction value which should not be exceeded. not exceed (in absolute value), a given V_upper speed boost, and therefore in practice when one is at a given real speed, to maintain reliable security at the desired ASIL level.
- V_upper speed increaser typically for several functional speed values V_func, so as to preferably cover the entire range of use.
- predictable vehicle typically from 0 km / h to at least 130 km / h, 150 km / h, 200 km / h or even 250 km / h.
- the parameter speed indicator V_param can therefore take, without risk for the security function F2, any value which will be in the range defined between on the one hand a high limit value equal to the speed increaser V_upper, and on the other hand, and above all, a low limit value equal to the underestimated speed V_under, that is to say equal to the speed increaser V_upper (considered at the instant considered) minus the reduction value V_reduc applicable at the instant considered. .
- said constant reduction value V_reduc can then be equal to a constant value chosen in the range between 30 km / h and 40 km / h.
- the reduction law LR adjusts the reduction value V_reduc according to the estimated V_upper speed.
- the fact of modifying the reduction value V_reduc as a function of the speed allows a particularly fine use of the principle of underestimation according to the invention, which notably makes it possible to apply the method to F2 security functions of new generation, which are more efficient but more demanding because they are more sensitive to speed underestimation faults than previous generation security functions.
- the reduction law LR is generally an increasing function, so as to increase, in absolute value, the reduction value V_reduc when the V_upper speed increaser increases in absolute value, as illustrated in FIG. figure 1.
- the speed of the vehicle can be further underestimated when the vehicle is traveling at high speeds than when the vehicle is traveling at low speed, or, otherwise formulated, it is possible to apply an underestimate at low speed (reduction value V_reduc) which is less than the underestimation applied at high speed.
- the security functions F2 can behave very differently between a parking situation (or a very low speed situation, typically less than 10 km / h or even 5 km / h), in which said F2 security functions are relatively "loose” and not very constraining, and a situation of beginning of rolling (typically between 5 km / and 30 km / h), in which said F2 security functions become more restrictive and therefore more sensitive to variations of the V_param speed indicator parameter.
- the allowable reduction value V_reduc is decreased when the vehicle speed approaches zero.
- the behavior of F2 security functions preferably evolves more gradually, which is why we can predict a reduction value V_reduc almost constant.
- the behavior, and in particular the triggering thresholds, of the F2 security functions preferably do not change which explains that one can tolerate a rather large underestimation of the speed, and therefore relatively low reduction values V_reduc.
- the possible underestimation of the speed indicator parameter V_param does not distort the perception, by the power steering system 1, of the real speed of the vehicle, and one thus preserves an execution of the functions, both of the Fl assistance function of the F2 security function, perfectly adapted to the actual speed of the vehicle.
- the reduction value V_reduc will be chosen so as on the one hand to spare the sensitivity of the security functions F2, to avoid erratic behavior of the latter, but also, on the other hand, so, when the vehicle speed indicator parameter V_param switches to the underestimated value V_under while the vehicle is traveling at low speed, does not disable or does not restrict too early certain Fl assistance functions which are particularly useful when the vehicle is traveling at low speed in built-up areas, particularly when the vehicle uses traffic lanes with intersections and sharp turns (such as "street corners").
- a call assistance function in the center of the steering wheel which remains effectively active over the entire real speed range concerned, here preferably between 0 km / h and 50 km / h, and therefore remains active as long as the vehicle is driven in the city and requires ample maneuvering of the steering wheel to turn at street corners.
- the reduction law LR may comprise several domains, as illustrated in FIG.
- a first low speed domain D1 between 0 km / h and a low speed limit VI between 20 km / h and 50 km / h, and preferably equal to 30 km / h, this Dl domain corresponding to the situations access to parking and city traffic.
- the reduction law LR will preferably be continuously increasing, so as to progressively increase the reduction value V_reduc applicable with the speed increaser V_upper; the reduction value V_reduc applicable may typically be between 0 km / h and 8 km / h at 10 km / h (value reached at speed limit VI);
- a second range D2 of medium speed between the low speed limit VI mentioned above (30 km / h in Figure 1) and a high speed limit V2 preferably between 130 km / h and
- said second domain D 2 thus typically corresponding to the traffic outside the built-up area and on the motorway.
