• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
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    • 专利摘要:
    The invention relates to a method for managing a power steering comprising at least one driving wheel (3) and at least one assist motor (4), said method comprising a conductive torque control step (b), during which a conductive torque difference (ΔCcond) is evaluated which corresponds to the difference between a predetermined conductive torque setpoint (Ccond_ref) and the actual driving torque (Ccond) actually exerted by the driver on the driving wheel (3) , then a motor torque setpoint (Cmot_ref) applied to the assisting motor is determined to reduce said conductive torque deviation, the conductive torque setpoint (Ccond_ref) being generated during a servocontrol step (a). trajectory, during which a position deviation (Δθ) is evaluated which corresponds to the difference a position setpoint (θref), which is a function of a reference trajectory, and the effective position (θ) m the value of the power steering, and then determined from this position difference (Δθ), a conductive torque setpoint (Ccond_ref) for reducing said positional deviation.
    公开号:FR3022515A1
    申请号:FR1455841
    申请日:2014-06-24
    公开日:2015-12-25
    发明作者:Romain Moretti；Luc Leydier
    申请人:JTEKT Europe SAS；
    IPC主号:
    专利说明:

    [0001] The present invention relates to methods for the management of power steering equipment on vehicles, including motor vehicles. The present invention more particularly relates to the assisted steering management methods, which coexist, on the one hand, with conventional flywheel assist functions, typically intended to provide, by means of an assistance motor, a torque assistance which amplifies the torque exerted manually by the driver on the steering wheel in order to relieve the driver during steering maneuvers of the steering, and secondly functions of driving assistance (automatic steering functions), such as the parking assist functions, which automatically control the vehicle's trajectory. The driving assistance functions of automatic pilot type, such as the parking aid ("city park") or assistance in maintaining the vehicle in its lane keeping track ("lane keeping") tend to multiply, to improve the safety and comfort of motor vehicle users. However, their integration is not without posing some difficulties, insofar as, by nature, these autopilot functions act autonomously, by controlling themselves the configuration of the direction that will follow a reference trajectory determined by them, which frequently leads them to oppose any maneuver of manual origin (linked to a driver intervention), and therefore to oppose the conventional functions of assistance to maneuver which they , obey the actions of the driver. Thus, it will be readily understood, for example, that if a function of assisting the maintenance of the vehicle in its trajectory tends to recall the vehicle to the right, while simultaneously the driver wishes to change lanes or fork by pulling the steering wheel to the left, the two types of action will oppose, to the detriment of the comfort of maneuver, even to the prejudice of the safety of the occupants of the vehicle. A compromise may consist in allowing the automatic control functions and the assistance functions to act simultaneously, each respectively defining its own control setpoint for the assistance engine, and then performing the sum of said setpoints, that is to say performing the sum of the respective contributions of each of said functions, to define a global instruction which will then be applied to the assistance engine. Such a compromise, however, has the drawback of systematically generating an "average" setpoint, which constantly opposes contributions derived from antinomic functions. This tends to degrade overall the individual performance of all of said functions, in particular by preventing one or the other of said functions from being fully expressed without being disturbed by the other function, even when the vehicle is in motion. is punctually in a life situation that could be fully managed, optimally, by a single function, acting individually. According to another possibility, it is possible to envisage selectively activating (or, respectively, inhibiting) the maneuvering assistance function or the automatic piloting function, depending on the life situation in which the vehicle is located. The difficulty then lies on the one hand in detecting the life situation in which the vehicle is located, and on the other hand in ensuring, in case of a change of life situation, a suitable transition between management by automatic steering function and management by manual operation assistance function (or vice versa). Indeed, such transitions are potentially generating instabilities, which instability can be detrimental to the maneuvering comfort or even the behavior of the vehicle, and therefore to the safety of the occupants of said vehicle or other road users. Furthermore, the management of the steering is further complicated by the need to take into account the loose or held state of the steering wheel, especially in order not to risk causing a torsion of the wrist or the driver's arm under the the effect of an overpowering autopilot, when the driver holds the steering wheel firmly in his hands (that is, when he is in the "stolen steering" situation). The objects assigned to the invention therefore aim to overcome the aforementioned drawbacks and to propose a new power steering management method that reconciles maneuvering assistance functions and automatic steering functions for driving assistance, and which thus optimizes steering assistance, both in terms of comfort and safety, in all vehicle life situations. The objects assigned to the invention are achieved by means of a power steering management method comprising at least one driving wheel and at least one assisting motor, said method being characterized in that it comprises a conductive torque control step (b), during which the actual driving torque which is actually exerted, at the instant in question, by the driver on the steering wheel is measured, and then said torque is compared effective driver at a predetermined conductor torque setpoint to evaluate a conductive torque deviation that corresponds to the difference between the actual driving torque and said driver torque setpoint, and then determining from this conductive torque gap. a motor torque setpoint intended to be applied to the assistance motor in order to reduce said conductive torque difference, and in that the driver torque setpoint which is during the conductive torque control step (b) is generated during a step (a) of servocontrolled trajectory, during which the effective position of the assisted steering is measured, and then compared this actual position at a position setpoint, which is predetermined as a function of a reference trajectory which it is desired to automatically forward to the vehicle, in order to evaluate a positional deviation corresponding to the difference between said position setpoint and the effective position of the direction, then from this position difference is determined a conductive torque setpoint for reducing said positional deviation. Advantageously, the invention therefore proposes a new management architecture according to which the automatic control function, also called "position control function", which realizes the servocontrolled trajectory, is used to define an input of the assistance function. at the maneuver (maneuvering assistance function which is here performed by a conductive torque servocontrol function, that is to say by a servocontrol loop using the driver torque as a controlled variable), function of assistance to the maneuver which in turn controls the assistance engine by defining (only) the (single) set of engine torque applicable to said assistance engine.
