SECURING DRIVING ASSISTANCE FUNCTION WITHIN AN ASSISTED STEERING

专利摘要:
The present invention relates to a method for managing a power steering comprising at least one servo-control function (F1), according to which a position command (θref) is automatically determined according to a reference trajectory that is wishes to forward to the vehicle, and then adjusts accordingly a motor setpoint (Cmot) applied to an assistance motor (2), said method comprising a securing function (F2), distinct from the servo function in a trajectory (F1) and which responds to a higher level of ASIL security according to the ISO-26262 standard, said security function (F2) comprising a diagnostic sub-function (F2-1) in which a control parameter is monitored (θvolant, Ccond, θvolant) such as the angular position of the steering wheel (θvolant), the driving torque exerted on the steering wheel (Ccond), or the speed of rotation of the steering wheel (θvolant), in order to detect the appearance of a situation. it is considered dangerous and then an intervention sub-function (F2-2) according to which, in the event of detection of an alert situation, the servo-control function (F1) is neutralized.
公开号:FR3026708A1
申请号:FR1459590
申请日:2014-10-07
公开日:2016-04-08
发明作者:Romain Moretti
申请人:JTEKT Europe SAS；
IPC主号:

专利说明:

[0001] The present invention relates to methods for managing motor vehicle power steering, and more particularly to methods for managing assisted steering systems, comprising assistance functions for assisting vehicles. driving, intended to automatically ensure a servocontrolled path of the vehicle, such as for example the functions of assistance in maintaining the vehicle in its lane keeping track.
[0002] Driving assistance functions that automatically enslave the trajectory of a motor vehicle are currently increasing in number, in order to improve the safety and comfort of motor vehicle users. However, insofar as such servocontrol functions in trajectory autonomously ensure proper automatic control of the vehicle concerned, by themselves control the configuration of the direction that will follow a reference trajectory determined by their care it is essential for the safety of the occupants of the vehicle and that of other road users that such functions comply with particularly high safety standards. For this purpose, the safety standard IS0-26262 proposes to define, from a risk analysis, the safety levels "ASIL" ("Automotive Safety Integrity Level"), noted, from the lowest to the most demanding, " 0M "(" Quality Management ", that is to say, not relevant for safety), then" A "," B "," C "and finally" D ", which are determined by characterizing each dangerous situation. (or "dangerous event") possible by three parameters: its severity, that is to say the degree of severity of injuries that may be inflicted on the occupant of the vehicle (from SO for the absence of injury to S3 for a critical or fatal injury); Its exposure, that is to say the predictable frequency of occurrence of operating conditions in which an injury is likely to occur (from a near-zero probability EO, or very low E1, that the injury does not occur; produced only in rare operating conditions, up to a high probability E4, in which it is almost certain that a wound will occur in the majority of operating conditions), and its controllability, i.e. the probability that the driver can act (or react) to control the situation and avoid the injury (from a generally controllable situation CO to a situation difficult to control or even completely uncontrollable C3).
[0003] The ASIL level depends on the combination (of the product) of these three parameters. Thus, for example, a dangerous event causing critical injuries S3, with high probability of occurrence E4, and uncontrollable C3, will fall under level ASIL D (the highest).
[0004] On the other hand, the same C3 uncontrollable event causing critical S3 wounds, but having a lower probability of occurrence, lower by one or more degree (s) at the maximum degree, will have its ASIL level lowered by one or more degrees by result. In this example, 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. In practice, the servocontrol functions in trajectory must satisfy (be certified for) ASIL security level at least equal to B, C or D. This requires to make reliable not only the acquisition of data that is necessary for automatic regulation, but also the algorithms for processing these data, and this on the whole servo chain in trajectory. Such a safety requirement therefore firstly requires the use of relatively sophisticated sensors, such as high-definition fast cameras making it possible to precisely follow the marking on the ground delimiting the taxiway, and moreover generally to implement a plurality of redundant sensors contributing to the same function, in order to gain precision and / or maintain the function despite the possible failure (temporary or permanent) of one of said sensors. This naturally tends to increase the cost and weight of the onboard management device on the vehicle. This same security requirement then necessitates the provision of complex processing algorithms over the entire servocontrol chain, provided in particular with detailed analysis functions (for example fast image processing) and noise filtering functions intended to be used. to improve the quality of the perceived signals, security functions for identifying and dealing with possible failures in the acquisition chain or the calculation chain, or else redundant verification functions for calculating, verifying and / or or to validate the same result by several different calculations and / or by using several types of information coming from different sources, and this in order to guarantee the safety of the operation of the whole even in the event of a measurement error affecting a signal or case of failure of one of the functions. However, the complexity of such algorithms makes their execution relatively greedy in computing resources and energy, but also and above all quite slow, whereas, precisely, driver assistance functions sometimes require a very short response time, especially to ensure a servocontrolled trajectory while the vehicle is traveling at high speed (typically for following a highway lane). The objects assigned to the invention therefore seek to overcome the aforementioned drawbacks and to propose a new power steering management method that reconciles, at lower cost and without burdening the vehicle, high safety requirements with good performance in terms of safety. response time. The objects assigned to the invention are achieved by means of a method for managing a vehicle assisted steering system comprising at least one trajectory control function, according to which a position command is automatically determined according to a trajectory of reference that it is desired to forward to the vehicle, then automatically adjusts a motor setpoint that is applied to an assistance motor so as to converge the actual position of the power steering to said position command, said method being characterized in that it comprises a security function, distinct from the servo-control function and which responds to an ASIL security level higher than said trajectory-servo function according to the IS0 security standard - 26262, said security function comprising a diagnostic sub-function according to which a control parameter is monitored, represents tif of the vehicle's behavior, such as measuring or estimating the steering wheel's angular position, measuring or estimating the driver's driving torque on the steering wheel, or measuring or estimating the speed angular rotation of the steering wheel, in order to detect, by comparison of said control parameter with a predetermined warning threshold, the occurrence of a predefined alert situation, considered dangerous, the security function then comprising a subprime intervention function according to which, in the event of detection of an alert situation, the moderation and / or the neutralization of the servocontrol function is forced in the trajectory. Advantageously, the invention proposes to dissociate the function of securing the servocontrol function in a trajectory, which makes it possible to make the constraint of the high security level support the only security function, whereas the servo-control function is in trajectory. is in itself free from such a security constraint. Indeed, it is no longer necessary to intrinsically secure the signals acquired or used by the servocontrol function in trajectory, nor the processing algorithms implemented by the said servocontrol function in trajectory, since this role of securing entirely to the security function. For this purpose, the security function, whose execution takes place in parallel and independently of the normal course of the servo-control function, monitors the behavior of the vehicle, by means of a data acquisition branch 15 and specifically dedicated and secure calculation, distinct from the branch of servocontrolled trajectory, in order to detect the possible appearance of a warning situation deemed dangerous, and reacts, in case of alert situation, by moderating or even neutralizing the path servocontrol function, i.e., by attenuating or even blocking or canceling the influence of said path servocontrol function on the determination and adjustment of the behavior of the power steering, and more particularly by attenuating or even blocking or canceling the influence of said path servocontrol function on the adjustment of the motor setpoint which is applied to the motor assistance. In other words, the invention proposes to ensure the security of the entire management process by a security function which runs in "background task", which is based on its own signal (s) control), and its own processing algorithms, secured at the desired ASIL level, and which intervenes, when it deems it necessary to maintain the safety of the occupants of the vehicle, then taking priority over 30 a function of servo-tracking in order to neutralize a posteriori said servocontrol function in trajectory, at the end of the chain (a little in the manner of a circuit-breaker which interrupts the command signal or signals which come from said function for controlling the motor setpoint, irrespective of the remainder of the value of said one or more setpoint signals produced by said tracking servo function. ire).
[0005] Advantageously, securing only part of the processes implemented in the power steering management method according to the invention is therefore sufficient to secure, at the required ASIL level, all of said management method. In practice, it is therefore sufficient to confer the desired level of ASIL security to the (only) security function, by securing to said ASIL level the acquisition of the control parameter and the processing of said control parameter which makes it possible to detect a situation. dangerous, to obtain overall a complete security, certified at the same level ASIL fixed by the security function, the servo function trajectory that is monitored, and thus "protected" by said security function. As a result, thanks to the management architecture proposed by the invention, the trajectory control function can have a simple and inexpensive, non-redundant structure that will use, for example, inexpensive, light and compact sensors, as well as calculation algorithms that are not very complex and therefore particularly fast and not very greedy in computing resources. Advantageously, thanks to the separation of roles, the function of servocontrolled trajectory can concentrate on the performances, in particular dynamic (the enslavement in trajectory presenting then a particularly short response time), not important its level of intrinsic safety, while that the security function ensures, in the background, to globally impose a sufficient level of security to the whole. In other words, the invention makes it possible to combine the simplicity and the speed of execution of a main function of servocontrolling in trajectory (relatively simplified) with the safety of operation provided by an isolated securing auxiliary function, capable of to intervene, when necessary, to deprive of effect said main function of servocontrolled trajectory, in order to avoid any dangerous and uncontrollable drift of the automatic control of the vehicle. 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 general principle of implementation of a method according to the invention. FIG. 2 illustrates, in a block diagram, the detail of a first exemplary embodiment of a security function according to the invention.
[0006] FIG. 3 illustrates, in a block diagram, the detail of a second exemplary embodiment of a security function according to the invention.