- the reduction value V_reduc will follow a substantially plateau evolution, and will therefore preferably be constant, even slightly increasing, and for example between 8 km / h at 10 km / h and 15 km / h, or even equal to 10 km / h;
- a third high speed domain D3 between the aforementioned high speed limit V2 (160 km / h in FIG. 1) and a very high speed limit V3 preferably between 180 km / h and 250 km / h, and for example, equal to 200 km / h in FIG. 1, third domain D3 in which the reduction value V_reduc increases continuously with the speed increaser V_upper, according to a preferably more strongly increasing function than in the first domain D1, to reach a value between 20 km / h or 25 km / h and 40 km / h, and for example equal here to 30 km / h; possibly a fourth domain D4 of very high speed, between the very high speed limit V3 mentioned above (200 km / h in FIG. 1) and the maximum speed V4 of the vehicle (for example 240 km / h or 250 km / h) , in which the underestimation will preferably be constant, or slightly increasing, for example here equal to 30 km / h.
- the reduction law LR is stored in a nonvolatile memory in the form of a predetermined abacus which, as illustrated in FIG. 1, associates with each value of the speed increaser V_upper a reduction value V_reduc which the then we subtract the V_upper speed increaser to get the V_under underestimated speed as shown in Figure 2.
- the reduction law LR can be stored in a non-volatile memory in the form of an abacus which associates directly to each value of speed increaser V_upper an underestimated speed value V_under which takes (implicitly) into consideration the reduction value V_reduc applicable to the V_upper speed increaser considered.
- the V_upper (t_n) speed master is evaluated from at least a V_roue input speed measurement, such as a V_roue rotation speed measurement of a wheel 2 of the vehicle, and more preferably from the maximum rotational speed recorded among the speeds of several wheels or even of the whole of the vehicle wheels, then, according to a preferred characteristic which may constitute an entirely separate invention, the said V_upper (t_n) speed increaser is compared with the V_upper (t_n-1) speed increaser which has been evaluated at the same time.
- said graded gradient gradient Grad (V) is compared to a first reference gradient, said first "maximum plausible gradient” Grad_ref_l, previously predetermined by acceleration and braking tests of the vehicle, and, if the gradient observed speed Grad (V) is, in absolute value, greater than said first maximum plausible gradient Grad_ref_l, it corrects the speed of the current iteration V_upper (t_n) by clipping, applying to the speed boost of the previous iteration V_upper (t_n-1), or respectively to the input speed measurement of the previous iteration V_roue (t_n-1), the first plausible maximum gradient Grad_ref_l instead of the observed gradient gradient Grad (V ).
- Grad (V) is then compared to Grad_ref_l.
- the plausible maximum gradient Grad_ref_l represents the maximum acceleration, or respectively the maximum deceleration, that the vehicle can achieve materially, taking into account in particular the power of the engine responsible for moving the vehicle, the efficiency of the braking circuit, and the adhesion of the tires.
- tests on a vehicle shall establish a general plausible maximum gradient, which will be applicable to all vehicles of the same model having the same configuration.
- V_upper speed increaser is erroneous, in this case overvalued in the case of acceleration, underestimated in the case of braking.
- This error situation may occur in particular when a wheel loses traction and, as the case may be, accelerates strongly by skating on the road surface, or brakes until it locks and slides on the roadway.
- V_upper (t_n) V_upper (t_n-1) + Grad_ref_l * [(t_n) - (t_n-l)]
- the clipping amounts to applying a (first) gradient limiter 3 whose saturation value SAT +, SAT- corresponds to the maximum gradient plausible Grad_ref_l.
- Such a gradient limiter 3 will pass as it is any variation of V_upper speed increaser which is less than or equal to the plausible maximum gradient Grad_ref_l, that is to say which is between a zero value and the saturation value SAT +, SAT - (clipping value) defined by said plausible maximum gradient, and which is therefore consistent with the actual acceleration / deceleration capabilities of the vehicle.
