法国专利FR3044626A1 METHOD FOR TRACKING A TARGET

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专利摘要:
The invention relates to a method for assisting the driving of a vehicle for tracking a target comprising: - detecting an input condition of the driving assistance method, - providing an acceleration instruction according to of driving conditions, - calculating a vehicle speed setpoint (41, 43, 95), - calculating a wheel torque setpoint (50, 54, 56), - calculating a gearbox input torque setpoint ( 57) as a function of the gearbox ratio engaged and the wheel torque setpoint, - to regulate the engine speed as a function of the gearbox input torque setpoint, - to calculate a clutch torque setpoint in according to the gearbox input torque setpoint and the clutch opening state, - regulating the opening of the clutch according to the clutch torque setpoint, the method also comprising the step of comparing the temperature of the clutch to the ego ns a threshold value and, when the temperature is higher than the threshold value, the assistance to the driving of the vehicle is modified.
公开号:FR3044626A1
申请号:FR1561944
申请日:2015-12-07
公开日:2017-06-09
发明作者:Pascal Maurel；Veve Roland Randriazanamparany；Philippe Kraemer；Didier Taccoen
申请人:Valeo Embrayages SAS；
IPC主号:

专利说明:

TECHNICAL FIELD The invention relates to the field of motor vehicles and, more particularly, to vehicles comprising a steering assistance system.
Technological background
In the state of the art, it is known vehicles comprising one or more assisted steering systems for given situations. For example, there are vehicles incorporating a parking assistance system or a speed control system to a set value defined by the driver. Such systems are suitable for specific situations, for example during a parking maneuver slot or in case of high speed traffic on a high-speed track. Each flight assistance system is thus intended to manage a given steering situation.
Vehicles incorporating piloting assistance systems comprise a plurality of sensors for determining the environmental conditions of the vehicle. Depending on these environmental conditions, the piloting assistance systems use actuators to control the various elements of the vehicle and to drive the vehicle without intervention of the driver.
However, to date there is no flight assistance system for all traffic situations. Certain particularly tiring traffic conditions thus remain at the driver's expense. Thus, for example, there is currently no pilot assistance system in case of heavy traffic on vehicles with manual gearbox.
Thus, in case of heavy traffic, the vehicle must generally alternate between stopping phases and driving phases. The driver must therefore pay particular attention to continuously anticipate these phase changes related to distance variations with the vehicles that precede him on the road. This need for attention is further increased in the context of a road having a plurality of traffic routes in order to anticipate also the changes in traffic lanes of other vehicles. This need for constant attention is tiring for the driver.
In addition, the alternation of stopping phase and driving phase imposes the vehicle acceleration phases and deceleration phases. The driver must therefore alternate between the use of the accelerator pedal and the use of the brake pedal, causing additional fatigue. This fatigue is further increased in the case of a manual gearbox since the management of the clutch pedal is also necessary during these phases of acceleration and deceleration.
There is therefore a need for piloting assistance in heavy traffic situations. SUMMARY The invention aims to remedy this need by providing a steering assistance method in the context of dense traffic. The invention also aims to remedy this problem by providing a driver assistance device for assisting a driver in a situation of heavy traffic.
For this, according to a first object, the invention provides a method of assisting the driving of a vehicle for tracking a target, such as for example a target vehicle traveling upstream in the flow of traffic, the vehicle comprising a clutch mounted between a motor output shaft and an input shaft of a manual gearbox of the vehicle, the driving assistance method having recurrently the steps of: - detecting a condition of input to the driving assistance method, the input condition including a gear ratio condition, the gear ratio condition being satisfied when the gear ratio is equal to a gearbox ratio. predetermined speeds selected from the first report and the second report of the gearbox, and / or activation of the function by the driver by means of the man-machine interface. providing an acceleration setpoint as a function of driving conditions, the driving conditions comprising a distance with a target as a function of time, this setpoint possibly being positive or negative. In the case of a negative setpoint that can not be achieved by the motor, the method may also include the step of controlling the braking system for the application of this instruction. calculating a vehicle speed setpoint according to the acceleration setpoint and a current vehicle speed, calculating a management torque setpoint for the dynamics of the vehicle, for example a pair of wheels, according to the setpoint vehicle speed, the current vehicle speed and a current torque of the powertrain, for example the current wheel torque, - calculate a gearbox input torque setpoint according to the gearbox ratio. engaged speeds and the vehicle dynamics management torque setpoint, - regulate the engine speed as a function of the gearbox input torque setpoint, - calculate a clutch torque setpoint according to the gearbox input torque setpoint and clutch state, - regulating a physical quantity controlling the transmissible torque of the clutch as a function of the clutch torque setpoint. This physical quantity can be a position of the pressure plates, the stop, the fork, the position of an actuating element of the fork, the rotation of an electric motor of an actuator, the force applied to the clutch control, a hydraulic pressure in the clutch control, a current in the electric motor, a voltage applied to an electric motor, a flow rate in a hydraulic control solenoid valve a clutch, a driving current of a clutch hydraulic control solenoid valve, a voltage applied to this solenoid valve, an estimation of the torque transmissible by the clutch deduced from information on the control of the clutch, clutch according to one or more of the above information and / or information on the vehicle power train such as the engine speed, input and output box, vehicle, engine torque.