[0007] FIG. 4 illustrates, in a block diagram, a third exemplary embodiment of a security function according to the invention. FIG. 5 illustrates the hysteresis switching principle of an adaptive filter that can be used to reduce the noise affecting the measurement of a control parameter used by a method according to the invention, in particular in the third example of implementation represented by FIG. FIG. 4. The present invention relates to a method of managing a power assisted steering of a vehicle, and more particularly of a motor vehicle. In a manner known per se, said power steering, and more particularly the mechanism of said power steering, comprises at least one steering wheel 1, allowing the driver to act on the steering to manually control the steering maneuver. The power steering also comprises at least one assistance motor 2, intended to provide an effort, and more particularly a couple, 15 assistance to the management maneuver. One can indifferently consider any type of assistance engine 2, and more particularly any type of assistance engine with two directions of operation, and in particular a rotary assistance motor or a linear assistance motor. Moreover, said assistance motor 2 can be for example hydraulic, or preferably, electrical (the use of an electric motor facilitating in particular the implementation and implementation of said motor, as well as the generation and the management of useful signals). In a particularly preferred manner, the assistance motor 2 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 3, driven by the steering wheel 1 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. 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.
[0008] The assistance motor 2 may in particular come into engagement with the steering column 3, for example by means of a gearbox with tangential wheel and endless screw, or even engage directly on the steering rack, by a drive mechanism of the ball screw type or via a drive pinion separate from the pinion of the steering column (to then form a steering mechanism called "double pinion"). According to the invention, and as shown in FIG. 1, the method comprises at least one servo-control function F1, in which an Oref position setpoint is automatically determined according to a reference trajectory that the it is desired to forward the vehicle, then automatically adjusts a Crnot engine setpoint that is applied to the assistance motor 2 so as to converge the effective position On- '' direction to said setpoint Orde. The servocontrol function in path F1 may notably be a function of automatic parking maneuvering control (generally known as "park assist"), in particular parking maneuvering in reverse, and more particularly a steering function. automatic for the realization of slots, or even, particularly preferably, a function of automatic control of tracking of a traffic lane (generally known as "lane keeping"). In the following, reference will be made, for convenience of description, to such a lane keeping function. The Oref position setpoint applied at a given instant will correspond to a target position, calculated by a position set determination sub-function F1-1, and in which the steering mechanism must be placed so that the vehicle can, in the life situation in which it is located, adopt a steer angle steering wheels that allows the vehicle to follow a real trajectory that is as close as possible (within a predefined margin of tolerance), and ideally coincides with the trajectory predetermined reference. In other words, the function of the servo-tracking will be to provide an automatic vehicle control to keep the real trajectory of the vehicle in the vicinity of the (ideal) reference trajectory, by operating in real time the corrections of trajectory (and thus the position setpoint adjustments) necessary.
[0009] 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 built automatically from, inter alia, data relating to external parameters related to the vehicle environment, such as the distance separating a part of the vehicle from an external obstacle (for example another vehicle in question). parking) or the relative position of the vehicle relative to an external reference, for example with respect to a line of separation of traffic lanes.
[0010] This data can be acquired, substantially in real time, by any appropriate measurement, made for example by means of contactless sensors (cameras, optical sensors, ultrasonic sensors, etc.). Thus, for example, the monitoring of the traffic lane, and therefore the definition (construction) of the reference trajectory (or corrections of trajectory) corresponding to the route of said lane, that said route is rectilinear or curved may be carried out by means of cameras able to detect the traffic lane limit marking and to measure the position of the vehicle relative to said marking. The information provided by the data collected 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, the intended autopilot operation. The actual (instantaneous) position of the power steering can be obtained by any measurement by means of a suitable position sensor, for example by a measurement of the linear position of the rack, or even preferably by a measuring the angular position ° steering wheel steering wheel 1 (also called "flying position" or "flying angle"), or, in an equivalent manner, knowing the mechanical reduction ratio of the kinematic chain that connects the engine of assistance 2 to said steering wheel 1, by measuring the angular position of the assistance motor shaft 2.
[0011] If necessary, the angular position of the assistance motor shaft 2 can be determined by means of a "resolver" type sensor, preferably integrated into the assistance motor. As illustrated in FIG. 1, the servo-control function in path F1 will comprise a sub-function called "position control" F1-2, which will make it possible to elaborate, based on knowledge of the position command. Orde and the actual position of the management Orne 'a Cajnst adjustment instruction that will allow the adjustment of the engine set C't. In practice, the method may be implemented by a power steering management module 10. For this purpose, said management module 10 may comprise a (first) servo branch in trajectory 11 which includes a unit for determining a position setpoint 12 for defining an Oref position setpoint of the direction from a trajectory reference number that is desired to follow the vehicle, a follower unit 13 which calculates, according to a sub-function F1-2 called "position control", the difference AO = On-, '- Orde between the position the direction and said position setpoint Oref to output a setpoint adjustment Cajust = f (A0) which is used at the input of a motor setpoint calculation unit 14 which transmits to its turn, according to predetermined assistance laws, a Crnot engine setpoint 20 to an assistance engine 2, so that the Cajnst adjustment setpoint can be taken into account to adjust the engine setpoint Crnot applied to the engine ticket assistance nce 2 to reduce the gap AO between the actual position of the direction and the position setpoint (and ideally converge this gap to zero). This first branch 11 will therefore, if necessary, to achieve servocontrol closed-loop trajectory. In a manner known per se, the assistance laws used by the engine setpoint calculation unit 14 may take into consideration different input signals, such as the steering angle (steering wheel angular position) ° steering wheel, the longitudinal speed Vehicle 30, and / or the driver Ccond torque, for example to define, in a conventional manner, an assistance effort, for amplifying the manual effort provided by the driver to facilitate a maneuver (manual) steering. According to a particularly preferred variant embodiment, the motor setpoint calculating unit 14 will be arranged to allow servo-control (of the closed-loop type) in conductive torque, according to which the effective conductive torque Ccond which is actually exerted is measured. at the moment considered, by the driver on the driving wheel 1, and then comparing said actual conducting torque Ccond to a predetermined conductive torque setpoint Ccond_ref in order to evaluate a conductive torque deviation corresponding to the difference between said Ccond_ref driver torque setpoint and the effective driver torque Ccond, then from this conductive torque deviation, a motor torque setpoint Crnot is determined to be applied to the assistance motor 2 in order to reduce said difference in driver couple. According to such an implementation variant, the adjustment setpoint Cajust may form (when the servo-control function in path F1 is active) the aforementioned conductive torque setpoint Ccond_ref, used at the input of the engine setpoint calculation unit. 14 (that is, Cajust = Ccond_ref), which will enable the servo function in path F1 to automatically (and actively) drive the servo function in conductive torque. According to the invention, the method comprises a security function F2, which is distinct from the trajectory control function F1 and which responds to a higher ASIL security level than said trajectory-controlled servo function according to the security standard. security IS0-26262. Said security function F2 comprises a diagnostic subfunction F2-1 according to which a control parameter is monitored ° flying, Ccond, flying, control parameter which is representative of the vehicle behavior, and which is "secure" at one level. ASIL equal to or greater than that (globally) required for the F2 security function. Said control parameter may for example be a measurement or an estimate of the steering wheel steering wheel angle position (especially in the first example of FIG. 2), a measurement or an estimation of the Ccond conductive torque (also called "torque"). steering wheel ") exerted by the driver on the steering wheel 1 (in particular in the second example of Figure 3), or a measurement or an estimate of the rotational angular speed of rotation of the steering wheel (in particular in the third example of the Figure 4). Advantageously, the diagnostic sub-function F2-1 makes it possible to monitor the control parameter in order to detect, by comparison of said control parameter (preferably considered in absolute value) with a predetermined warning threshold, here Ovolant_seull, Ccond_seud, or soaring threshold respectively, the occurrence of a predefined alert situation, considered dangerous. The security function F2 then comprises an intervention sub-function F2-2 according to which, in the event of detection of an alert situation, the moderation and / or the neutralization of the servocontrol function are forced in a trajectory. F1. In practice, as illustrated in FIG. 1, the management module 10 may comprise for this purpose a (second) securing branch 20, forming a branch which is distinct from the path servo branch 11 and whose ASIL security level is higher than that of said path servo branch according to the security standard IS0-26262, said security branch 20 comprising a diagnostic unit 21 which receives as input a control parameter (secure) ° steering wheel, Ccond, evolving, representative of the vehicle behavior, such as a measurement or an estimate of the angular position of the steering wheel, a measurement or estimate of the driver's torque Ccond exerted by the driver on the steering wheel, or measuring or estimating the rotational angular velocity of the flying steering wheel, and comparing said control parameter to a predetermined warning threshold Ovola nt_seull, C -cond_seud, or threshold ttolant respectively, in order to detect a predefined alert situation, considered as dangerous, and which transmits, in case of detection of alert situation, a triggering signal to an intervention unit 22 interposed on the connection branch which connects the output of the follower unit 13 to the input of the calculation unit of the motor setpoint 14, so as to force the reduction or even the cancellation of the adjustment setpoint Cajust, preferably by opening, material or virtual, the connection branch. As indicated above, the separation of the functions (and thus the branches) of servocontrol in path F1, 11 on the one hand and security F2, on the other hand advantageously allows parallel running of these functions, which avoids to have to integrate into the servo function in path F1 itself secure signals or secure algorithms that slow down its execution. It is thus possible to provide a servo-control function in F1 that is cheap, efficient and responsive, while meeting high security requirements, guaranteed by the presence of the security function F2 which, in the event of detection of a dangerous situation. , in which the continuation of the automatic execution of the enslavement in F1 trajectory could threaten the safety of the vehicle or its occupants, interrupts the effect of the enslavement in trajectory in order to give the preponderance, even the exclusivity, to the driver and manual steering (including conventional assistance functions).
[0012] Advantageously, the security function F2, which does not slow down or disrupt the normal progress of the servocontrol in path F1, as long as the said servocontrolled trajectory is operated under satisfactory operating conditions, can on the other hand, at any time be useful. , act by suspending the contribution of the servo function in path F1 in the process of defining the behavior of the direction, and more particularly in the process of determining the engine setpoint Cmot, in order not to let the autopilot engage the vehicle in a situation not controllable by the driver.