- this gradient limiter 3 will automatically limit any variation in the V_upper speed increase that exceeds said plausible maximum gradient Grad_ref_l, that is to say which exceeds, in absolute value, the absolute value of the saturation value SAT +, SAT correspondingly, by reducing (then saturating) said variation of the speed enhancer to said plausible maximum gradient value, that is to say to the saturation value SAT +, SAT-.
- the gradient limiter 3 may comprise a saturation value in SAT + acceleration which is distinct, in absolute value, from the SAT deceleration saturation value (braking), that is to say operating a saturation that is not symmetrical depending on whether one is in a situation of acceleration (variation of speed, and thus variation of speed increase, positive) or deceleration (speed variation, and therefore variation of speed , negative).
- the (first) maximum gradient plausible Grad_ref_l and therefore the gradient limiter 3, can thus set a saturation value in SAT + acceleration, in absolute value, at the SAT deceleration saturation value, that is, to say such as
- the positive and negative signs here correspond, by convention, to acceleration and respectively to deceleration.
- this saturation of the speed gradient operated by the gradient limiter 3 makes it possible to avoid making a gross error in estimating the V_upper speed increasant when the method for estimating the longitudinal speed of the vehicle, and more particularly the method estimating speed, is faulty or inapplicable, as is the case for example when racing or blocking a wheel 2 following a loss of adhesion.
- the saturation effected by the first gradient limiter 3 can intervene indifferently, in an equivalent manner, either upstream, at the source, ie on the input speed measurement signals (here the signals representative of the respective rotational speeds of the wheels) V_roue, or downstream, on the result of the estimate of the "raw" speed rider V_upper_basic which comes from the speed calculation carried out on the basis of these input speed measurement signals V_roue, as shown in Figure 2.
- the saturation effected by the first gradient limiter 3 may occur downstream on an estimate of the V_upper speed increaser which comes from the recovery of an instantaneous speed signal made available to the onboard network 20.
- the switching step (e) can operate an immediate switching of the operating mode normal to the safety mode, by immediately passing the speed indicator parameter V_param from the functional speed V_func to the underrated speed V_under, as soon as it is detected that, in absolute value, the functional speed V_func becomes lower than the speed underestimated V_under.
- Such an instantaneous commutation advantageously makes it possible always to respect the limit acceptable for the security functions F2, because the indicator parameter V_param which results from it is never less than the underestimated speed V_under, and this while still being close to the functional speed V_func, favorable to the assistance functions F1, within the acceptable safety limit.
- This immediate switching solution can therefore represent a good compromise for the assistance functions F1 and F2 security.
- the switching step (e) can operate a delayed switching from the normal operating mode to the safety mode, by passing the speed indicator parameter V_param from the operating speed V_func to the underestimated speed V_under only if, in absolute value, the functional speed V_func remains (continuously) lower than the underestimated speed V_under during a non-zero duration, called "fault duration", which reaches or exceeds a predetermined tolerance threshold T_thresh_l.
- the tolerance threshold T_thresh_l makes it possible to delay the triggering of the switching, and thus to switch only in a situation of long-lasting and significant defect, that is to say only if it is really expedient to realize an adjustment of the speed indicator parameter V_param.
- V_upper speed increaser avoids unnecessarily reacting to very brief and insignificant variations of the V_upper speed increaser, which may possibly result from noise or transient evaluation errors due to distorted measurements.
- the fault duration will be monitored by an appropriate timing, triggered when it is detected that the functional speed V_func passes under the underestimated speed V_under, so that the safety mode can be activated if the fault persists in time at the appropriate tolerance threshold T_thresh_l.
- the tolerance threshold T_thresh_l will be determined according to the fault tolerance time interval, or FTTI ("Fault Tolerance Time Interval"), which represents the maximum duration, specified by the specification, which is allowed between the occurrence of a defect (dangerous situation) and the moment or defect, and its consequences, are controlled and corrected by the power steering system 1
- FTTI fault Tolerance Time Interval
- the tolerance threshold T_thresh_l will be chosen strictly lower than the FTTI, so in particular to be able to include in the FTTI interval the time necessary to make the transition between the functional speed V_func and the underestimated speed V_under.