Such a method of managing the clutch makes it possible to control the speed of the vehicle according to measured environmental data. In particular, such a driving assistance method makes it possible, according to measured acceleration data, to regulate the engine speed and to control the torque transmissible by the clutch so as to obtain a torque for managing the driving dynamics. vehicle corresponding to the current environmental situation. In addition, the control of the clutch makes it possible to control in a comfortable way for the driver the situations of take-off of the vehicle and stopping of the vehicle. In addition, the control of the engine speed makes it possible to control the speed of the vehicle when the clutch is engaged. Thus, when the clutch torque setpoint is lower than the maximum torque transmissible by the clutch at idle engine speed, the control of the vehicle movement is achieved by applying a constant engine speed and by regulating the physical quantity controlling the torque of the clutch. clutch so that the clutch transmits the torque necessary to obtain the clutch torque setpoint. In addition, when the clutch torque setpoint is greater than the maximum torque transmitted by the clutch at idle engine speed, the control of the vehicle movement is achieved by synchronizing the motor shaft and the input shaft of the box. speed by engaging the clutch at a constant engine speed, then driving the engine speed while keeping the clutch engaged to reach the clutch torque setpoint.
According to other advantageous embodiments, such a driving assistance method may have one or more of the following characteristics:
The driver assistance method further comprises the steps of o detection of traffic conditions type cap and information of this detection to the driver, o detection of a target to follow, o information to the driver of the availability of the function d assistance according to the traffic conditions, the distance to the target, the vehicle running status, and the status of the transmission (eg committed report or report to be made to make the assistance function available ), the condition of the road surface, visible and detectable markings on the ground, o suspend the target following during a momentary action by the driver on the driving interface, the steering wheel, the accelerator pedal and the gearshift lever. , the brake pedal and / or the clutch pedal. o resume target tracking if the driver's action is no longer present and has remained in a given range of acceptable variation, o driver information of the deactivation if the prerequisites for performing the assistance function are not no longer present, o deactivation of the assistance function if the recovery of control of the vehicle by the driver is significant and / or effective, the step of regulating a physical quantity controlling the torque transmissible by the clutch comprises a step of applying a temporal filtering of the clutch torque setpoint in order to regulate a physical quantity controlling the torque transmissible by the clutch according to a gradual movement ramp. Such a step of applying a filtering of the clutch torque setpoint allows a disengagement or engagement of the progressive clutch, thus avoiding a jerky transmission of torque at the clutch which can cause oscillation of the clutch. powertrain and drivetrain combination detrimental to driving comfort. the step of regulating a physical quantity controlling the torque transmissible by the clutch comprises: moving the clutch to a position completely disengaged in response to a zero clutch torque setpoint, moving the clutch to a position slipping in response to a positive clutch torque setpoint and lower than the maximum torque transmittable by the clutch to idle engine speed, said slipping position being necessary to ensure the running at a vehicle speed which would be lower than the speed of the vehicle at idle speed with a clutch in a maximum transmissible torque position, o move the clutch to a maximum transmissible torque position when the input speed, engine speed, and output speed, gearbox speed are equal and that the torque demand is equal to the maximum torque that can be transmitted, o keep the clutch in a torque position tr maximum allowable increase of a closing threshold if the vehicle speed setpoint is higher than the vehicle speed at idle speed for the gearbox gear engaged.
Such a step of regulating a physical quantity controlling the torque transmissible by the clutch makes it possible to provide a torque for managing the dynamics of the vehicle corresponding to the requested acceleration instruction. In particular, this regulation step allows the vehicle to drive at a constant speed below the idle speed. Idle speed is the speed of the vehicle when the engine is idling and the clutch is in the maximum transmissible torque position. Thus, such a regulation step makes it possible to obtain a torque for managing the vehicle dynamics during a situation of dense traffic requiring a reduced vehicle speed lower than the idling speed.
The pilot assisting method further comprises: detecting an output condition of the driving assistance method, the output condition including a pedal activation condition of the vehicle, the pedal activation condition. of the vehicle being satisfied when a user presses one of the vehicle acceleration pedal and the clutch pedal of the vehicle. In embodiments, the exit condition may also include cumulative or alternative conditions for the activation of a brake pedal, the shift lever and / or the steering wheel. o terminate the driver assistance process when the exit condition is satisfied. In a refinement, the step of completing the process requires confirmation of the recovery of the vehicle by the driver by an action or an extended presence on the control organs of the vehicle.
The piloting assistance method furthermore comprises: o detecting a decrease in the engine speed and / or a reduction in the gearbox speed greater than a predetermined anti-stall threshold, o moving the clutch to a completely disengaged position, following a profile determined according to the engine speed and the deceleration of the vehicle.