[0013] In absolute terms, it would be conceivable for the intervention sub-function F2-2 to simply force the moderation of the servo-control function in path F1, ie to cause attenuation, but without total suppression, of the effect of the adjustment instruction Cajust, for example by a forced reduction (to a "fair" level considered as appropriate to the situation), but without cancellation, of the (absolute) value of said adjustment instruction Cajust. However, for the sake of simplicity of execution, reactivity, and efficiency, the intervention sub-function F2-2 will preferably constitute a neutralization sub-function according to which the servo-control function in F1 is neutralized if a alarm situation (dangerous situation) is detected by the diagnostic sub-function F2-1, so as to deprive the servo function in path F1 of any influence on (of any participation in) the determination of the motor setpoint C 't. In practice, the triggering signal may therefore constitute a deactivation signal, which controls the disconnection of the servo branch in path 11, in order to isolate the latter by interrupting the transmission of the adjustment instruction Cajust. For this purpose, the intervention unit 22 can advantageously, as illustrated in Figures 1 to 4, include or be formed by a switch ("on / off") actuated by the trigger signal.
[0014] Preferably, such a switch will be able to effect a hardware disconnection of the servo branch in path 11. If necessary, the absence of adjustment adjustment command Cajust at the input of the engine instruction calculation unit 14 may be equivalent to a cancellation of said adjustment instruction. In this case, the intervention unit 22 may, in a variant, operate a virtual disconnection by forcing the setting of the adjustment setpoint Caju to zero. Note also that the disconnection, whatever its form, does not occur. does not necessarily lead to the extinction of the servo function in path F1, which can remain active and continue to run and cool down in the background, so that it can be immediately operational if the disappearance of the dangerous situation brings the F2 security function to control the reconnection of said servo function in path F1 (that is to say the resumption of effective service of the autopilot). Preferably, the security function F2 has a security level equal to or greater than ASIL-B, preferably equal to or greater than ASIL-C, or even equal to ASIL-D. The securing of the corresponding branch 20 can be easily obtained on the one hand by exploiting the signals (secure control parameter (s)) already available within the assisted steering, and having (already) a sufficient ASIL level, it is that is equal to or higher than the level targeted for the security function 15 F2, and secondly by using to perform said security function F2, and in particular for the F2-1 diagnostic and intervention subfunctions F2-2, algorithms that will be secured at least at the overall ASIL level targeted. As such, it will be noted, for example, that the conductive torque C'nd, which may advantageously be measured by an electromagnetic sensor sensitive to the deformations of a torsion bar interposed between the driving wheel 1 and the steering column 3, is usually available with ASIL-D security. Similarly, the rotational angular rotation speed of the steering wheel can be evaluated with a safety level ASIL-D from the speed of rotation of the shaft of the assistance motor 2, itself measured using a speed sensor integrated with said assistance engine. The angular position of the flywheel steering wheel can be obtained with an ASIL level equal to or greater than B, and especially equal to D, for example from a measurement of the angular position of the assistance motor shaft 2 or, indirectly, from a calculation involving other signals which are themselves secure (said signals and said calculation themselves having an ASIL level equal to or greater than that which it is desired to guarantee for the position of the steering wheel that is to be determined), and for example from a calculation of the forces exerted on the steering mechanism (typically a calculation of the forces exerted on the rods or on the rack and which can be estimated from the secure signal (ASIL-D) of the conductive torque Ccond and the secure signal (ASIL-D) of the torque delivered by the assistance motor 2.
[0015] By way of indication, the linear speed of the vehicle Vvà © g will in turn be generally obtained, if necessary, with a security level ASIL B or C. The processing algorithms used in the security branch 20 will also be secured up to the ASIL level. referred to, being reminded that, whatever their complexity, and, where appropriate, their relative slowness of execution related to the presence of redundancies or security checks, their progress will be done in masked time compared to the function of control in path F1, and therefore will not degrade the performance of said servo function in path F1.
[0016] The overall security level of the management method, advantageously equal to that of the security function F2, and ultimately guaranteed by said security function F2, can therefore be very high, and meet a particularly demanding specifications. The servo-control function in path F1 can itself be content with any freely chosen security level, lower than that of the security function F2, and for example present an ASIL-A security level, see a QM level (" Quality Management ") very little or not at all binding. This will allow, in particular, the practical realization of said servocontrol function in path F1 by means of bodies, and in particular simple, inexpensive and compact sensors, without it being necessary, in particular, for these devices to be intrinsically certified for a given ASIL level. Advantageously, the combination, according to the architecture proposed by the invention, of a particularly reliable F2 security function and a particularly responsive F1 path servocontrol function will, at lower cost, make the management method according to FIG. invention compatible with the implementation of driving assistance functions in high-speed vehicle situation, for example when the vehicle is traveling on motorway. Preferably, as shown in particular in FIGS. 2 to 4, the diagnostic subfunction F2 comprises a step (F2-1a) of comparative analysis, during which the instantaneous value of the control parameter is compared. ° flying, Cconcl, ttolant at the predetermined alert threshold Ovolant_'ull, Ccond_seull, threshold ttolant, then a validation step (F2-1b) during which it is evaluated, in case of crossing the alert threshold, the duration during which the control parameter is maintained above said alert threshold, and it is concluded that an alert situation occurs if said duration of maintenance t-alert exceeds a threshold of predetermined duration t -seuil, that is to say as soon as t-alert tseuil.
[0017] In other words, the intervention F2-2 to neutralize the action of the servo-control function in path F1 will not be triggered unless the alert situation, considered to be dangerous, satisfies a dual intensity condition ( characterized by the value of the control parameter) and duration. This will make it possible to distinguish the true defects from the simple transient peaks of the control parameter, and thus to avoid any unwanted triggering of the intervention subfunction F2-2 by a "false positive". The timing of the hold period can be made by any appropriate means, such as clock or counter 23.
[0018] Preferably, the validation step (F2-1b) will use an incremental counter 23, the incremental step of which may preferably be adapted as a function of the rotational speed of the steering wheel 1, as shown in FIG. FIG. 4. Such an arrangement will enable the security function F2 to react more quickly when the steering wheel 1 rotates rapidly than when said steering wheel rotates slowly, so as not to leave the servo function in trajectory F1, in case of a situation. dangerous, the time to significantly change the steering angle, and therefore the trajectory, of the vehicle. In concrete terms, it will thus be possible to prevent, for example, the servo-control function in the F1 path from causing a change in the vehicle's sudden traffic lane, even before the driver has had time to react and to take back the steering wheel in his hands. to oppose this unwanted action of autopilot. Of course, it is not excluded to adapt, for a similar purpose of reactivity, the increment step of the counter 23 according to other parameters, such as for example the longitudinal speed of the vehicle. By way of nonlimiting example, the increment step can be set at 200 units / ms, and the counting threshold at 1000 units, so that said counting threshold will be reached in 5 ms (five milliseconds), c that is, there will be a threshold of duration tse, i = 5 ms. If the step increment is increased to 1000 units / ms, for example to account for a high rotation speed of the wheel 1, the same counting threshold will be reached in t -seuil = 1 ms (one millisecond), this which will reduce the threshold duration tseull from which to trigger the intervention subfunction F2-2. In addition, the threshold of duration t -seuil applicable may depend on the control parameter used.
[0019] In practice, when the control parameter used is the conductive pair (flying torque) Ccond, the duration threshold tsend may be indicative of the order of 20 ms. When the control parameter used is the rotational angular speed of the flywheel, the threshold of duration tsend may be, as an indication, between 15 ms and 500 ms (and adjusted according to the value of the speed of rotation of the steering wheel, so that, preferably, the threshold of duration decreases if the speed of rotation of the steering wheel increases). When the control parameter used is the angular position of the driving steering wheel °, the duration threshold tsend may be indicative of the order of 500 ms. Preferably, according to a characteristic which may constitute a fully-fledged invention (regardless of the particular ASIL level of the security function F2), and as illustrated in FIG. 3, the security function F2 comprises a subsystem function F2-3 for permanent conductor torque demarcation, distinct from the diagnostic function subfunction F2-1 and the intervention subfunction F2-2, and which acts in parallel with said diagnostic and intervention sub-functions , by dynamically adjusting a weighting coefficient CP that it applies to the servo function in path F1 so as to permanently maintain the driver torque Ccond, which is actually felt by the driver at the steering wheel 1, below a maximum permissible conductive torque. Advantageously, this boundary sub-function F2-3 makes it possible to limit the magnitude, and therefore the consequences, of a possible failure of the servo-control function in path F1, by limiting at any time, whatever happens, the adjustment setpoint Cajnst, resulting from said servo function in path F1, that is to say the setpoint which is finally transmitted by the servo function in path F1, and which is actually applied to the input of the engine setpoint calculation unit 14 to be taken into consideration by the assistance laws. In other words, the boundary subfunction F2-3 acts on the control signal which constitutes the request issued by the position control for the assistance laws and the engine torque generator, by limiting, or even by reducing the magnitude of said signal, by weighting. More particularly, as illustrated in FIG. 3, the weighting coefficient CP is applied to the adjustment setpoint Cajnst (here formed by a conductive torque setpoint Ccond_ref in said FIG. 3) derived from the tracking unit of FIG. position control 13, so that it is a weighted adjustment setpoint Cajust_pond = CP X Cajust (and more particularly, here, a weighted conductive torque set point CP x Ccond_ref) which is applied, for the implementation of In this way, even in the case where a failure of the servo-control function in path F1 tends to generate an abnormally high adjustment command, -Function of F2-3 limiting limits, in fine, the conductive torque Ccond undergone by the driver, insofar as said driver torque results from the application of a fitting instruction Cap'st, Cajust_pond q it is itself bounded or even attenuated by the weighting applied by the sub-function of the boundary function F2-3. In other words, thanks to the additional security offered by the boundary sub-function F2-3, the servo function in path F1 can not cause itself the appearance of a conductive torque Ccond which would meet or exceed a maximum permissible threshold, which is considered critical for the safety of the driver. Thus, whatever the circumstances, the servo function in path F1 will never be able to cause a sudden runaway of the assistance motor 2. This is particularly true if a failure of said servo function in path F1 causes the occurrence of a dangerous situation, or appears simultaneously with a dangerous situation. In such a case, the F2-3 boundary sub-function is capable of providing (faster, if necessary, than the F2-1 diagnostic and F2-2 intervention sub-functions) a first immediate driver protection. , especially during the time that is necessary for the diagnostic subfunction F2-1 to detect the dangerous situation and the intervention subfunction F2-2 to intervene and neutralize