    [0002] In other words, the invention proposes a new architecture in which the closed loops respectively of servocontrolled trajectory and servocontrolled in conductive torque are nested in series, so that the output of the autopilot function (ie trajectory control) does not interfere directly, in the form of a motor torque setpoint, with the output of the maneuvering assistance function (in this case conductive torque control), but is instead used as input, and more particularly as setpoint, of said maneuvering assistance function, here in the form of a conductive torque setpoint. This series architecture therefore makes it possible to efficiently organize and prioritize the functions of automatic control (servo-steering function) and maneuvering assistance (servo-control function in conductive torque) in this case. by putting in some way the function of assistance to the maneuver (servo function in driving torque) "in the service" of the autopilot function (servo function in trajectory), so that instead of s To oppose each other, by competing or opposing each other, said functions collaborate, in perfect complementarity. Advantageously, the proposed architecture makes it possible to keep simultaneously active and operational, and to operate together, the various functions, here of servocontrolling the path and servocontrolling of the driving torque, without it being necessary to selectively inhibit the one or the other of said functions, nor to manage unstable transitions between different operating modes associated with these respective functions. The stability and the performance of the steering management method are thus considerably increased. In addition, such an architecture is particularly versatile, in particular because it inherently allows, without additional element, to naturally manage both dropped steering situations and controlled steering situations, and more particularly to manage situations in a smooth manner. in which the driver resumes the steering wheel in hand while the autopilot function is active, without causing the deactivation of said automatic steering function. Indeed, in a situation of loose steering, the automatic steering function (servo function trajectory), for example the traffic lane tracking function, can act freely, without encountering manual resistance to the action of the steering wheel, and thus drive the assist motor, here indirectly, through the conductive torque servo function, without being upset by an action of the driver. Conversely, in the situation of a stolen steering wheel (or more particularly of the return of the steering wheel in the hands), it can arise a conflict (an opposition of maneuvering objectives, and therefore an opposition of forces) between on the one hand a maneuver The desired manual operation by the driver, and secondly the automatic maneuver desired by the servocontrolled path, which results in an elevation of the actual driving torque, as actually felt by the driver. However, it will be understood that, since said actual driving torque, as actually felt by the driver when he holds the steering wheel, 35 is duly taken into consideration in the development of the engine torque setpoint applied to the engine. assistance, then the evolutions, induced by the assistance motor, of said driver torque, will be progressive and will not create, in particular, torque peak likely to cause or twist the arm or wrist of the driver . Indeed, when the driver resumes the steering wheel in hand and seeks to hold or to manoeuvrer said steering wheel against the autopilot, while said autopilot tends to rotate automatically the same steering wheel to adapt the trajectory of the vehicle to a reference trajectory, the manual retention of the steering wheel tends to create a drift (a distance) from the actual position of the steering relative to the position setpoint, and therefore tends to increase the positional deviation at the input of the servo trajectory. To correct this tendency, the servo-control loop will react by increasing the conductive torque setpoint which it transmits at the input of the conductive torque control. Such an increase in the conductive torque setpoint in fact aims at ultimately increasing (indirectly, via the conductive torque control loop which drives the assistance motor) the motor torque setpoint applicable to the assistance motor, and thus to increase the return force delivered by said assistance motor so as to be able to bring the steering wheel (and more generally the direction) to the position which corresponds to the reference trajectory (that is to say towards the 20 position instruction). However, the restraint of the steering wheel by the driver against the autopilot movement also tends, at the same time, to increase the effective driving torque, since said effective driving torque reflects the resulting torque (measured) torque experienced by the driving wheel. when said steering wheel is subjected to the combined action, and here opposite, the manual force exerted by the driver and the motorized force induced by the servocontrolled path. This increase in the actual driving torque will naturally be reflected in the input of the servocontrolled torque. In other words, a manual restraint of the steering wheel against the autopilot will simultaneously induce on the one hand an increase in the conductive torque setpoint (determined by the trajectory control) and on the other hand a increase of the actual driving torque (even if said increase in actual driving torque is not necessarily identical to the increase in the driving torque setpoint), so that, finally, the difference in driving torque, as it is considered by the drive servo 3022515 6, will undergo no sudden change (that is to say no variation of high amplitude in a short period of time). Consequently, in the event of a transition from a "lost flywheel" state to a "flywheel" state, the engine torque setpoint, which is determined by the conductive torque control as a function of said driver torque deviation, will evolve. even progressively, which will make it possible to avoid any occurrence of a peak torque (that is to say, to avoid a rise in high amplitude and almost instantaneous engine torque), and therefore to avoid the appearance of a peak of the driver torque felt (suffered) by the driver.