This step of detecting a decrease in engine speed and / or gearbox speed advantageously prevents the vehicle from stalling or causing an unpleasant jerk for the driver during an emergency braking. the step of calculating the vehicle speed setpoint further comprises: initializing the vehicle speed setpoint to the current vehicle speed incremented by a predetermined speed value in response to a positive acceleration setpoint and a current speed of the vehicle lower than the maximum vehicle speed for the gear ratio engaged, and o initialize the vehicle speed setpoint at the current vehicle speed decremented by the predetermined speed value in response to a negative acceleration instruction. the step of calculating the vehicle speed setpoint furthermore comprises: o Initializing the vehicle speed setpoint at the current vehicle speed in response to a zero acceleration set point and / or a current vehicle speed greater than or equal to the maximum speed of the vehicle for the gearbox ratio engaged, the step of calculating the vehicle dynamics management torque setpoint comprises: calculating a vehicle speed differential between the vehicle speed setpoint and the current speed of the vehicle. vehicle, o initialize the vehicle dynamics management torque setpoint to the current wheel torque incremented by a predetermined torque value in response to a vehicle speed differential higher than a first threshold, o initialize the management torque setpoint vehicle dynamics to the actual wheel torque decremented from the predetermined torque value in response to a differential vehicle speed higher than a second threshold, o initialize the vehicle dynamics management torque setpoint to the current wheel torque in response to a vehicle speed differential between the first threshold and the second threshold, the step to calculate a gearbox input torque setpoint furthermore comprises: o Providing a mapping of the gearbox input torque as a function of a pair of wheels for a given gear ratio, o determining the gearbox torque. gearbox input torque setpoint based on the transmission input torque mapping. the step of moving the clutch to a disengaged position in response to a zero clutch torque setpoint recurrently comprises the steps of o controlling the state of the clutch, and o moving the clutch to a disengaged position in response to a clutch state not completely open, according to a given clutch profile. the step of moving the clutch to a maximum transmissible torque position in response to a torque setpoint higher than the idling clutch torque recurrently comprises the steps of o comparing the speed of the transmission and the engine speed, and o moving the clutch to the maximum transmissible torque position in response to detecting a different engine speed from the transmission regime.
The pilot assisting method further includes: o Providing a tilt of the road, the predetermined gear ratio being the second gear in response to a negative or zero inclination of the road and the first gear in response to tilting of the positive road. In one embodiment, the predetermined gear ratio is the second gear in response to a slope of the road that is negative or less than a threshold, for example between 0% and 2%, and the first gear in response to a inclination of the road above said threshold.
In one embodiment, when dense traffic conditions are detected, the man-machine interface issues a signal to the driver to warn him of the possibility of activating the driver assistance method by engaging a predetermined ratio, for example the first report of the gearbox or the second report of the gearbox.
Some aspects of the first object of the invention start from the idea of providing a driving assistance device in a situation of dense traffic. Some aspects of the first object of the invention start from the idea of providing a steering assistance system capable of driving the vehicle autonomously in case of heavy traffic. Some aspects of the first object of the invention start from the idea of providing a simple piloting assistance system in case of heavy traffic.
Certain aspects of the first subject of the invention are based on the idea of controlling a motor and a clutch as a function of acceleration data in the case of dense traffic. Some aspects of the first object of the invention start from the idea of providing a clutch control capable of managing a setpoint vehicle speed below idle for a given gear ratio. Some aspects of the first object of the invention start from the idea of providing a steering assistance method capable of managing vehicle speed variations.
Moreover, in order to provide reliable flight assistance services, there is a need for systems capable of monitoring the environment of the motor vehicle and which present an equipment cost as economical as possible.
For this, according to a second object, the invention provides a driving assistance device for a motor vehicle comprising a camera capable of generating a first mapping of the environment of the motor vehicle in a first frontal environment zone of the vehicle between a first minimum distance and a first maximum distance, a flight time sensor capable of generating a second mapping of the vehicle environment in a second frontal environment zone of the vehicle between a second minimum distance less than the first minimum distance and a minimum second maximum distance between the first minimum distance and the first maximum distance so that the first environmental zone of the vehicle and the second environment zone of the vehicle comprise a common zone of the vehicle environment; driving assistance comprising: o a fusion unit capable of generate a fine cartography of the vehicle environment in a third frontal environment zone of the vehicle, the fine mapping being generated by the fusion unit according to the first mapping and the second mapping, the third environment zone the vehicle comprising the meeting of the first frontal environment zone of the vehicle and the second frontal environment zone of the vehicle, o a displacement calculation unit capable of generating a vehicle acceleration instruction according to the cartography fine of the vehicle environment. "
Such a driver assistance device advantageously exploits the capabilities of the various sensors in order to generate a fine map of the vehicle environment by combining the data on the vehicle environment obtained by different environmental detection members. The analysis of this fine mapping over an extended area thus makes it possible to determine the movements of nearby vehicles in the event of heavy traffic and thus to generate a vehicle acceleration instruction accordingly. In addition, this driving assistance device makes it possible to use sensors adapted to the environment area of the vehicle to be treated. In this case, in a situation of heavy traffic, the environment of the vehicle to be analyzed in order to calculate the acceleration setpoint must extend from an area very close to the vehicle to a limited range, for example of the order about forty meters. Such sensors can thus be simple and inexpensive as is the case of a flight time sensor.
According to other advantageous embodiments, such a driving assistance method may have one or more of the following features: the device further comprises an ultrasonic sensor capable of generating a third mapping of the environment of the vehicle in a fourth the vehicle environment zone between a third minimum distance less than the second minimum distance and a third maximum distance between the second minimum distance and the first maximum distance. the fusing unit of the driver assistance module is capable of generating fine mapping of the frontal environment of the vehicle from the first, second and third maps, the third environment zone of the vehicle comprising the meeting of the first second and fourth frontal environment areas of the vehicle. - The driver assistance module includes a targeting module adapted to select a target to follow from a set of obstacles in the vehicle environment listed by fine mapping. the displacement calculation unit is able to calculate a distance separating the vehicle from the selected target. the displacement calculation unit is able to generate the vehicle acceleration setpoint as a function of the distance separating the vehicle from the selected target. the displacement calculation unit is capable of calculating a speed and an acceleration of the selected target. This calculation of the speed and acceleration of the selected target can be achieved in many ways. In one embodiment, the displacement calculation unit is adapted to calculate a speed and an acceleration of the selected target by deriving the distance between the vehicle and the selected target. Alternatively, the velocity and acceleration of the selected target can be calculated by Kalman filtering with a constant velocity type model which allows for example to observe the velocity with respect to the position. The displacement calculation unit is able to calculate the acceleration setpoint of the vehicle according to the acceleration of the selected target.