the (here faulty) servocontrol function. trajectory F1. The boundary sub-function F2-3 thus advantageously completes the security function F2, insofar as said boundary sub-function F2-3 30 helps to prevent the occurrence of a conductive torque peak Ccond, which allows if necessary, to have more time to react to a dangerous situation, by preventing the dangerous situation from degenerating completely (that is, by preventing it from quickly becoming uncontrollable and / or particularly serious and irreversible consequences). The maximum allowable torque will be predetermined so that, even when the driver torque Ccond reaches such an intensity, on the one hand the steering wheel can not forcefully and violently drive the driver's arm at the risk of causing him injury (of sprained), but also, on the other hand, it remains possible for the driver to force manually, against this driver torque and the assistance engine 2, the management maneuver to maintain control (manual) of the vehicle. As an indication, the value of the maximum allowable conductive torque may be chosen between 2 N.m and 4 Nm, and for example of the order of 3 N.m. For this purpose, it is possible for example to use as the adjustment law of the weighting coefficient CP, as illustrated in FIG. 3, a function which associates the value CP = 1 with any value of the conductive torque Ccond (measured) lower than or equal to a first low threshold, here 2 Nm, the value CP = 0 to any value of conductive torque Ccond equal to or greater than a second high threshold higher than the first low threshold, here 4 Nm, function which has a decreasing transition, of preferably linearly between these two operating characteristic points (CP = 1, Ccond = 2 Nm) and (CP = 0, Ccond = 4 Nm). Note that, in this example, in the event of failure tending to cause runaway adjustment Cajust set, which would have the effect of runaway assistance engine 2 (that is to say a very fast unwanted growth and of high amplitude of the torque delivered by said assistance motor 2, and consequently of the driving torque induced by the application of this driving torque against the driver), the application of the law of adjustment of the coefficient of weighting, implemented by the boundary sub-function F2-3, will have the consequence that the weighted adjustment setpoint Cajust pond, and therefore, if necessary, the assistance motor 2 driven by this setpoint, can oscillate ( at a frequency which will be of the order of that corresponding to the response time of the boundary sub-function F2-3) between an off state (CP = 0), in which said adjustment instruction (and possibly, by of consequence in some cases the engine of 'assistance' is placed by the weighting when the driver torque Ccond reaches the second high threshold of 4 Nm, and a lit state (CP> 0, and in particular CP = 1) in which said adjustment instruction (and possibly, by a consequence in some cases, the assistance engine) returns as soon as the previous extinction has had the effect of lowering the driver torque Ccond below the first low threshold of 2 Nm In practice, if the adjustment instruction Cajust (and, possibly, subject to the applicable assistance laws, the assistance engine 2 itself) follows in this way a cycle of cuts and successive ignitions (frequency high), corresponding to the alternation between the two aforementioned operating points, namely a first operating point with adjustment (weighted) setpoint active, and activated motor (CP = 1, because Ccond = 2 Nm, where Cajust_pond = Cajust) on the one hand, and a second operating point with adjustment (weighted) adjustment reduced, or even more particularly inhibited, by weighting, and possibly deactivated motor (CP = 0, because Ccond = 4 Nm, d where Cajust_pond = 0) on the other hand, then the runaway of the adjustment instruction (weighted), and thus the possible runaway of the assistance engine 2 which results from the application of this adjustment instruction, will be advantageously contained around a value "pivot" 10 corresponding to the average of the high and low thresholds, ie here 3 N.m (= 1/2 x (2 N.m + 4 N.m)). Advantageously, it will be noted that the boundary sub-function F2-3 also plays a warning role, since it allows the tactile perception of a fault, because the driver then feels, through the steering wheel 1 15 that it holds in hands, a conductive torque Ccond, and therefore a resistance of the direction, relatively (abnormally) high, without said conductive torque can not exceed a maximum acceptable threshold of dangerousness (4 Nm in the example above). According to a preferential possibility of implementation, the security function F2 comprises, as illustrated in FIG. 4, an adaptive filtering sub-function F2-4 according to which a low-pass filter 24 is activated which the the steering control parameter Ccond, or, as is the case in FIG. 4, to reduce the noise, when said control parameter ° flying, Ccond, ttolant is in a range of values, called "Critical Range" CR ("Critical 25 Range"), predefined in the vicinity of the alert threshold, and conversely said low-pass filter 24 is deactivated when the control parameter is outside, and in particular beyond, said critical range CR. The inventors have indeed found that, when the control parameter ° flying, Ccond, ttolant is in the vicinity (especially in the lower vicinity) 30 of the alert threshold Ovolant_seull, Ccond threshold, Ôvolant threshold, the noise that affects the parameter of control may artificially cause a crossing of the alert threshold, and thus distort the comparative analysis (F2-1a), which may lead to a false diagnosis of the occurrence of a dangerous situation and therefore to an unjustified interruption of the function enslavement in F1 trajectory.
[0020] Therefore, in such a situation, it is useful to filter the noise in order to reduce the sensitivity of the diagnostic sub-function F2-1 to the false positives, and thus to favor the accuracy of the security function F2. On the other hand, the inventors have also found that the implementation of a low-pass filtering, intended to eliminate the noise (whose frequency is generally high), delays the provision of the (filtered) control parameter at the input of the diagnostic unit 21 and thus slows down the execution of the diagnostic sub-function F2-1, and more generally the execution of the security function F2. If such a slowdown (which typically carries the response time of the securing function to 100 ms) is acceptable as long as the steering maneuver is relatively slow, it can however be detrimental to the safety of the vehicle and its vehicles. occupants when the rotation speed of the steering wheel 1 is high (typically greater than 20 degrees / s), that is to say when the situation requires a rapid intervention (typically with a response time of the order of 5 ms) to avoid a significant change of trajectory, and in particular to avoid an accidental change of lane or a road exit. This is why the invention proposes not to permanently filter the control parameter (and more particularly, in the example of FIG. 4, not to continuously filter the speed of rotation of the flying flywheel), in order not to not to affect the general reactivity of the security function F2, but to adapt the filtering by selectively activating the filter 24 low-pass, and thus by giving priority to precision, only when it is really necessary to distinguish a real alarm situation from a simple false positive, and deactivating said filter 24 in other cases, especially in a situation of rapid rotation of the steering wheel, when it is necessary to give priority to reactivity. For this purpose, it will be possible, for example, to set the high value CRsup of the critical range CR as equal to (or greater than) the alert threshold 0'olant_seull, Ccond_seull, threshold total plus the predictable value (or ascertained empirically) of the noise BR. affecting the signal of the control parameter, ie, in the example of Figure 4: C Rsu p = ttolant threshold + BR- Indeed, if the measured value of the flying speed is above this high value CRsup, we will be certain that, whatever the level of noise affecting the measurement, the actual flying speed will indeed have exceeded the warning threshold threshold - On the contrary, we could also set, possibly, a low value CR, nf of the critical range CR, below which it is considered that the filtering is useless because, whatever the measured value (noisy) of the control parameter, here of the flying speed, said measured value is, in the absolute or in view of its evolution at the t considered, too much lower than the alert threshold Ovolant_se, ', l, Ccond_se,', l, ttolant threshold So that the real value of said control parameter (here the actual value of the flying speed) could reach said threshold of alert. Said low value CR, nf may especially for this purpose correspond to the alert threshold: CR, nf = Ovolantseuil, Ccond threshold, ttolant threshold.
[0021] In the example of Figure 4, we can have CR = [CRinf CRsupl = [ttolant threshold; ttolant threshold + BR] - In any case, in order to avoid instabilities, switching between activation and deactivation of adaptive filtering may be performed by a hysteresis flip-flop.
[0022] This hysteresis flip-flop can use, as illustrated in FIG. 5, the high value CRsup of the critical range CR, so as to cause the deactivation of the filtering when the control parameter (here the speed of the steering wheel), considered in absolute value, exceeds said tilt value, that is to say becomes greater than the high value CRsup.
[0023] Said toggle can also use as a lower switching value the low value CR, nf of the critical range CR, so as to cause the (re) activation of the filtering when the control parameter, here the speed of the steering wheel, considered (e) in absolute value, goes down below said low value CR, nf. As an indication, and in particular in the example shown in FIG. 4, the threshold warning threshold may be set at 20 degrees / s. Since the noise BR affecting the signal for measuring the rotational speed of the steering wheel 1 is likely to cause the signal to fluctuate from +/- 2 degrees / s to +13 degrees / s, a false positive could for example occur, absence of filtering, at a speed of rotation of the actual steering wheel of 17 degrees / s (if the noise distorts the measurement by increasing it: 17 degrees / s real + 3 degrees / s of noise = 20 degrees / s measured, the alert threshold). Similarly, it may not be possible to detect a crossing of the alert threshold if the actual flying speed, for example 22 degrees / s, or even almost 23 degrees / s, was reduced by the noise (22 degrees / s real - 3 degrees / s of noise = 19 degrees / s measured <warning threshold).
[0024] In this example, it will be possible to choose to activate the filtering (and leave said active filtering) as long as the rotation speed of the flying flywheel remains lower than or equal to a high value CRsup = 23 degrees / s (= 20 degrees / s warning threshold + 3 degrees / s of raw noise), that is to say as long as the raw noise is likely to cause false positives or on the contrary to hide a real dangerous situation. Conversely, it will be possible to deactivate said filtering when exceeding this high value (upper switching value) CRsup = 23 degrees / s (or another predetermined slightly higher value, for example 25 degrees / s) beyond which, even in the presence of noise, it will be certain that the actual steering speed has necessarily necessarily reached or exceeded the alert threshold (so that it is useless to seek a high accuracy, and therefore useless to resort to filtering). As an indication (and always with reference to the use of the steering wheel speed as a control parameter and therefore as a filtering object), the filtering may make it possible to attenuate the noise below 1 degree / s, thus reducing the diagnostic accuracy to +/- 1 degree / sec. Advantageously, the implementation of an adaptive filtering F2-4 will therefore combine reliability and responsiveness of the security function F2. Furthermore, preferably, and as illustrated in particular in Figures 2, 3 and 4, the alert threshold 6'lant_seull, Ccond_seull is set, the flying threshold of the F2 security function according to the linear speed (longitudinal) Vehicle's vehicle. Thus, it will be advantageous to adapt the conditions for securing the process, and in particular for triggering the F2-2 intervention, to the speed of the vehicle, insofar as it is understandable that the higher the vehicle's vehicle speed, the more the time available to react (and in particular the time left for the driver to react) is reduced, and the consequences of a failure (and in particular of a change of trajectory or a departure from the road) can be serious. In practice, it will be possible to lower the alert threshold Ovoiant_seuli, Ccond_seull, threshold threshold, to promote early diagnosis and rapid intervention of the F2 security function, when the vehicle vehicle speed increases and / or exceeds a threshold of predetermined speed, or conversely increase the alert threshold when the vehicle vehicle speed decreases and / or remains below said predetermined speed threshold.
