FR3142422B1 - Procédé d’assistance au pilotage d’un véhicule automobile pour le réaligner parallèlement à une trajectoire idéale, dispositif et vehicule associés. - Google Patents

Procédé d’assistance au pilotage d’un véhicule automobile pour le réaligner parallèlement à une trajectoire idéale, dispositif et vehicule associés. Download PDF

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Publication number
FR3142422B1
FR3142422B1 FR2212347A FR2212347A FR3142422B1 FR 3142422 B1 FR3142422 B1 FR 3142422B1 FR 2212347 A FR2212347 A FR 2212347A FR 2212347 A FR2212347 A FR 2212347A FR 3142422 B1 FR3142422 B1 FR 3142422B1
Authority
FR
France
Prior art keywords
vehicle
steering wheel
motor vehicle
wheel angle
angle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR2212347A
Other languages
English (en)
Other versions
FR3142422A1 (fr
Inventor
Marouane Benaziz
Pedro Kvieska
Yohann Mener
Raphael Quilliard
Sebastien Saliou
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Renault SAS
Original Assignee
Renault SAS
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 SAS filed Critical Renault SAS
Priority to FR2212347A priority Critical patent/FR3142422B1/fr
Priority to PCT/EP2023/081779 priority patent/WO2024110258A1/fr
Publication of FR3142422A1 publication Critical patent/FR3142422A1/fr
Application granted granted Critical
Publication of FR3142422B1 publication Critical patent/FR3142422B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • B60W30/18145—Cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • B60W2050/0033—Single-track, 2D vehicle model, i.e. two-wheel bicycle model
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/12—Lateral speed
    • B60W2720/125—Lateral acceleration
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/14—Yaw
    • 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

Landscapes

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

Abstract

L’invention concerne un procédé d’assistance au pilotage d’un véhicule automobile pour le réaligner parallèlement à une trajectoire idéale dans sa voie de circulation, comportant des étapes suivantes : - acquisition des valeurs initiale d’un angle de cap (θ0) et d’une vitesse (V0) du véhicule automobile,- détermination d’une valeur maximale d’un angle volant générant une accélération latérale maximale prédéterminée en tenant compte de la valeur initiale de la vitesse du véhicule automobile, - détermination d’une consigne d’angle volant en fonction du temps comprenant au moins :une première partie de consigne modifiant l’angle volant pour réduire l’angle de cap du véhicule jusqu’à une valeur cible déterminée en fonction de la valeur initiale de l’angle de cap et de la valeur maximale de l’angle volant, et une deuxième partie de consigne d’angle volant modifiant l’angle de cap du véhicule jusqu’à l’annuler. Figure pour l’abrégé : Fig.2
FR2212347A 2022-11-25 2022-11-25 Procédé d’assistance au pilotage d’un véhicule automobile pour le réaligner parallèlement à une trajectoire idéale, dispositif et vehicule associés. Active FR3142422B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR2212347A FR3142422B1 (fr) 2022-11-25 2022-11-25 Procédé d’assistance au pilotage d’un véhicule automobile pour le réaligner parallèlement à une trajectoire idéale, dispositif et vehicule associés.
PCT/EP2023/081779 WO2024110258A1 (fr) 2022-11-25 2023-11-14 Procede d'assistance au pilotage d'un vehicule automobile pour le realigner parallelement a une trajectoire ideale, dispositif et vehicule associes

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2212347A FR3142422B1 (fr) 2022-11-25 2022-11-25 Procédé d’assistance au pilotage d’un véhicule automobile pour le réaligner parallèlement à une trajectoire idéale, dispositif et vehicule associés.
FR2212347 2022-11-25

Publications (2)

Publication Number Publication Date
FR3142422A1 FR3142422A1 (fr) 2024-05-31
FR3142422B1 true FR3142422B1 (fr) 2024-11-22

Family

ID=85685439

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2212347A Active FR3142422B1 (fr) 2022-11-25 2022-11-25 Procédé d’assistance au pilotage d’un véhicule automobile pour le réaligner parallèlement à une trajectoire idéale, dispositif et vehicule associés.

Country Status (2)

Country Link
FR (1) FR3142422B1 (fr)
WO (1) WO2024110258A1 (fr)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5421019B2 (ja) * 2009-08-03 2014-02-19 トヨタ自動車株式会社 車両の走行支援装置
JP6928512B2 (ja) * 2017-08-30 2021-09-01 日立Astemo株式会社 運転支援装置、運転支援方法および運転支援システム
CN110949370A (zh) * 2019-03-18 2020-04-03 长城汽车股份有限公司 自动驾驶车辆的安全监测方法、系统及运动控制系统
KR102172091B1 (ko) * 2019-09-26 2020-10-30 현대모비스 주식회사 운전자 보조 시스템의 조향 오류 보정 장치 및 방법

Also Published As

Publication number Publication date
WO2024110258A1 (fr) 2024-05-30
FR3142422A1 (fr) 2024-05-31

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