    [0003] 10 Note that if the adaptation of the engine torque setpoint over time is "progressive" in that it allows to maintain a gradual evolution, without violent shocks, the intensity of the actual driver torque as it is felt by the driver, the fact remains that the elementary adjustments of the driver torque setpoint and the engine torque setpoint can take place very rapidly (that is to say at very close time intervals), typically according to a refresh period of the order of a few milliseconds which characterizes the response time of the servo system according to the invention. In other words, although the proposed method remains progressive in its effects as felt by the driver, it is nonetheless particularly responsive, to the benefit of the comfort and safety of the driver. In the example above, the recovery in hand against the autopilot can thus result in a gentle increase in the driver torque felt by the driver through the steering wheel, which will allow the automatic steering to transmit to said driver tactile information that indicates to the driver in which direction he should turn the steering wheel to be in the reference trajectory, without this incentive to maneuver the steering wheel degenerates into a violent automatic maneuver, which would force the wrist or the arm of the driver.
    [0004] Other objects, features and advantages of the invention will appear in more detail on reading the description which follows, and with the aid of the accompanying drawings, provided for purely illustrative and non-limiting purposes, among which: FIG. 1 illustrates, in a block diagram, the principle of implementing the method according to the invention.
    [0005] FIG. 2 illustrates an exemplary law used for trajectory control.
    [0006] The present invention relates to a method of managing a power steering 1. In a manner known per se, said power steering 1, and more particularly the mechanism 2 of said power steering, comprises at least one steering wheel 3, allowing the driver to act on the direction to manually control the steering maneuver. The power steering 1 also comprises at least one assistance motor 4, intended to provide a force, and more particularly a torque, assistance to maneuver the direction (noted "torque engine" Cmot in Figure 1). One can indifferently consider any type of assistance engine 4, and more particularly any type of assistance engine with two directions of operation, including a rotary assistance motor or a linear assistance motor.
    [0007] Furthermore, said assistance motor 4 may for example be hydraulic, or preferably, electrical (the use of an electric motor facilitating in particular the implantation and implementation of said motor, as well as the generation and the management of useful signals). In a particularly preferred manner, the assistance motor 4 will be a rotary electric motor, for example of the "brushless" type. Furthermore, the power steering preferably comprises, in a manner known per se, a steering column 5, driven by the steering wheel 3 and which meshes, by means of a pinion, on a steering rack (not shown) mounted sliding in a steering casing secured to the chassis of the vehicle.
    [0008] The ends of the steering rack are preferably each connected, by means of a steering rod, to a steerable steering knuckle, on which is mounted a steering wheel (and preferably a driving wheel) of the vehicle, such that the translational movement of the rack in the housing causes a change in the steering angle (ie, yaw orientation) of said steered wheels. The assistance motor 4 can engage on the steering column 5, for example by means of a tangential wheel and worm gear reducer, or even engage directly on the steering rack, by a driving mechanism of the ball screw type or via a motor pinion separate from the pinion 35 of the steering column (to then form a steering mechanism called "double pinion").
    [0009] According to the invention, the method comprises a conductive torque control step (b), here performed by means of a conductive torque control module 6, during which the actual conducting torque Ccond is measured. is actually exercised, at the moment considered, by the driver on the steering wheel 3, then we compare the actual driving torque Ccond to a predetermined conductive torque setpoint Ccondref in order to evaluate a conductive torque deviation ACcond which corresponds to the difference between the actual conducting torque and said driver torque setpoint: ACcond = Ccond - Ccondref (or, according to a convention of opposite sign but strictly equivalent in its purpose, a conductive torque difference ACcond which corresponds to the difference between the driver torque setpoint and the effective driver torque: ACcond = Condref - Ccond), and then, from this conductive torque difference, it is determined ur ACcond, a Cmot ref engine torque setpoint intended to be applied to the assistance motor 4 in order to reduce (and ideally cancel) said conductive torque deviation.
    [0010] In other words, the conductive torque servocontrol step (b) corresponds to a closed-loop control, of follower type, which uses as a regulating variable the driver torque applied, and thus felt, by the driver at the moment. 3, and which adjusts the actions exerted by the assistance motor 4 on the steering mechanism 2 (that is to say, in this case, which adapts the engine torque Cmot) so to converge, by the effect of said actions of the assistance motor 4 on the steering mechanism 2, the actual driving torque Ccond to the conductive torque setpoint Condref. Thus, the determination of the motor torque set point Cmot ref applied to the assistance motor 4 will control the assistance effort (motor torque) 25 Cmot so as to make the torque that the driver actually feels, by tactile perception. when it holds the driving wheel 3, to the conductive torque setpoint Ccondef, conductive torque setpoint that will typically correspond to the feeling that would normally be desired and expected by a driver in the dynamic situation in which the vehicle is at the moment considered.
    [0011] Advantageously, conductive torque control provides steering assistance which ensures a coherence between the instantaneous dynamic behavior of the vehicle (speed, lateral acceleration, yaw rate, etc.), the reactions of the road on the undercarriage (force exerted on the rack, angle of drift, etc.) and the force feedback (effective driver torque Ccond) perceived by the driver through the steering wheel 3.