The flight time sensor can be realized in many ways. Thus, the flight time sensor may for example be a laser sensor, operating for example in the infrared. the fusion unit is able to associate together one of the objects listed by the first mapping and a corresponding one of the objects listed by the second mapping and to determine a position of an object in the fine mapping corresponding to said associated objects of the first mapping and the second mapping. the fuser unit is capable of generating a fine cartography of the vehicle environment listing a set of moving objects and a ground marking of the vehicle environment, the displacement calculation unit is able to generate a setpoint of lateral displacement according to the ground marking indexed by fine mapping. In one embodiment, the displacement calculation unit is able to generate a lateral displacement instruction as a function of the ground marking indexed by the fine mapping and / or virtual markings generated from the interpretation of the environment. of the vehicle for example by perception of fixed elements such as barriers, vehicle tracks, information on the mapping of the road (radius of curvature, number of lanes, etc.) or other. - The driving assistance device further comprises a gear ratio sensor. the driver assistance module is able to detect an input condition in a driving assistance method, the input condition including a gear ratio condition, the gear ratio condition. being satisfied when the gear ratio is equal to a predetermined gear ratio selected from the first gear ratio and the second gear ratio. the vehicle further comprises an engine control member adapted to: calculate a vehicle speed setpoint as a function of the acceleration setpoint and a current vehicle speed; calculate a torque control setpoint for managing the vehicle dynamics according to the vehicle speed setpoint, the current vehicle speed and a current torque of the powertrain, o calculate a gearbox input torque setpoint based on the gearbox ratio engaged and the vehicle dynamics management torque setpoint, * o regulate the engine speed as a function of the gearbox input torque setpoint, and o calculate a clutch torque setpoint according to the setpoint of gearbox input torque and of the state of the clutch, the vehicle also comprises a clutch control member able to regulate a physical quantity controlling the transmitted torque. can be disengaged by the clutch depending on the clutch torque setpoint. - The driver assistance device further comprises a man-machine interface. the man-machine interface comprises a driver information means configured to transmit an input condition detection signal of the driver assistance method, the input condition to the driver assistance method; driving further comprising the activation of an activation member by the driver. - The driving assistance device further comprises a tilt sensor of the road, - the driver assistance module is configured to determine a tilt of the road, the gear ratio predetermined is the second report in response to an inclination of the negative or zero road and the first report in response to an inclination of the positive road. - The driver assistance device further comprises a pedal activation sensor of the vehicle. the driving assistance module is furthermore configured to: detect an output condition of the driving assistance method, the output condition comprising a condition for activating a pedal of the vehicle, the condition of driving assistance; vehicle pedal activation being satisfied when a user presses one of the vehicle acceleration pedal and the clutch pedal of the vehicle, o terminate the driver assistance process when the exit condition is satisfied. The invention also provides a driving assistance method for a motor vehicle in a dense traffic situation comprising providing a first mapping of the vehicle environment in a first vehicle environment area between a first minimum distance and a first maximum distance, provide a second mapping of the vehicle environment in a second vehicle environment area between a second minimum distance of the vehicle less than the first minimum distance and a second maximum distance between the first minimum distance and the first distance maximum, generate a fine mapping of the vehicle environment according to the first mapping and the second mapping,
Calculate an acceleration setpoint according to the fine cartography of the vehicle environment,
Send the calculated acceleration setpoint to an engine control unit.
According to one embodiment, the driving assistance method above further comprises: detecting an input condition in a driving assistance method, the input condition including a gearbox report condition. speeds, the gear ratio condition being satisfied when the gear ratio is equal to a predetermined gear ratio selected from the first gear ratio and the second gear ratio, outputting a warning signal the possibility of activating the assisted piloting, the steps of calculating an acceleration setpoint and sending the acceleration setpoint are made in response to the detection of the actuation of a means of activation of the assisted piloting.
Some aspects of the second subject of the invention start from the idea of generating a map of the vehicle environment from a plurality of sensors exhibiting distinct characteristics. Some aspects of the second subject of the invention are based on the idea of using a plurality of simple and inexpensive sensors to accurately map the vehicle environment over a wide area. Some aspects of the second subject of the invention are based on the idea of providing an acceleration instruction based on environmental data in the context of a dense traffic. Some aspects of the second subject of the invention are based on the idea of providing a steering assistance system in the event of dense traffic capable of managing traffic on a road presenting a plurality of lanes.
According to a third aspect of the invention, in the method according to the first aspect, the temperature of the clutch is compared with at least one threshold value and, when this temperature is greater than this threshold value, the driving assistance is modified. of the vehicle according to the first aspect.
As mentioned above, the assistance under conditions of dense traffic is for example carried out while the engaged gear ratio is the second gear. Rolling and taking off the vehicle with such a gear ratio to track the target can cause the clutch to overheat. This overheating can reduce the life of the clutch or its efficiency since this overheating is accompanied by a power dissipation that affects the level of wear of the clutch.