[0025] As illustrated in FIGS. 2 to 4, the automatic modifications of the alert threshold will be performed by an alert threshold adjustment unit 25, which will be placed at the input of the diagnostic unit 21 in order to parameterize the latter by setting the alert threshold Ovolant_seull, Ccond_seull, ttoling threshold applicable at the moment considered. According to a preferential possibility of implementation, which may constitute an entirely separate invention, the warning threshold Ovolantseuil, Ccond threshold, is set, the threshold of the safety function F2 is adjusted according to the driver's torque Ccond exerted by the driver on the steering wheel. 1 in practice, as shown in particular in Figure 4. In practice, the existence of a driver Ccond high torque indeed indicates that the steering wheel 1 is held in hands by the driver, while at the conversely, the driving torque Ccond will necessarily remain low, or even substantially zero, if the driving wheel 1 is released and can move freely, according to the actions of the assistance engine 2, without being upset in its movement by a manual action of the driver.
[0026] However, in a situation of stolen steering, the driver will be more vigilant and more able to react quickly than in a stolen situation. It will therefore be possible to lower the alert threshold Ovoiant_seuli, Ccond_seull, all threshold when the steering wheel 1 is released, in order to increase the sensitivity of the detection of a dangerous situation and thus accelerate the intervention of the security function F2 in situation low vigilance of the driver, so that the security function F2 can overcome the lack of vigilance of the driver. Conversely, it will be possible to tolerate an increase in the threshold of warning Ovolant_seuil, Ccond threshold, évolant threshold when (as) the steering wheel 1 is held, that is to say as long as the driving torque is greater than a threshold predetermined.
[0027] Indeed, as long as the driver is vigilant and holds the steering wheel in his hands, slightly reducing the sensitivity of the F2 security function by raising the alert threshold will not cause the driver to run the risk of losing control. of his vehicle, or worsening the consequences of a dangerous situation, since said driver is able at any time to react effectively by resuming manual control of the steering. On the contrary, the increase of the alert threshold in a controlled steering situation makes it possible to optimize the operation of the method according to the invention, by triggering the intervention of the security function F2 only wisely, according to criteria which are less severe in situation of held steering wheel (the security function F2 then being more "permissive") in situation of loose steering, which avoids in particular to involve said security function F2 while a maneuver is initiated intentionally by the driver and controlled by the latter. In the example of FIG. 4, it will be possible to raise the threshold of the speeding flywheel warning threshold when the driver torque Ccond is high (greater than a predetermined threshold), in order not to trigger the security function F2 unnecessarily when the driver holds the steering wheel 1 in hands. Thus, the driver can, if necessary, carry out a rapid steering maneuver (thus to print on the steering wheel 1 a high speed of rotation) but willfully, for example to avoid an obstacle, without triggering the intervention of the security function F2. Conversely, it will lower the threshold threshold threshold whitening threshold when the driver Ccond torque will be low (below a predetermined threshold), so as to enable the F2 security function to intervene quickly when a rapid rotation of the steering wheel is detected in the situation of a released steering wheel 15, to neutralize the servo function in path F1. Advantageously, the early intervention of the F2 securing function in a stall situation will stop the "crazy ride" of the steering wheel 1 and allow the driver time to react and take the steering wheel 1 in hands before management has operated automatically a large unwanted movement and thus caused a dangerous movement of the vehicle, for example an exit of said vehicle from its taxiway. According to a possibility of preferential implementation which may constitute an invention in its own right, applicable where appropriate to any method of management of assisted steering involving the detection or exploitation of the state, held or released, of a steering wheel (and / or the management of transitions between released state and held state or vice versa), the security function F2 comprises, as shown in particular in FIG. 4, an extension subfunction F2-5, intended to extend virtually a state of flying held. This extension sub-function F2-5 is activated when an increase in absolute value of the conductive pair Ccond is perceived, and this extension subfunction F2-5 is deactivated when a decrease is perceived. , in absolute value, of said conductive pair Ccond. According to this extension sub-function F2-5, when the said extension sub-function F2-5 is in its activated state, the measured value of the conductive torque Ccond is taken into account for the adjustment of the threshold. Ovolant_seull alert, Ccond_seull, flying threshold of the security function F2, so as to delay, for a predetermined duration of extension after release of the steering wheel, the modification, and more particularly the reduction, of said alert threshold Ovolant_seull , Ccond_seull, all threshold. Indeed, the inventors have found that, at the moment when the driver releases the steering wheel 1, there may occur a peak of the control parameter, and more particularly a peak speed of rotation of the flying flywheel, for example the the fact that the driver, by acting manually, had moved the vehicle away from its reference trajectory so that, as soon as the steering wheel was released, the servo-control function in F1 automatically and quickly recalls the steering wheel 1 to return the vehicle to said trajectory . Therefore, if one immediately considers, as soon as the release of the steering wheel occurs, that one is in situation of loose steering and that one consequently lowers the threshold of alert of the function of securing F2, as has been said above, that is to say more particularly, in the example of Figure 4, that it lowers the alert threshold of rotation speed flying flying threshold of fact that the conductive torque Ccond drops to a low value, the peak of the control parameter, and more particularly the peak speed of the flying flywheel in said example, although corresponding to a normal and safe situation (since, in particular, the driver has still hands near the steering wheel and can quickly re-enter the steering wheel if necessary), may be misinterpreted as an alert situation, and trigger unnecessarily the intervention of the F2 security function. The invention therefore advantageously proposes to filter the signal of the conductive torque Ccond at the time of the release of steering wheel 1 in order to introduce a delay in the acquisition and / or the processing of said signal and thus to maintain, for a short time after the release of the steering wheel 1 (that is to say during the aforementioned extension), the fiction of a state of "flying held". In the case in point, this will therefore make it possible to temporarily maintain an alert threshold Ovoiant_seuli, Ccond_seull, ttoling high threshold, corresponding to such a state of "flying held", so as to let pass the peak, normal and temporary, parameter control, which is the normal consequence of the release of the steering wheel, without triggering the intervention of the security function F2. In other words, the extension sub-function F2-5 makes it possible to postpone a predetermined extension time (delay), at the time (as of) the release of the steering wheel 1, the switchover of the alert threshold from the value (high) of said alert threshold applicable in the situation of steering wheel held towards the value (low, lower than the high value) applicable in situation of dropped flywheel.
[0028] The duration of extension (delay) may in particular depend on the extent to which the vehicle has moved away from the reference path, under the action of the driver, and therefore depend on the time that is necessary to return to said reference trajectory ( typically, the time that is necessary to get back into the lane). As an indication, said extension period may be substantially between 50 ms and 1 s, and more particularly between 50 ms and 250 ms. This delay can in particular be induced by a low-pass filter or any equivalent delaying system (timer).
[0029] Conversely, when the steering wheel is taken over, it will be necessary to take the change of situation immediately into consideration, and in particular to authorize the increase of the alert threshold (that is to say, the return of said alarm threshold at its high value) so as not to delay the updating of the parameterization of the security function F2 and thus to avoid any unnecessary triggering of said security function F2 in the event of an intentional manual operation. In the example of FIG. 4, it will be necessary to return the threshold of the steering wheel speed-up threshold almost instantaneously to its high value, in order not to trigger the function of securing F2 under the effect of a fast manual steering maneuver (so high flying flying speed) that would be engaged voluntarily by the driver. In other words, the extension function F2-5 will therefore be designed to filter the driving torque Ccond in case of release of steering wheel 1, but not during the recovery in hand of said flywheel 1. In practice, this extension function F2 -5 can be implemented by means of a selective hysteresis flip-type filtering unit 26, which places (and maintains) the delay filtering in an active state if it perceives that the conductive pair Ccond is (in absolute value) in a decreasing phase (sign of a release of the steering wheel) and on the contrary deactivates said self-filtering when it perceives that the driving torque is in increasing phase (sign of holding in hands or recovery in hands ). A more detailed description of the exemplary embodiments of FIGS. 2 to 4 and their operation will now be provided to better illustrate certain possible and preferred combinations of the features described in the foregoing.
[0030] The first example, illustrated in FIG. 2, typically corresponds to a security application in which the danger can be associated with a lateral dynamic of the vehicle (lateral acceleration or yaw rate) that is too high, typically at a lateral acceleration greater than or equal to 0.3 G (0.3 times the gravitational acceleration). Indeed, it will be understood, for example, that a servo-control function 5 on the lane-keeping track F1 is intended to drive the vehicle at high linear speed VVhic according to straight-line or weakly curved paths, so that a significant lateral acceleration (which may correspond to a sudden and high-amplitude deflection, for example) thus indicates a vehicle behavior anomaly incompatible with said trajectory control function. It will also be understood that it is preferable to intervene while the angular acceleration (or the yaw rate) is still relatively low, since the vehicle is more easily controllable when it is (still) in a situation of weak lateral dynamics, rather than in a situation of angular acceleration or high yaw rate (typical for example of skidding or lurching). Advantageously, and according to a feature which may constitute an invention in its own right, the angular position of the steering wheel may be used as a control parameter representative of the lateral dynamics of the vehicle. Indeed there is a relationship, called Jeantaud-Ackermann, between 20 lateral acceleration and the position of the steering wheel: L-side and steering wheel = K Jeantaud 2 Vvehic With: steering wheel angle 25 - K jeantaud conversion gain between the wheel angle and the steering wheel angle - L the wheelbase of the vehicle - yiateray the lateral acceleration - Vvehw the linear speed of the vehicle In addition, it is easier and faster to acquire and process (by the 30 comparing to an alert threshold of the same nature) a signal which is directly representative of the position of the steering wheel °, rather than providing a secure algorithm (of the same level ASIL, compliant with the level required for the security function F2) which would make it possible to calculate in real time the lateral acceleration from said safe steering position signal (measured) and then to compare this calculated lateral acceleration with a lateral acceleration alert threshold.