    [0012] Advantageously, such conductive coupling in conductive torque makes it possible in particular to decouple (to deal separately, independently) on the one hand the "need" (which must be felt by the driver), that is to say the generation of the conductive torque setpoint Ccondref, and on the other hand the actual "embodiment", that is to say the implementation of the closed loop control of the conductive pair. Advantageously, a servo-control by the driving torque makes it perfectly possible to provide a "conventional" steering assistance, typically intended to reinforce, thanks to the assistance torque Colot delivered by the assistance motor 4, the action exerted by the driver. driver on the steering wheel, 10 and this to facilitate the operation of the steering mechanism 2 in the direction desired by the driver (the assistance motor 4 cooperating with the driver to operate in the same direction of maneuver). It will be understood that when the driver tries to turn the steering wheel 3 to change the steering angle, against the resistance opposed by the steering mechanism 2 (this resistance coming both from the internal forces exerted within the mechanism 2, that efforts related to the rolling and the external dynamics of the vehicle), the actual driving torque Ccood tends to increase, which leads to change the motor torque setpoint Cmot ref accordingly. More particularly, if the increase in the effective driver torque Ccood 20, caused by the voluntary rotation of the steering wheel by the driver, induces an increase in the driver torque deviation ACcood, the engine torque reference Cmot Ref will also be increased, in order to increase the intensity of the assistance effort Colot delivered by the assistance engine 4 (indeed, if the driver torque actually felt Ccood is too large, it means that the assistance effort Colot 25 procured by the motor 4 is too weak). This increase in the assistance effort Colot will then make it easier to maneuver the steering mechanism 2 towards the desired target position by the driver (as the latter is defined by the position of the steering wheel).
    [0013] By thus forcing the position of the steering mechanism to approach said target position, by increasing the assistance effort Colot, it will cause the gradual release of the torsion experienced by the steering wheel 3, c ' that is to say, it will reduce the driver torque felt Ccood, and therefore ultimately the conductive torque deviation ACcond- As an example, we can use a conductive torque control proportional-integral type, in which the proportional action 3022515 10 increases when the ACcond conductor torque difference increases and decreases when said conductive torque difference decreases, and in which the integral action makes it possible to increase the assistance effort (motor torque) Cmot both that the ACcond conductor torque difference is positive (that is to say, according to the sign convention retained above, as long as the actual driving torque Ccond exceeds the conductive torque setpoint Ccref, so that ACcond = Ccond - Ccon dff is greater than zero) and decreasing said assisting force Crnot as long as the conductive torque difference ACcond is negative (that is, as long as the actual driving torque remains below the conductive torque setpoint, according to this same sign convention).
    [0014] Of course, if the sign convention used to calculate the conductive torque difference was reversed, that is, if ACcond = Ccondref - Ccond, it would simply be enough to reverse the signs of the gains of the driver. proportional-integral controller accordingly to achieve the same result in regulation. In the above example, which corresponds to a positive ACcond driver torque difference (the driver pulls on the steering wheel in such a way that the driver torque felt exceeds the driver torque setpoint) and decreases (the assistance effort Colot increases to allow the steering mechanism to follow the steering wheel given by the driver, and thus allow the driver torque felt to decrease to be closer to the driver torque setting), the proportional action will decrease as and when said ACcond deviation decreases (in absolute value), while the integral action continues to increase (but gradually slowing down its speed of growth as the driver torque feels closer to the driver torque setpoint) , so that, overall, when ACcond decreases, the assistance effort 25 (motor torque) Colot increases smoothly (in a progression of less and less steep), to reach, and stabilize at, a fixed value (which balances the forces exerted on the steering mechanism in the desired steering position) when the ACcond gap becomes zero. The actual conducting torque Ccond, which may also be referred to as the "flying torque", can of course be measured by any appropriate torque sensor, such as a magnetic torque sensor measuring the elastic deformations of a torsion bar placed between the steering wheel 3 and the steering column 5. According to the invention, the conductive torque setpoint Ccondref which is used during the conductive torque control step (b) is generated during a step (a) of servocontrolled trajectory, here realized by means of a servo-control module 7, during which the effective position 0 of the power steering is measured, then this power is compared effective position 0 at an Oref position setpoint, which is predetermined as a function of a reference trajectory which it is desired to automatically forward to the vehicle, in order to evaluate a difference of position AO which corresponds to the difference between the said position instruction and the actual position of the direction: AO = Oref - 0 (or conversely, the difference between the actual position of the direction and the position command: AO = 0 - Oref, according to the convention of sign which can, here again, be freely chosen), then from this position difference AO is determined a conductive torque setpoint 10ccond ref intended to reduce said positional difference A0; this driver torque set Ccondref is that which is then applied to the input of the conductive torque control, as indicated above. Here again, the step (a) of servocontrolled trajectory (also called "control in position") corresponds to a closed-loop control, of the following type, which uses as regulation variable the position of the assisted steering, that is to say a value representative of the steering configuration of the power steering, and which seeks to adapt the action of the assistance engine 4 on the steering mechanism 2 (in this case, to adapt indirectly, via the conductive torque control loop, the motor torque Cmot) so as to converge the effective position 0 of the power steering to the position setpoint Oref that is fixed at the input of said loop. It will be noted that, advantageously, and as is clearly visible in FIG. 1, the adaptation of the action of the assistance motor 4 by the servo-control loop in a trajectory is not direct, but passes through the intermediate of the "normal" assistance loop constituted by the conductive torque control loop. In other words, the conductive torque control loop (b) is here nested, in the form of a slave controller, within the path control loop (a), which forms the master regulator.