The temperature of the clutch, the power dissipated in this clutch and / or the energy dissipated in this clutch can be determined according to the method described in the application EP 2 703 681 or in the application DE 10 2009 041 412.
This modification of the process can be controlled by the driver assistance module or by the engine control member of the vehicle.
The modification of the assistance method may consist in acting on at least one of the following quantities: maximum engine speed for a given clutch torque, engine idling speed, setpoint of the wheel torque during takeoff, timing before the vehicle is restarted to follow the target, - average driving speed, - distance to the target, - acceleration set point, - value of the gearbox ratio engaged. The action on the maximum engine speed for a given clutch torque may consist in imposing at this maximum engine speed a value such that the power dissipated in the clutch for this torque remains below a maximum value making it possible to avoid the degradation of the clutch. The action on the engine idle speed may consist in increasing this engine idle speed to accelerate engine cooling in the phases in which the vehicle is stopped. The action on the wheel torque setpoint during takeoff can consist in reducing the value of this set of wheel torque. The action on the delay before the vehicle is restarted to follow the target may consist in increasing the time interval after which the vehicle restarts to follow the target at the end of a phase during which the vehicle is in motion. 'stop. Target tracking is then less faithfully. The action on the torque setpoint during take-off and the action on the delay before restarting the vehicle, which can be combined together or carried out one without the other, can make it possible to increase the duration of the phases in which the vehicle is stationary and during which engine cooling occurs. The action on the average speed of rolling may consist in decreasing this average speed. The action on the distance with the target can consist in increasing this distance. The action on the acceleration setpoint may consist of reducing the value of this setpoint. The action on the average driving speed, the action on the distance with the target and the action on the acceleration setpoint, which can be combined together or carried out independently of each other, make it possible to limit the number of vehicle take-offs and / or the intensity of these take-offs. This reduces the value of the clutch torque. The action on the gear ratio value engaged can consist in replacing this ratio by a ratio corresponding to a greater reduction of the wheel torque to the gearbox input torque. During this gearbox shift, target tracking can be suspended and only reactivated once the new gearbox ratio is engaged. As mentioned above, the assistance method can be carried out with the second gearbox ratio engaged and the modification of the method due to the fact of taking into account the temperature of the clutch can consist in asking the driver to shift from the second gearbox ratio to the first gearbox ratio.
The method notably comprises the following successive steps: comparing the temperature of the clutch to a first threshold value, and when the temperature of the clutch is greater than this first threshold value, limiting the maximum engine speed for a clutch torque. given engine, - compare the temperature of the clutch to a second threshold value higher than the first threshold value, and when the clutch temperature is higher than this second threshold value, increase the idling speed engine, - compare the temperature of the clutch the clutch has a third threshold value greater than the second threshold value, and when the clutch temperature is higher than this third threshold value, decreasing the wheel torque setpoint during takeoff and / or increasing the delay before restarting. the vehicle to track the target and / or decrease the average driving speed and / or increase the distance with the target and / or decrease the acceleration setpoint, - compare the temperature of the clutch to a fourth threshold value, and when the clutch temperature is higher than this fourth threshold value, ask the driver to replace the gear ratio of gear engaged by a gear ratio corresponding to a greater reduction of the wheel torque to the gearbox input torque, in particular asking the driver to switch from the second gear ratio to the first gearbox ratio. speeds. "
The presence of these four successive steps makes it possible to adapt the modification of the assistance method to the clutch temperature so that the modification is appropriate to the observed temperature rise.
The method may comprise an assistance output step when the modification of the target tracking resulting from the clutch temperature exceeding the threshold (s) no longer allows the vehicle to be driven, for example when the temperature of the clutch above the fourth threshold and that the driver has not made the requested gear change, or when the speed of the vehicle is too slow, or when the driver has acted on one or the other of the pedals of the vehicle.
The exit of the assistance can be carried out at the next stop of the vehicle. There is no automatic reboot when the target restarts. An audible and / or visual signal can then be emitted on the man-machine interface to warn the driver of the output of the assistance process.
The one or more modifications of the driving assistance method which have just been described may require cooperation between the driver assistance module, the engine control member and the clutch control member.
An indicator present in the man-machine interface of the vehicle can inform the user of the temperature of the clutch.
BRIEF DESCRIPTION OF THE DRAWINGS The invention will be better understood, and other objects, details, features and advantages thereof will become more clearly apparent from the following description of several particular embodiments of the invention, given solely for the purposes of the invention. illustrative and not limiting, with reference to the accompanying drawings. - Figure 1 is. a schematic representation of a driving assistance system in dense traffic situation for a vehicle having a manual gearbox. FIG. 2 is a schematic representation of a vehicle comprising a plurality of sensors of a driving assistance system in a situation of dense traffic. FIG. 3 is a flowchart illustrating the method of operation of a driver assistance module in a dense traffic situation of FIG. 1. FIG. 4 is a flowchart illustrating the method of operation of an engine control member. FIG. 5 is a flowchart illustrating the method of operation of a clutch control member of FIG. 1. FIG. 6 illustrates the behavior of the various components of the vehicle under assisted piloting successively during operation. FIG. a start, in running condition at a speed lower than the idle speed for gearbox engaged, and when stopping the vehicle. - Figure 7 illustrates the behavior of the various components of the vehicle assisted steering successively during a start, in driving condition with a fully closed clutch, and during a stop of the vehicle. With a vehicle speed condition corresponding to a higher engine speed at idle speed - Figure 8 illustrates the behavior of the various components of the vehicle assisted steering successively during a start, in driving condition with a clutch torque setpoint following the motor torque setpoint, and when stopping the vehicle. With a vehicle speed condition corresponding to an engine speed higher than the idle speed - Figure 9 illustrates the behavior of the various components of the vehicle assisted steering successively during a start and then in a driving condition at a speed greater than the maximum speed of the vehicle for the gearbox gear engaged. - Figure 10 is a schematic representation of a driving assistance system in dense traffic situation for a vehicle having an automatic gearbox. FIG. 11 is a flow chart illustrating the fusion of maps generated by separate sensors. - Figure 12 is a flowchart illustrating the consideration of the temperature of the clutch to perform target tracking.