[0031] This is why the security function F2 will preferably be executed by using (directly) the flying steering wheel position as a control parameter, and by determining the alert threshold Ovoiant_seijd in the form of an equivalent steering wheel position (in the sense of of the relation of Jeantaud-Ackermann, which makes it possible to carry out the conversion) starting from a warning threshold (typically 0.3 G) fixed for the lateral acceleration Ylaterale. It will be noted in this respect that, the Jeantaud-Ackermann formula advantageously taking into consideration the linear speed of the vehicle, it will also allow the warning threshold adjustment unit 25 to inherently perform the adaptation of the threshold of Ovoiant_seijd alert according to the vehicle's linear speed. This Ovolant_se, ', l homogeneous threshold at a flywheel position will then be used to carry out the diagnostic sub-function F2-1, and more particularly the step (F2-1a) of directly comparing the position. effective steering wheel ° flying measured at the time considered with this alert threshold Ovoiant_se, ', i. In case of exceeding the alert threshold, and thus of detecting a dangerous situation, the counter 23 is progressively incremented. If said counter 23 exceeds the threshold of predetermined duration t -seuil, confirming (validating) thus the existence of a dangerous alert situation, a deactivation signal is sent to the intervention unit 22 which neutralizes the function of in the path F1, by interrupting the adjustment setpoint signal Cajust that said path servo function transmits to the engine setpoint calculation unit 14. In other words, the servo function in path F1, protected by the security function F2, is disconnected in case of a dangerous situation. Without automatic adjustment adjustment Cajust (canceled by the disconnection), the engine torque setpoint calculation unit 14 will adapt the engine setpoint Cmot so that the action of the assistance engine 2 follows (and therefore assists) the manual operation of the steering wheel 1, which amounts to return to the driver (temporarily, as long as the alert situation persists) the control of manual steering of the steering. It will be noted in this respect that, in a preferred variant of implementation, the assistance laws are designed to operate a servocontrol by the driver torque, that is to say, designed so as to actuate the assistance motor. 2 so that the driver Ccond torque, which is actually exerted and felt by the driver, corresponds to a theoretical driver torque that should normally be felt in view of the dynamic situation of the vehicle and the effective angular position of the steering wheel (at the moment considered). For example, in the absence of Cajust adjustment setpoint emanating from the servo-control function in path F1, and if the vehicle is traveling in a straight line, then the driving torque Ccond felt will have to be substantially zero if the steering wheel pipe is in a centered position. Under these conditions, the assistance motor 2 will therefore tend to act to converge said conductive torque to zero.
[0032] On the other hand, if the vehicle is turning, and the steering wheel is oriented in a non-centered (non-zero) angular position which substantially corresponds to the cornering, then the driving torque Ccond felt must be non-zero, and correspond to the steering effort (commitment or maintaining the steering) "normal" steering wheels when cornering (typically of the order of 3 Nm to 5 Nm). Under these conditions, the assistance motor 2 will therefore tend to act to converge said driver torque to said non-zero "normal" steering effort. The second exemplary embodiment, illustrated in FIG. 3, typically corresponds to the securing of a "steering wheel-held" life situation, in which the driver holds the steering wheel 1 in his hands, and in which the danger can come from an excess of driver torque Ccond, which would be induced by an engine setpoint C't too high, and which would be likely to cause the driver's arm against his will, to let go of said driver or even to cause an injury (of wrist sprain) to the driver.
[0033] Unlike the first example, it is this time the driver torque C'nd which serves as a control parameter, and which is compared, during the diagnosis F2-1, to a torque warning threshold Ccond_se, ', l , for the reasons mentioned above. However, in this second example, there are elements similar to those of the first example and allowing a procedure to proceed according to the same principle, namely: an alert threshold adjustment unit 25 which adjusts the alert threshold of driver torque Ccond_send as a function of the linear speed of the vehicle VvÃéhic'Ã, Ã, ¢ a diagnostic unit 21 which makes a comparison of the instantaneous value of the actual driver torque Ccond with the conductive torque warning threshold Ccond_send, and an incremental counter 23 for to measure the duration of maintenance after crossing the alert threshold in order to validate the existence of a warning situation.
[0034] In this second example, a delimiting subfunction F2-3 is added to the security function F2 which makes it possible, as described above, to apply a weighting (between 0% and 100%, ie that is to say a weighting coefficient of between 0 and 1) to the signal to be secured in fine, namely here to the conductive torque setpoint Ccond_ref, in order to avoid a runaway of the adjustment setpoint Cajust, and thus of the driving torque C'nd actually suffered by the driver (and more particularly a runaway of the assistance engine 2). The third exemplary embodiment, illustrated in FIG. 4, typically corresponds to the securing of a "flying-loose" life situation, in which the driver releases the steering wheel, and in which the danger is associated with a rotational speed. steering wheel that would be too fast to allow the driver to take the wheel 1 in hand in time to be able to control the behavior of the vehicle. The purpose of the safety function F2 is therefore to ensure that, in the event of a dangerous situation, the steering wheel (released) will go at a speed slow enough to allow the driver time to react and therefore to take the steering wheel back into the hands. to manually correct the behavior of the vehicle. The control parameter used here is the rotational speed of the steering wheel, which can be calculated from the "resolver" sensor of the assistance engine 2, or any other equivalent sensor. Here again, for the same purpose as above, there are elements analogous to those of the first and second examples, which allow the process to proceed according to the same principle, namely: a warning threshold adjustment unit 25 which adjusts the threshold of the flying speed warning wheel according to the linear speed of the vehicle Vvh, a diagnostic unit 21 making a comparison of the instantaneous value of the speed of rotation of the flying flywheel with the threshold of a threshold flywheel speed alert, and an incremental counter 23 for timing the duration of holding alert of crossing the alert threshold to validate the existence of a warning situation. This third example provides that the alert threshold, in this case the speed threshold threshold of the flywheel threshold, is also adjusted according to the driver torque Ccond. Indeed, the securing of a servo function in high-speed trajectory and in a situation of loose steering imposes a low alert threshold, favoring reactivity in order to prevent the rapid occurrence, and therefore uncontrollable, of deviations from trajectory of high amplitude.
[0035] Conversely, in the case of a stolen steering wheel, the driver can generate, by his manual steering maneuvers, steering wheel speeds above this low warning threshold, without these maneuvers being truly dangerous. It is therefore appropriate, in the event of a controlled flywheel, to raise the warning threshold of the speeding flywheel speed threshold to a high value (higher), so that the protection by the low warning threshold does not apply, in the end, only in a stall situation. In addition, the third exemplary embodiment includes an extension F2-5 sub-function that effectively manages the transitions between the steering wheel situation and the dropped steering situation by selectively filtering the measured driver torque Ccond before applying torque. filtered conductor to the warning threshold adjustment unit 25. As has been detailed above, this selective self-filtering allows to fictitiously prolong a steering wheel situation held at the time of the release of the steering wheel, so as not to cause too early switching threshold alerting threshold threshold to its low value (and thus to avoid hypersensitivity of the monitoring regime provided by the F2 security function during the transition held held / flying released), while allowing the reverse when the steering wheel is taken over, the warning threshold is immediately switched to a high threshold so as not to penalize the reactivity of the vehicle. e the security function in a controlled steering wheel situation. In practice, the warning threshold adjustment unit 25 will therefore make it possible, as shown in FIG. 4, to adjust the threshold of the threshold speeding flywheel warning threshold as a function of the speed of the vehicle and filtered conductor torque. This third embodiment also adds an increment step matching unit 27 which makes it possible to adapt the increment step used by the counter 23, and expressed in units per millisecond, as a function of the speed of rotation of the counter. flywheel, and more particularly to increase said increment step (where appropriate proportionally) with the speed of rotation of the steering wheel, so as to obtain a reaction, and more particularly detection and intervention, faster (s) the safety function F2 when the driving wheel rotates freely at high speed than when said flywheel rotates freely at a lower speed, and this in order to give the driver more time to resume steering wheel in hand by rapidly neutralizing a servocontrolled defective trajectory, before the latter had serious consequences.
[0036] This third example finally adds an adaptive filtering subfunction F2-4 intended to improve the accuracy of the measurement of the control parameter, here the speed of rotation of the flying flywheel, by removing said measurement at least in part from its background noise. when said measurement is in the vicinity of the alert threshold and it is therefore relevant to refine its accuracy to avoid misdiagnosis without compromising the safety of the process.
[0037] Advantageously, this same adaptive filtering subfunction F2-4 automatically suppresses the filtering, so as not to delay the execution of the security function F2, when the control parameter (the steering wheel speed) has a value much greater than the threshold threshold, so that on the one hand the crossing of said alert threshold is obvious and therefore does not require any particular guarantee of precision to obtain a reliable and conclusive diagnosis, and that on the other hand the magnitude the speed of rotation of the flying flywheel imposes to privilege the responsiveness of the security function (and thus to disable the filtering) to avoid letting degenerate in significant proportions a dangerous situation.
[0038] Finally, the so-called "filtered" steering wheel speed signal from the noise filtering unit 24 (activated or not, depending on the situation), will be used as input on the one hand of the diagnostic unit 21, for the detection of the crossing of the warning threshold threshold threshold, and secondly, here of the matching unit increment step 27, which will optimize, here again, the choice between performance ( responsiveness in high steering wheel speeds) and accuracy (when the steering wheel rotation speed is lower and it may take longer to diagnose, with greater certainty, a dangerous situation). Of course, the invention relates as such to a management module 10 of a power steering, allowing the implementation of a method according to the invention, and more particularly a management module 10 as described above. Said management module 10, more particularly each of all or part of its diagnostic units 21, intervention 22, incremental counting (timing) 23, adaptive noise filtering 24, adjustment of the alert threshold 25, selective filtering filter 26, or adapting the increment step 27, may be formed by an electronic circuit, an electronic card, a computer (computer), a programmable controller, or any other equivalent device. Each of said modules or units 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.
[0039] In addition, the invention also naturally relates to a power steering system comprising a power steering mechanism controlled by a management module mentioned above, and thus capable of implementing all or part of the method according to the invention.
[0040] The invention also relates to a motor vehicle, in particular with steering wheels, possibly driven, equipped with such a power steering system. The invention further relates 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 user. computer. Of course, the invention is moreover in no way limited to the variants of embodiment described in the foregoing, the skilled person being able to isolate or combine freely between them one or the other of Above-mentioned characteristics, or to substitute equivalents for them. In particular, it is possible to envisage the implementation of a plurality of different driving assistance functions (trajectory control functions), including for example a lane keeping aid and / or a active assistance to parking ("city-park"), each controlled by a security function according to the invention (according to the general principle illustrated in Figure 1), or all controlled by the same common security function. 25