    [0015] Thus, the output of the servo-control module 7 is connected to the input of the servocontrol module in conductive torque 6, and designed to emit not directly a motor torque setpoint that would interfere with that resulting from the module. conductive torque control 6, but indeed a driver torque set Ccondref, which will be used (input) by said conductive torque servo module 6 to determine (at the output of said 3022515 12 module 6) a (single) Cmot ref engine torque setpoint, which will then be applied (directly) to the assistance engine 4. It will be noted that the proposed architecture advantageously makes it possible to isolate, on the one hand, the way in which it is desired to incite the driver to follow a 5 certain reference trajectory (and in particular to follow its traffic lane), here by generating (by the servo-control module in trajectory 7) a "need" expressed in the form of a coupling setpoint The driver is the driver who corresponds to what the driver must feel, and secondly the means of "realization" that makes it possible to satisfy this need, that is to say that makes it possible to concretely achieve that the driver follows. the reference trajectory, here thanks to the conductive torque servo provided by the module 6. In addition, as has been indicated above, this architecture of the invention allows to effectively reconcile the servocontrolled trajectory, which depends on an active automatic control, with conductive torque control, corresponding to a "conventional" assistance which depends on a manual control, by making these separate functions coexist without the need to selectively inhibit the one or the other of the said functions or to degrade the performance of one or other of the said functions. The actual (instantaneous) position 0 of the power steering can be obtained by any measurement by means of a suitable position sensor, for example by measuring the linear position of the rack, or even preferably by a measuring the angular position of the steering wheel 3 (also referred to as the "flying angle" in FIG. 2), or, in an equivalent manner, by knowing the mechanical reduction ratio of the kinematic chain connecting the assistance motor 4 to the steering wheel 3, by measuring the angular position of the assistance motor shaft 4. Where appropriate, the angular position of the assistance motor shaft 4 can be determined by means of a resolver type sensor, preferably integrated into the assistance engine.
    [0016] The Oref position setpoint applied at a given instant will correspond to a target position, calculated by the steering system, in which the steering mechanism 2 must be positioned so that the vehicle can, in the life situation in which it is located, find, adopt a steer wheel angle that allows the vehicle to follow a real trajectory that is as close as possible (within a predefined tolerance), and ideally coincides with the predetermined reference path.
    [0017] In other words, the function of the servocontrolled path will be to provide an automatic control of the vehicle to keep the real trajectory of the vehicle in the vicinity of the (ideal) reference trajectory, by operating in real time the course corrections (and therefore the 5 position set adjustments) required. In practice, the Oref position setpoint will therefore be variable in time, in sign (left / right) as in intensity (amplitude of the steering angle), according to the target trajectory and the corrections made. The reference trajectory will advantageously be constructed automatically from, inter alia, data relating to external parameters related to the environment of the vehicle, such as the distance separating a part of the vehicle from an external obstacle (for example another vehicle parked) or the relative position of the vehicle relative to an external reference, for example with respect to a line of separation of traffic lanes.
    [0018] This data can be acquired, substantially in real time, by any appropriate measurement, for example by means of non-contact sensors (cameras, optical sensors, ultrasonic sensors, etc.). The information provided by these data will make it possible to determine the situation of the vehicle in its environment (position, orientation, speed, etc.) at the moment considered, and thus to propose, in a reference system external to the vehicle, a trajectory (or trajectory corrections) adapted to both said environment and to the vehicle dynamics (determined in particular as a function of the longitudinal speed, the forces exerted on the rack and / or lateral dynamics parameters such as yaw rate or acceleration lateral), as well as, of course, to the intended autopilot operation. Preferably, during the step (a) of servocontrolled trajectory, it will be possible in particular to use, for determining the Oref position setpoint, an automatic parking maneuvering control function (generally known as "park assist"). ), Especially rear parking maneuver, and more particularly an automatic steering function for the realization of slots, or even a function of automatic control of tracking of a traffic lane (generally known as "Lane keeping"). In a manner well known per se, the monitoring of the taxiway, and therefore the definition (construction) of the reference trajectory (or corrections of trajectory) corresponding to the course of said lane, that said route is the rest rectilinear or curved, can be achieved by means of cameras capable of detecting 3022515 14 the traffic lane limit marking and measure the position of the vehicle relative to said marking. Preferably, the path control step (a) comprises an output saturation substep (a1), during which the conductive torque setpoint Ccondref is compared with a predetermined maximum admissible threshold, said threshold of conductive torque saturation CcondMAX, and the conductive torque setpoint is limited to the value of said conductive torque saturation threshold CcondmAx if said conductive torque setpoint exceeds said saturation threshold. In other words, it is ensured that the amplitude of the conductive torque setpoint Ccondref which is actually applied at the input of the conductive torque control module 6 in no case exceeds the saturation threshold CcondMAX, of in order to avoid causing the steering wheel 3 to act too strongly on the driver's arm. Advantageously, this limitation (capping) of the torque instruction 15 driver ensures safe operation of the autopilot, which, although present, is not likely to endanger the driver, or cause him injury by an irresistible arm drive or hand. Advantageously, the saturation provided by the invention therefore makes it possible to retain the benefit of servocontrolling the path, by allowing the application of a non-zero conductive torque instruction, perceptible by the driver when the latter holds the steering wheel in his hand. , and which thus makes it possible to make the driver actively feel a return effect of the steering wheel which tends to guide the operation of the steering wheel towards the position of the direction decided by the trajectory control (that is to say towards the position of the steering wheel). direction which must allow to follow or join the reference trajectory), while avoiding any too strong action that could force the movement of the steering wheel against the will of the driver. In other words, the saturation allows the servo function in trajectory to signal tactfully to the driver a drift with respect to the reference trajectory, and to make him feel in which direction, and more particularly towards which position, he the steering wheel should be operated to return to this reference trajectory, without this servocontrolling trajectory preventing or supplanting a manual (divergent) maneuver of the steering wheel, freely decided by the driver and distinct from the maneuver automatic wanted by the servo in trajectory.