- the FFTI may be between 20 ms (twenty milliseconds) when it is associated with a very dangerous defect, threatening the safety of the occupants of the vehicle, and more than 1 s (one second) when it concerns a defect of little concern for safety.
- the refresh period of the functional speed V_func, of the speed increaser V_upper, and more generally of the speed indicator parameter V_param is preferably substantially between 5 ms (five milliseconds) and 10 ms (ten milliseconds), while the response time (typically the 5% response time) characteristic of the steering mechanism, and more generally of the vehicle, in response to a change of assistance setpoint, will generally be equal to or greater than 100 ms (hundred milliseconds), 300 ms (three hundred milliseconds), or even of the order of several seconds.
- the method may comprise, after the step (e) of switching, a step (f) of reinforced security, during which the duration is measured, said "safe duration", during which the security mode remains active, and, if said duration of securing reaches or exceeds a predetermined alarm threshold T_thresh_2, switching from the security mode to a third mode of operation, said enhanced security mode, by passing the vehicle speed indicator parameter V_param from the underrated speed V_under to a value referred to as the V_enhanced "enhanced security speed" which is equal to or greater than the V_upper speed increaser.
- this variant makes it possible to diagnose a situation in which the defect, that is to say the fact that the functional speed V_func is (and remains) less than the underestimated speed V_under, lasts too long for the defect to come from simply a transient specific life situation, for example a wheel slip situation 2 in the acceleration phase.
- the vehicle speed indicator parameter V_param is therefore forced to a reinforced safety speed value V_enhanced, possibly equal to the V_upper speed increaser applicable at the instant considered (as shown in solid lines in FIGS. 5A and 5B). , or, preferably, equal to a forcing value greater than all the possible upperances for the vehicle (as shown in dashed lines in FIGS. 5A and 5B), and therefore typically equal to or greater than the maximum possible real speed of the vehicle, so as to guarantee the effectiveness of the F2 securing functions regardless of the actual speed of the vehicle.
- the changes in the value of the vehicle speed indicator parameter V_param which are effected during switching from one operating mode to another operating mode, and more particularly during the switching step (e) of the mode of operation normal to the security mode and / or during the step (f) of reinforced security, follow transition laws having a regularity class at least C °, such as a ramp, an interpolation function (especially polynomial) or filtering, as can be seen in FIGS. 4 and 5B.
- Such soft transitions will make it possible to ensure the continuity (at least C °) of the signal of the vehicle speed indicator parameter V_param, and thus to avoid jerky reactions of the steering system, and in particular to avoid jerks in the steering assistance.
- the switching and / or transition operations are managed by a switching unit 4 placed downstream of the reduction law LR, as illustrated in FIG. 2.
- This switching unit 4 can also manage the step (d) of comparison.
- the switching step (e) may comprise a sub-step of clipping during which the rate of variation Grad (V_param) of the indicator parameter is clipped.
- velocity V_param by means of a second gradient limiter 5 which uses a second plausible maximum gradient Grad_ref_2, representative of a maximum acceleration or maximum deceleration that can provide the vehicle.
- This second clipping is performed mutatis mutandis in a similar manner to the clipping performed by the first gradient limiter 3 described above.
- V_param (t_n) V_param (t_n-1) + Grad_ref_2 * [(t_n) - (t_n-1)].
- This second clipping preferably carried out downstream of the switching / transition definition phase and upstream of the assistance functions F1 and F2 securing, in particular will make it possible to avoid taking into account any inconsistent variations in the indicator parameter of V_param speed which could for example result from discontinuities induced by the switching / transition phase.
- This second clipping can in particular form a complementary or alternative precautionary measure to the management, from the switching stage, of continuous transitions (of regularity class C °) as described above.
- the invention naturally relates to a power steering system 1 comprising a controller 10, of the computer type, for implementing a method of underestimation of the instantaneous speed according to the invention.
- Said controller 10 will comprise for this purpose one or more electronic and / or software units, including a processing unit 11, which contains at least one underestimation unit 6 applying the reduction law LR, and preferably a comparison unit switching 4 and a second gradient limiter 5.