权利要求:
Claims (10)
[0001]
REVENDICATIONS1. A method for managing a vehicle power steering system comprising at least one trajectory servo function (F1), in which a position command (Ordef) is automatically determined according to a reference trajectory that one wishes to forward , to the vehicle, and then automatically adjusts a motor setpoint (Crnot) that is applied to an assistance motor (2) so as to converge the effective position (0 ,,, ') of the power steering to said position setpoint (eref), said method being characterized in that it comprises a securing function (F2), distinct from the path servocontrol function (F1) and which responds to a higher ASIL security level said path control function according to the security standard IS0-26262, said security function (F2) comprising a diagnostic sub-function (F2-1) according to which a control parameter (evoiant, Qom !, evo / ant), representative of the behavior of the vehicle, such as a measurement or estimation of the angular position of the steering wheel (evolant), a measurement or an estimate of the driver's driver torque on the steering wheel of driving (Ccond), or a measurement or an estimate of the angular speed of rotation of the steering wheel there- flying), in order to detect, by comparison of said control parameter with an alert threshold (evolantseull, Ccond_seull, 6volant_seuil ) Predetermined, the occurrence of a predefined alert situation, considered dangerous, the security function (F2) then comprising an intervention sub-function (F2-2) according to which, in case of detection of an alert situation, it forces the moderation and / or the neutralization of the servo function trajectory (F1).
[0002]
2. Method according to claim 1, characterized in that the diagnostic subfunction comprises a step (F2-1a) of comparative analysis, during which the instantaneous value of the control parameter (evolant, Ccond, & oient) is compared. ) at the predetermined warning threshold (Ovolant_seull, Ccondseull, () flying_ threshold it then a validation step (F2-1b) during which it is evaluated, in case of crossing the threshold, alert, the duration of maintenance ( t 1 during which the control parameter is maintained above said alert threshold, and it is concluded at the occurrence of a situation, -seull, alert if said duration of maintenance exceeds a threshold of duration Ur 1 predetermined.
[0003]
3. Method according to claim 2 characterized in that the validation step (F2-1b) uses an incremental counter (23) which is adapted the increment step according to the speed of rotation (() flying) of the steering wheel. driving (1). 35
[0004]
4. Method according to one of the preceding claims, characterized in that the intervention sub-function (F2-2) is a sub-function of neutralization according to which one neutralizes the servo function trajectory (F1) if a situation d The alarm is detected by the diagnostics sub-function (F2-1), so as to deprive the servo function (F1) of any influence on the determination of the motor setpoint (Cmot).
[0005]
5. Method according to one of the preceding claims characterized in that the function of securing (F2) comprises a permanent boundary sub-function (F2-3) of conductive torque, distinct from the diagnostic sub-function (F2-1 ) and the intervention sub-function (F2-2), which acts in parallel with said diagnostic and intervention sub-functions, dynamically adjusting a weighting coefficient (CP) that it applies to the function of trajectory control (F1) so as to maintain permanently the driver torque (Cama), which is actually felt by the driver at the steering wheel, below a maximum allowable driving torque.
[0006]
6. Method according to one of the preceding claims, characterized in that the security function comprises an adaptive filtering sub-function (F24) according to which a low-pass filter (24) is applied which is applied to the parameter of control (8 '- steering wheel, Ccond, () steering wheel) in order to reduce the noise, when said control parameter is in a range of values, called "critical range>> (CR), predefined in the vicinity of the threshold d on the contrary, said low-pass filter (24) is deactivated when the control parameter is outside, and in particular beyond, said critical range (CR).
[0007]
7. Method according to one of the preceding claims characterized in that it adjusts the alert threshold (evolantseuil, Ccond_seull, evolante_seuil) of the security function (F2) according to the linear speed (VEv) of the vehicle. 25
[0008]
8. Method according to one of the preceding claims characterized in that it adjusts the alert threshold (evolantseull, Ccond threshold, evolante_seuil) of the function of securing (F2) according to the driver torque (Cd) exerted by the driver on the steering wheel (1).
[0009]
9. A method according to claim 8 characterized in that the securing function comprises an extension sub-function (F2-5), intended to extend virtually a state of steering wheel, extension sub-function (F2-5) that one activates when one perceives an increase, in absolute value, of the conductive couple (Cod), and which one deactivates when one perceives a decrease, in absolute value, of said conductive couple (Ccond), and according to which is delayed, when said extension sub-function is in its activated state, the consideration of the measured value of conductive torque (Cod) for the adjustment of the alert threshold (evolant_seuili Ccond_seuili_float_seuil) of the function securing (F2), so as to delay, for a predetermined duration of prolongation after release of the steering wheel (1), the modification, and more particularly the reduction, said alert threshold.
[0010]
10. A power steering management module (10) comprising a path servo arm (11) which includes a position command determining unit (12) for setting a position command (Orf) of the direction from a reference path that it is desired to forward to the vehicle, a follower unit (13) which calculates the difference (AO) between the effective position of the direction (On, ') and said position command (Ordef) in order to output an adjustment setpoint (Caiust) which is used at the input of a motor setpoint calculation unit (14) which in turn sends a motor setpoint (Cmof) to a assist motor (2), so that the adjustment setpoint (Cam) can be taken into account to adjust the motor setpoint (C ,, of) applied to the assistance motor (2) to reduce the deviation (A0) between the effective position of the direction and the position command, said module of age stion (10) being characterized in that it comprises a securing branch (20) forming a branch which is distinct from the path servo branch (11) and whose security level ASIL is higher than that of said path servocontrol branch (11) according to the security standard IS0-26262, said securing branch (20) comprising a diagnostic unit (21) which receives as input a control parameter (Ovolanti Ccond, 6vo1ant) , representative of the vehicle behavior, such as a measurement or estimation of the angular position of the steering wheel (Ovolant), a measurement or an estimate of the driver's driving torque on the steering wheel (Cod), or a measurement or an estimate of the rotational angular velocity of the steering wheel 1 ^ evoiant), and which compares said control parameter to a predetermined warning threshold (evolant_seuil, Ccondseuilièvotant_seu.l), in order to detect a situation A predefined alerting station, considered as dangerous, which transmits, in the event of an alert situation, a triggering signal to an intervention unit (22) interposed on the connection branch which connects the output of the unit. follower (13) at the input of the calculation unit of the motor setpoint (14), so as to force the reduction or even the cancellation of the adjustment instruction (Cajust), preferably by opening, hardware or virtual , of the connection branch.