    [0019] Thus, the operation of the method is both effective and safe for the driver, whether the driver holds the steering wheel or has released the steering wheel.
    [0020] In a particularly preferred manner, the conductive torque saturation threshold CcondMAx is between 1 Nm and 4 Nm, for example between 2 Nm and 3 N.m. These values refer to the torque as felt by the driver 5 at the steering wheel 3 when he holds said steering wheel in his hand. They correspond advantageously, in practice, to a limit of effort (torque) which is acceptable for most of the population, that is to say which remains significantly lower than the muscular capacity of a driver "average" in such a way that the driver can feel the tactile (possibly saturated) impediment that he transmits the servo-tracking, while maintaining the freedom, when necessary, to manually maneuver the steering wheel "by force against said servocontrolled trajectory, without risk of loss of control of the steering wheel and without excessive fatigue. According to one possible implementation, the path control 15 may include a regulator (corrector) type PID (proportional-integral-derived) to determine the conductive torque setpoint from the positional offset AO. By way of a very simple example, a proportional type regulator could associate with the position deviation AO a reference torque set Ccond ref 20 obtained simply by multiplying said positional deviation by a coefficient k comparable to a stiffness (of spring type ): Ccond ref = k * AO An integral type regulator allows, in a manner known per se, to reduce the static error of the servocontrol. Preferably, during the step (a) of servocontrolled path, is used, to determine the conductive torque setpoint Ccond ref from the positional deviation AO, a law L determination of torque setpoint conductor which takes the form of a function centered on the Oref position setpoint and which associates with any actual position value 0 of the steering, and more preferably with any flying angle value representative of the angular position of the steering wheel. 3, a corresponding reference conductor torque Ccond Ref, as shown in Figure 2. Advantageously, the centering of the law L of torque determination conductive on the Oref position reference corresponding to reference trajectory, that is, that is to say, graphically, the passage of the function representative of said law L 35 by the abscissa point Orf and of ordinate Ccond ref = 0, makes it possible to directly assimilate the difference of positi we have AO at the value of the effective position O.
    [0021] Said law L can thus directly associate with any non-zero position deviation AO, that is to say at any effective position 0 which does not coincide with the reference position defined by the position set point Orf, a setpoint of conductive torque Ccond ref nonzero (and, therefore, indirectly, a non-zero motor torque setpoint Cmot ref), which tends to bring the steering mechanism 2 to (or in) said reference position (defined by the instruction of position). Advantageously, as illustrated by the dashed curve in FIG. 2, the law L can be centered on a reference position (position setpoint) Oref null, which may correspond to the midpoint of the direction, this allowing the followed by a rectilinear trajectory. However, as illustrated by the curve in solid lines in FIG. 2, the invention will advantageously allow the centering of the law L on any setpoint value of the non-zero Orde position, which will be variable if necessary in time and The invention will therefore offer the possibility of dynamically adjusting the law L so as to be able to (also) monitor non-rectilinear reference trajectories. for example parking assistance or monitoring a curve lane.
    [0022] The method will thus benefit from great versatility, making it possible to respond, thanks to the same architecture, to different needs in terms of automatic piloting. According to a preferred characteristic which may constitute an entirely separate invention, and as illustrated in FIG. 2, the representative function of the conductive torque command determination law L is a so-called "S" curve presenting a domain. central II increasing, centered on the position set Orde, and preferably substantially linear, which is flanked by two asymptotic domains I, respectively III, of slope (s) less (s) than that of the central domain II, or even substantially slope nothing.
    [0023] Said S-curve, which thus comprises a first asymptotic domain I, followed by a central domain II of greater average slope than the average slope of said first asymptotic domain I, then a second asymptotic domain III which follows the central domain II and which has a mean slope less than the average slope of the latter, will preferably be symmetrical with respect to the point on which it is centered, that is to say with respect to the point whose abscissa is equal to the set point Orde position (and whose ordinate is zero).
    [0024] Said S-shaped curve may take the form of a regular, continuously differentiable curve, as illustrated in FIG. 2, or even the simplified form of a broken line associating (joinably) a line segment with each of the domaines1,11,111.
    [0025] Advantageously, the choice of an S-curve makes it possible to include, within the same law L, a torque setpoint determination which is conductive on the one hand, the follower function on the trajectory, which associates with any difference in non-zero position AO a non-zero conductive torque setpoint Ccrefref (especially in the central domain 11, which preferably acts according to a proportional law), and, on the other hand, a (progressive) saturation function which makes it possible, in the asymptotic peripheral domains I, III, to limit the action of the servocontrolled trajectory against the driver, and this including when a large deviation is created, by the manual action of the driver on the steering wheel 3 , between the actual position 0 and the position setpoint Oref specified by the path control.
    [0026] The centering of the curve on the Oref position setpoint advantageously provides the above-mentioned advantages in terms of automaticity and versatility of the regulation, making it possible to effectively follow any Oref position setpoint, including non-zero, freely chosen. by the enslavement in trajectory.