- the controller may also include an acquisition unit 12 of V_upper speed increaser, preferably comprising a measurement unit 7 which can exploit for example as input speed V_roue the speed of one or more wheels 2 of the vehicle, and / or a first gradient limiter 3.
- acquisition unit 12 of V_upper speed increaser preferably comprising a measurement unit 7 which can exploit for example as input speed V_roue the speed of one or more wheels 2 of the vehicle, and / or a first gradient limiter 3.
- the controller 10 will finally comprise functional units, respectively assistance 13 and securing 14 respectively ensuring the execution of the aforementioned functions F1, F2.
- the invention also relates as such to a vehicle, and in particular to a land vehicle comprising one or two driving and driving wheels 2 (preferably two driving wheels, or even an integral transmission comprising, for example, four driving wheels), equipped with such a device. power steering system 1.
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/647,786 US10994771B2 (en) | 2017-09-15 | 2018-09-07 | Method for optimizing a vehicle speed indicator parameter intended for the steering assistance functions and the safety functions |
CN201880071970.7A CN111356625B (zh) | 2017-09-15 | 2018-09-07 | 用于管理车辆的动力转向***的方法 |
DE112018005154.4T DE112018005154T5 (de) | 2017-09-15 | 2018-09-07 | Verfahren zum optimieren eines fahrzeuggeschwindigkeitsanzeigenden parameters, welcher für die lenkassistenzfunktionen und die sicherheitsfunktionen vorgesehen ist |
JP2020515092A JP7317806B2 (ja) | 2017-09-15 | 2018-09-07 | ステアリングアシスト機能および安全機能を目的とする車両速度インジケータパラメータを最適化するための方法 |
BR112020004886-0A BR112020004886A2 (pt) | 2017-09-15 | 2018-09-07 | método para otimizar um parâmetro indicador de velocidade de veículo destinado as funções de assistência a direção e as funções de segurança |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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FR1758567A FR3071219B1 (fr) | 2017-09-15 | 2017-09-15 | Procede d’optimisation d’un parametre indicateur de vitesse vehicule destine aux fonctions d’assistance de direction et aux fonctions de securisation |
FR17/58567 | 2017-09-15 |
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WO2019053357A1 true WO2019053357A1 (fr) | 2019-03-21 |
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PCT/FR2018/052191 WO2019053357A1 (fr) | 2017-09-15 | 2018-09-07 | Procédé d'optimisation d'un paramètre indicateur de vitesse véhicule destiné aux fonctions d'assistance de direction et aux fonctions de sécurisation |
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US (1) | US10994771B2 (fr) |
JP (1) | JP7317806B2 (fr) |
CN (1) | CN111356625B (fr) |
BR (1) | BR112020004886A2 (fr) |
DE (1) | DE112018005154T5 (fr) |
FR (1) | FR3071219B1 (fr) |
WO (1) | WO2019053357A1 (fr) |
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KR102004720B1 (ko) * | 2017-10-24 | 2019-07-29 | 주식회사 만도 | 세이프티 향상을 위해 리던던시를 구성한 전동식 조향 장치 |
US11780493B2 (en) * | 2021-03-31 | 2023-10-10 | Honda Motor Co., Ltd. | Control device for vehicle |
CN114217620B (zh) * | 2021-12-15 | 2023-07-14 | 常州信息职业技术学院 | 一种轮式机器人智能避障控制***及方法 |
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- 2018-09-07 US US16/647,786 patent/US10994771B2/en active Active
- 2018-09-07 DE DE112018005154.4T patent/DE112018005154T5/de active Pending
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Also Published As
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JP2020533237A (ja) | 2020-11-19 |
FR3071219B1 (fr) | 2019-10-18 |
CN111356625A (zh) | 2020-06-30 |
CN111356625B (zh) | 2022-07-15 |
FR3071219A1 (fr) | 2019-03-22 |
US20200216114A1 (en) | 2020-07-09 |
BR112020004886A2 (pt) | 2020-09-15 |
JP7317806B2 (ja) | 2023-07-31 |
DE112018005154T5 (de) | 2020-07-02 |
US10994771B2 (en) | 2021-05-04 |
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