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同族专利:

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公开号 | 公开日

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BR112017006355A2|2017-12-12|

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JP6608919B2|2019-11-20|

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PL3204280T3|2019-05-31|

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EP3204280B1|2018-11-28|

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FR3026708B1|2016-11-18|

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EP3204280A1|2017-08-16|

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US10407096B2|2019-09-10|

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US20170282972A1|2017-10-05|

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JP2017530053A|2017-10-12|

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WO2016055719A1|2016-04-14|

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CN106794873A|2017-05-31|

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CN106794873B|2019-12-03|

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2016-04-08| PLSC| Search report ready|Effective date: 20160408 |

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2016-09-15| PLFP| Fee payment|Year of fee payment: 3 |

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优先权:

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申请号 | 申请日 | 专利标题

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FR1459590A|FR3026708B1|2014-10-07|2014-10-07|SECURING DRIVING ASSISTANCE FUNCTION WITHIN AN ASSISTED STEERING|FR1459590A| FR3026708B1|2014-10-07|2014-10-07|SECURING DRIVING ASSISTANCE FUNCTION WITHIN AN ASSISTED STEERING|

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US15/511,551| US10407096B2|2014-10-07|2015-10-01|Securing of a driving assistance function within a power steering|

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CN201580054644.1A| CN106794873B|2014-10-07|2015-10-01|The protection of driving miscellaneous function in electronic-controlled power steering|

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PCT/FR2015/052628| WO2016055719A1|2014-10-07|2015-10-01|Ensuring the safety of a driving aid function within a power steering system|

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EP15786998.3A| EP3204280B1|2014-10-07|2015-10-01|Ensuring the safety of a driving aid function within a power steering system|

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JP2017518471A| JP6608919B2|2014-10-07|2015-10-01|Ensuring safety of driving support functions in power steering|

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BR112017006355A| BR112017006355A2|2014-10-07|2015-10-01|safety of a driving assistance function in an power steering|

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PL15786998T| PL3204280T3|2014-10-07|2015-10-01|Ensuring the safety of a driving aid function within a power steering system|