    [0027] It will furthermore be noted that the shape of the curve representative of the law L for determining the conductive torque setpoint may advantageously be identical (superimposable) if we consider a servo-control in a straight line, according to which said curve is centered on the origin of the reference (0 = 0, Ccondref = 0), or else a servo-control on a reference position Oref non-zero any, for example 25 for a maintenance on a curved traffic lane, according to which the curve is centered on said reference position (Oref # O), a curve that can be deduced from the other by simple translation along the abscissa axis, as indicated by the dotted line arrow in FIG. 2. Whatever its shape, the curve (or the cloud of points) defining the law L for determining the conductive torque setpoint can be entered in the form of a map ("basemap") stored in memory, mapping which will be parameterizable reference, that is to say adjustable, at least as a function of the setpoint position value Oref, on which said map is centered as indicated above.
    [0028] If necessary, other parameters, such as, for example, the speed of the vehicle, may influence the definition of the law L.
    [0029] By way of example, it would thus be possible to provide a level of reference torque of conductor C, which is increasingly higher as the speed of the vehicle increases (which would be tantamount to stretching the law curve L, and therefore mapping, along the ordinate axis as the vehicle speed increases, and conversely, to "tamp down" said curve as the vehicle speed decreases and / or is below a predetermined threshold). Of course, the invention also relates as such to a computer readable data medium containing computer program code elements for executing a method according to any one of the features described in the foregoing. when said medium is read by a computer. The invention also relates to a power steering management module comprising a conductive torque control module 6, which receives as input on the one hand a conductive torque setpoint Ccondref, and on the other hand a measurement of the effective driver torque Ccond which is actually exercised, at the moment considered, by the driver on the steering wheel 3, which evaluates a conductive torque deviation ACcond which corresponds to the difference between the actual driving torque Ccond and said conductive torque setpoint Ccrefref, and which provides, as a function of said conductive torque deviation, a motor torque reference Cmot ref, 20 intended to be applied to the assistance motor 4 in order to reduce said conductive torque difference ACcond, said management module also comprising a trajectory servo module 7 which receives as input an Oref position setpoint, which is predetermined according to a trajectory of re it is desired to automatically forward the vehicle, as well as a measurement of the actual position 25 0 of the power steering, then evaluating a position deviation A0 which corresponds to the difference between said position setpoint Orf and the position effective 0 of the direction, then which provides at the output, connected to the corresponding input of the conductive torque control module 6, a (the) set of conductive torque Ccond ref determined from the position deviation A0 and intended reducing said positional deviation. Of course, since the conductive torque control module 6 is placed and used as a slave with respect to the servo-control module 7, it is necessary for the conductive torque control to be fast enough to take into consideration and execute the various conductive torque setpoints Ccondref which are transmitted to it by the servo-control module in trajectory 7 over time.
    [0030] This is why the bandwidth of the conductive torque control loop will be greater (typically at least three times, and preferably ten times) than that of the servo-control loop, that is, that is, the response time of the conductive torque control module 6, in order to develop the motor torque setpoint Cmot ref and to bring the assistance motor 4 to apply an effective motor torque Cmot close to this setpoint (typically 5%), will be at least three, and preferably ten times less than the time that is necessary for the servo module in trajectory 7 to refresh the conductive torque setpoint Ccond_ref.
    [0031] Furthermore, each of the aforementioned modules 6, 7 may be formed by an electronic circuit, an electronic card, a computer (computer), a programmable logic controller, or any other equivalent device. Each of said modules 6, 7 may have a physical control structure, related to the wiring of its electronic components, and / or, preferably, a virtual control structure, defined by computer programming. In addition, the invention also naturally relates to a power steering system comprising a power steering mechanism controlled by a management module including all or part of the aforementioned modules 6, 7, and therefore capable of implementing the method. according to the invention. Finally, the invention relates to a motor vehicle, including steering wheels, possibly driven, equipped with such a power steering system. Of course, the invention is also not limited in any way to the embodiments described above, the person skilled in the art being able to isolate or combine freely between them one or the other characteristics mentioned above, or to substitute equivalents for them.
    权利要求:
    Claims (8)
    [0001]
    REVENDICATIONS1. A power steering management method comprising at least one driving wheel (3) and at least one assist motor (4), said method being characterized in that it comprises a torque control step (b) conductor, during which the actual driving torque (Ccond) is measured which is actually exerted at the moment by the driver on the steering wheel (3), and then the actual driving torque (Ccond) is compared at a predetermined conductive torque setpoint (Ccond ref) in order to evaluate a conductive torque difference (ACcond) corresponding to the difference between the effective conducting torque (Ccond) 10 1c 1 and said conductive torque setpoint (Ccond ref), then, from this conductive torque deviation, a motor torque setpoint (ref Cmot) intended to be applied to the assistance motor in order to reduce said conductive torque deviation is determined, and in that the setpoint of conductor couple r (ref Ccond) which is used during conductive torque control step (b) is generated during a step (a) of path control, during which the actual position (0) is measured. ) of the power steering, then this actual position (0) is compared to a position setpoint (Oref), which is predetermined according to a reference trajectory that it is desired to automatically forward to the vehicle, in order to evaluating a positional deviation (A0) corresponding to the difference between said position setpoint and the effective position of the direction, and then, from this position difference (A0), a conductive torque setpoint is determined (Ccond ref) for reducing said positional deviation.