Detailed description of embodiments
The structure of a driver assistance device in a traffic situation for a vehicle having a manual gearbox is illustrated with reference to FIGS. 1 and 2.
As illustrated in FIG. 1, a driving assistance device in a dense traffic situation comprises a plurality of sensors 1 connected to a driver assistance module 2. This driver assistance module 2 is connected to a motor control member 3, a braking control member 4 and a steering control member 5. Furthermore, the engine control member 3 is also connected to a control member of the clutch 6. Each member Control 3 to 6 is further connected to respective actuators 7. These actuators 7 are able to configure the various elements of the vehicle 8 according to instructions determined by the control elements 3 to 6. Actuators are provided in order, for example, to regulate the engine speed as a function of a speed reference. motor, adjust the torque that can be transmitted by the clutch according to a clutch set point, adjust the position of the braking devices according to a braking set point, etc. The operation of the various members 3 to 6 is described below with reference to FIGS. 3 to 9.
FIG. 2 is a schematic representation of a vehicle 8 comprising a plurality of sensors 1. These sensors 1 are intended to detect the various elements of the environment of the vehicle 8, such as for example other motor vehicles traveling on the same track. traffic or on adjacent traffic lanes (not shown).
These sensors 1 comprise a camera 9. This camera 9 is installed in the passenger compartment of the vehicle 8 at the front windshield 10. The camera 9 has a field of vision 11 facing the front of the vehicle 8. The camera 9 allows to detect and identify the objects at the front of the vehicle 8. The field of view 11 of the camera 9 has for example a range of 100m on a front angle of about 50 ° to 55 °. This camera makes it possible to detect dynamic objects, ie moving objects, in the field of view 11, but also fixed objects such as, for example, traffic signs, stopped vehicles or even markings on the ground.
Such a camera 9 is for example a CMOS type monochrome camera with a resolution of 1280 * 800 pixels having a horizontal aperture field of 54 ° and a vertical field of 34 °.
The sensors 1 also include a flight time sensor such as an infrared or laser obstacle sensor 12. This obstacle sensor 12 is also situated at the level of the front windshield 10 of the vehicle 8 and oriented toward the front of the vehicle 8. This obstacle sensor 12 is for example an LED sensor operating on the principle of the sensors. flight. Such an obstacle sensor 12 emits a light signal and calculates the time required for said signal to reach an obstacle. The obstacle sensor 12 makes it possible to detect the objects in a field of vision 96 extending on the front of the vehicle 8 from 0.1m to about 60 meters apart. This field of vision 96 extends for example over a horizontal angle of 45 ° to 60 ° and a vertical angle of 7.5 °. Such a flight time sensor has no dead zone between said flight time sensor and its maximum detection range. In addition, such a flight time sensor operates regardless of the ambient brightness. This flight time sensor thus makes it possible to detect the obstacles, even when they are very close to the vehicle 8.
This type of camera 9 and obstacle sensor 12 have the advantage of being not very complex and therefore easily integrated into the vehicle 8. Because of their simplicity, these elements also have the advantage of being inexpensive and can therefore be installed on all types of vehicles including entry-level vehicles. In addition, these sensors have different detection characteristics. Thus, a first map generated by the camera 9 (step 98 shown in FIG. 11) and a second map generated by the obstacle sensor 12 (step 99 illustrated in FIG. 11). Typically, the first map lists the objects present in the field of view 11 and the second map lists the objects present in the field of view 96 of the obstacle sensor 12.
The driver assistance module 2 comprising a fusion and detection module 13. This fusion and detection module 13 is connected to the sensors 1 in order to receive the data relating to the presence of objects upstream of the vehicle 8, typically the first and second maps * of the vehicle environment 8. The fusion and detection module 13 analyzes the data received from the sensors 1 in order to precisely define the environmental conditions of the vehicle 8.
An example of a method of fusion of environment maps, hereby incorporated by reference, is described in the document "intersection safety using Lidar and stereo vision sensors" by Olivier AYCARD, Qadeer BAIG, Siviu BOTA, Fawzi NASHASHIBI, Sergiu NEDEVSCHI, Cosmin PANTILIE , Michel PARENT, Paulo RESENDE and Trung-Dung Vu published in 2011. As illustrated in Figure 11, and opposite point VI of the article cited above, the merger of the first mapping includes a step 97 of association objects detected in the first map and objects detected in the second map. A melting step 100 makes it possible to define, with a greater degree of precision, the associated objects of the first map and the second map by intersecting the positions of the associated objects identified in the first map and in the second map. Fine mapping is thus generated (step 101) from the elements present only in one of the maps and elements defined during the melting step 100. This fine mapping makes it possible to list the objects present in an extended zone 103 of the environment of the vehicle 8 bringing together the objects detected in both the field of view 11 of the camera 9 and in the field of view 96 of the sensor 12. It is thus possible to obtain a fine map of the vehicle environment 8 listing the position of the detected objects, their fixed or dynamic status and information on the sensors that detected this object, alone or in combination.