    [0002]
    2. Method according to claim 1, characterized in that the step (a) for servocontrolling a trajectory comprises an output saturation substep (a1), during which the conductive torque setpoint (Ccond Ref. ) at a predetermined maximum allowable threshold (Ccond MAX), said conductive torque saturation threshold, and limiting the conductive torque setpoint (Ccond ref) to the value of said conductive torque saturation threshold (Ccond MAX) if said conductive torque setpoint exceeds said saturation threshold. 30
    [0003]
    3. Method according to claim 2 characterized in that the conductive torque saturation threshold (Ccond MAX) is between 1 Nm and 4 Nm, for example between 2 N.m and 3 N.m.
    [0004]
    4. Method according to one of the preceding claims characterized in that, during the step (a) of servocontrolled path, is used, to determine the conductive torque setpoint (Ccond ref) from the gap of position (A0), a law (L) for determining a torque setpoint which takes the form of a function centered on the position setpoint (Oref) and which associates with any effective position value of the direction ( 0), and more preferably to any flying angle value representative of the angular position of the steering wheel (3), a corresponding conductive torque setpoint (Ccond ref). 5
    [0005]
    5. Method according to claim 4, characterized in that the function representative of the law (L) for determination of torque torque (Ccond_ref) is a curve called "S" having a central area (II) increasing, centered on the position setpoint (Orf), and preferably substantially linear, which is flanked by two asymptotic domains (I, III) of less slope than that of the central domain (II), or even of substantially zero slope.
    [0006]
    6. Method according to one of the preceding claims characterized in that, during the step (a) of servocontrolled trajectory, is used to determine the position command (Oref), a function of automatic piloting maneuver parking or an automatic control function for tracking a taxiway.
    [0007]
    A computer readable data medium containing computer program code elements for executing a method according to one of claims 1 to 6 when said medium is read by a computer.
    [0008]
    8. Power steering management module comprising a conductive torque control module (6), which receives as input on the one hand a conductive torque setpoint (Ccond_ref), and on the other hand a measurement of the actual driving torque ( Ccond) which is actually exerted at the moment by the driver on the steering wheel (3), which evaluates a conductive torque difference (ACcond) corresponding to the difference between the actual driving torque (Ccond) and said conductive torque setpoint (Ccond_ref), and which outputs, as a function of said conductive torque deviation, a motor torque setpoint (ref Cmot), intended to be applied to the assistance motor (4) in order to reduce said deviation of conductive torque, said management module also comprising a trajectory control module (7) which receives as input a position setpoint (Oref), which is predetermined as a function of a reference trajectory that is punctured hait automatically forward to the vehicle, as well as a measurement of the actual position (0) of the power steering, then evaluating a positional difference (AO) which corresponds to the difference between said position instruction and the actual position of the direction, then which outputs, connected to the corresponding input of the conductive torque control module, a conductive torque setpoint (Ccond_ref) determined from the position deviation and intended to reduce said positional deviation.
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    同族专利:
    公开号 | 公开日
    US20170106903A1|2017-04-20|
    CN106488866A|2017-03-08|
    EP3160823B1|2019-03-06|
    WO2015197951A1|2015-12-30|
    US10399595B2|2019-09-03|
    CN106488866B|2019-09-13|
    PL3160823T3|2019-08-30|
    JP2017518923A|2017-07-13|
    FR3022515B1|2016-07-29|
    JP6808080B2|2021-01-06|
    EP3160823A1|2017-05-03|
    JP2020097417A|2020-06-25|
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    法律状态:
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    2015-12-25| PLSC| Search report ready|Effective date: 20151225 |
    2016-04-21| PLFP| Fee payment|Year of fee payment: 3 |
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    2021-03-12| ST| Notification of lapse|Effective date: 20210205 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1455841A|FR3022515B1|2014-06-24|2014-06-24|MIXED STEERING ASSISTANCE COMPRISING A TORQUE CONTROL LOOP PILOTED WITH A POSITION CONTROLLER INTENDED FOR TRACK ENTRY|FR1455841A| FR3022515B1|2014-06-24|2014-06-24|MIXED STEERING ASSISTANCE COMPRISING A TORQUE CONTROL LOOP PILOTED WITH A POSITION CONTROLLER INTENDED FOR TRACK ENTRY|
    JP2016575386A| JP2017518923A|2014-06-24|2015-06-19|Power steering management method and management module thereof|
    US15/317,153| US10399595B2|2014-06-24|2015-06-19|Mixed steering assistance comprising a torque control loop setpoint-piloted by a position controller intended for path control|
    CN201580034795.0A| CN106488866B|2014-06-24|2015-06-19|The hybrid power that positioner including being used for path clustering is controlled to the Torque Control loop of set point turns to|
    EP15733847.6A| EP3160823B1|2014-06-24|2015-06-19|Mixed power steering comprising a torque control loop controlled to a setpoint by a position controller intended for trajectory control|
    PCT/FR2015/051626| WO2015197951A1|2014-06-24|2015-06-19|Mixed power steering comprising a torque control loop controlled to a setpoint by a position controller intended for trajectory control|
    PL15733847T| PL3160823T3|2014-06-24|2015-06-19|Mixed power steering comprising a torque control loop controlled to a setpoint by a position controller intended for trajectory control|
    JP2020018826A| JP6808080B2|2014-06-24|2020-02-06|Power steering management method and its management module|
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