The fusion module 13 also makes it possible to determine the distance between the vehicle 8 and the different objects of the fine mapping. In addition, the fusion module 13 can calculate the speed and acceleration of the different objects of the fine mapping. The speed and acceleration of each object is for example obtained by time derivation of the distance between the vehicle 8 and said object. The driving assistance module 2 is thus able to determine whether the vehicle 8 is traveling in dense traffic conditions by detecting a plurality of objects moving at a reduced speed in the environment of the vehicle 8 and obstacles. A dense traffic situation can thus be detected in the case, for example, of a vehicle traveling at a speed of between 0 km / h and 30 to 40 km / h upstream of the vehicle 8, and situated at a distance close to vehicle 8.
The driver assistance module 2 further comprises a target selection module 14. This target selection module makes it possible to select an object of the environment identified in the fine mapping by the fusion and detection module 13 and of determine a plurality of information about the targeted object. Thus, the target selection module makes it possible, for example, to target a vehicle located upstream on the taxiway.
The driver assistance module 2 further comprises a man-machine interface 15 for activating an assisted steering mode in which the driver does not need to control the vehicle 8. This man-machine interface 15 can be realized in many ways. The man-machine interface advantageously comprises an activation condition detection means, an information means and an activation means (not shown). In one embodiment, the activation condition detection means comprises a gear ratio sensor, a road inclination sensor, a sensor state sensor adapted to determine the good operating state of the sensors, and / or a state sensor of the engine control members 3 and clutch control capable of checking the operating state of these bodies. In one embodiment, the information means comprises an indicator light located on the dashboard and a sound transmitter. In one embodiment, the activation means includes a dedicated button. In one embodiment, the activation means comprises a multimedia and tactile graphic interface.
In an improvement, as illustrated in Figure 2, the vehicle 8 further comprises a plurality of ultrasonic sensors 16. Such ultrasonic sensors 16 are evenly distributed on the front and rear faces of the vehicle 8. In a mode of embodiment, the ultrasonic sensors 16 are also disposed on each side of the vehicle 8 at the front and rear of the vehicle 8. In addition, some ultrasonic sensors 16 may be installed on the front and rear side faces of the vehicle 8 These ultrasonic sensors 16 detect the presence of an obstacle over a short range, of the order of a few meters. These ultrasonic sensors 16 are particularly useful in the context of a road having a plurality of traffic lanes for detecting when a vehicle traveling on an adjacent traffic lane is traveling on the vehicle lane 8. As illustrated in FIG. 11, these ultrasonic sensors generate a third mapping of the environment of the vehicle 8 (step 102) in an area near the vehicle 104 (see Figure 2). The step of associating the mapped elements (step 97) is then advantageously performed on the first, second and third maps, further improving the precision of the fine mapping.
The general operation of the driver assistance module 2 and the activation of the pilot assisted mode according to predetermined conditions is described below with reference to FIG.
The driver assistance module 2 continuously monitors the traffic conditions using the sensors 1 (step 106). For this, the driver assistance module generates a fine mapping of the environment of the vehicle 8 using the sensors 9, 12, 16 and the fusing module 13, this fine mapping listing the objects of the environment. of the vehicle 8 as well as their speed and acceleration.
The driver assistance module 2 tests (step 17) if dense traffic conditions are detected by analyzing the fine mapping generated by the melting module 13. If the detected traffic conditions do not correspond to traffic conditions in which dense traffic (step 18), the driver assistance module 2 continues its monitoring (step 106).
If dense traffic is detected (step 19), the driver assistance module 2 determines whether the conditions for passing assisted flight are met. For this, the pilot assistance module 2 analyzes the ratio of the gearbox engaged (step 20). If the gear ratio engaged does not match an assisted steering activation ratio (step 21), then the driver assistance module 2 continues monitoring the vehicle environment (step 106).
If the gear ratio corresponds to a ratio enabling activation of the assisted steering (step 22), then the driver assistance module informs the driver of the possibility of activation of the assisted steering, for example at the using an indicator light on the instrument panel or an audible signal (step 23) or using the appearance or the change of state of a pictogram on a multimedia interface. Preferably, the gear ratio enabling activation of the assisted steering mode is the second ratio of the gearbox detected using a gearbox gear engaged. The pilot assistance module then passes waiting for the activation of pilot assisted steering. If the driver does not activate the assisted steering (step 24), the driver assistance module 2 continues its environmental monitoring (step 106). If the driver activates the assisted piloting (step 25), for example by pressing a button or a pictogram of a touch interface, dedicated, then the driver assistance module enters a mode of operation assisted steering ( steps 27 to 33).
In an improvement, the step of testing the gear engaged (20) further comprises determining the ratio corresponding to the activation ratio of the assisted steering (step 26). For this, the driver assistance module 2 determines the inclination of the taxiway using a tilt sensor. The driving assistance module then determines that the gear ratio enabling activation of the assisted steering is the second ratio of the gearbox when the vehicle 8 is traveling on a flat road or having a negative slope and the first ratio of the gearbox when the vehicle is traveling on a road with a positive inclination. Such a tilt sensor may also make it possible to determine the vehicle's take-off profile 8.
In an improvement not illustrated, the conditions for switching to assisted driving further comprise a step of checking the operating state of the sensors and a step of checking the operating state of the engine control member and the clutch control member. In an improvement, when dense traffic conditions are detected but the engaged gear ratio does not match that required to switch to assisted steering mode, the driver assistance module 2 informs the driver that conditions The environmental conditions to switch to pilot mode are met and he can engage the requested gearbox report to switch to assisted piloting mode.
When the assisted piloting is activated, the target selection module 14 determines a target to follow, that is to say a vehicle upstream of the vehicle 8 on the taxiway (step 27). The driving assistance module 2 then calculates an acceleration setpoint and a braking setpoint according to the target vehicle, (step 28). Typically, the acceleration setpoint and the braking setpoint are calculated as a function of the distance separating the vehicle 8 from the target vehicle, the speed of the target vehicle as well as the acceleration of the target vehicle. In addition, the driver assistance module 2 calculates a direction of the vehicle 8 (step 29). This calculation of the direction setpoint is carried out using sensors 1 detecting the direction taken by the traffic lane, for example using line recognition by the image processing of the camera. Thus, the pilot assistance module 2 can automatically control the lateral and longitudinal movements of the vehicle 8, for example for a speed of up to 40km / h. In one embodiment, the pilot assistance module 2 can control the longitudinal displacements of the vehicle 8 as a function of the engaged gear ratio. For example, the flight assistance module can control longitudinal movements between 0 and 15 km / h for the first transmission ratio and between 0 and 30 km / h for the second gear ratio.
The acceleration setpoint is then sent to the engine control member 3 (step 30). Similarly, the braking setpoint is sent to the brake control member (step 31) and the steering instruction is sent to the steering control member (step 32). The various members 3 to 6 then activate the corresponding actuators to control the vehicle automatically, that is to say without intervention of the driver, according to the instructions of the driver assistance module 2 and the assistance module to the driver. pilot then begins a new iteration of assisted piloting by returning (step 33) to the selection of a target to follow (step 27).
Moreover, the driver assistance module 2 continuously tests the exit conditions of the assisted piloting. In one embodiment, these assisted steering output conditions include a pedal activation test of the vehicle 8 (step 34) using a pedal position sensor of the vehicle 8. Thus, if the driver presses the clutch pedal, the accelerator pedal or the brake pedal, this sensor detects a change of position of the corresponding pedal and disables the assisted steering (step 35). The driver assistance module 2 then returns to the step of monitoring the vehicle environment (step 106). Conversely, if no pedal is activated, the driver assistance module remains waiting for an assisted pilot output instruction (step 36).
In a non-illustrated embodiment, the assisted steering output conditions furthermore include a change of position of the steering wheel, a detection of a change of gear ratio or any other action of the driver on a control member. of the vehicle. In an improvement, the assisted steering output instruction is also subjected to a comparison step with a threshold. For example, the assisted steering output instruction is executed only if the action of the driver on a vehicle control member exceeds a specified duration or exceeds a certain threshold such as a braking threshold or a threshold acceleration. When the driver actuates a control member of the vehicle, the pilot assistance method is interrupted and, if the threshold is not exceeded, the steering assistance method is automatically reactivated when the driver is no longer acting on the control body of the vehicle. Alternatively, it is possible to deactivate only part of the steering assistance method depending on the body on which the driver acts. For example, if the driver actuates the brake pedal, only the longitudinal control of the vehicle is deactivated, the lateral control of the vehicle being always controlled by the pilot assistance method. Conversely, if the driver operates the steering wheel, only the lateral control of the vehicle is deactivated, the steering assistance process continuing to control the speed and acceleration of the vehicle.
When the brake control member receives a braking instruction, it sends a positioning instruction of the braking member to an appropriate actuator to slow the vehicle 8 according to the braking setpoint. In an embodiment not illustrated, the brake control member could be controlled by a module independent of the driver assistance module 2, for example by an ESP type device.
Similarly, when the steering control member receives a direction setpoint, it sends a corresponding instruction to one or more actuators for orienting the steering column of the vehicle 8 according to the direction set.
The operation of the engine control member is now described with reference to FIG. 4. The engine control member 3 analyzes any acceleration setpoint that it receives from the piloting assistance module 2. During a first series of calculations, the engine control member 3 defines a vehicle speed setpoint as a function of the acceleration setpoint received, the. current vehicle speed as well as the maximum vehicle speed for the gearbox gear engaged.
In a first step, the engine control member tests whether the acceleration setpoint is negative (step 37), that is to say if the acceleration setpoint corresponds to a vehicle deceleration request 8.
If the acceleration setpoint is negative (step 38), then the engine control member 3 tests the current speed of the vehicle (step 39). If the current vehicle speed is non-zero (step 40), then the engine control member 3 defines a vehicle speed setpoint equal to the current vehicle speed decremented by a predetermined speed value (step 41). If, on the other hand, the current speed of the vehicle is zero (step 42), then the engine control member 3 defines a vehicle speed reference equal to the current speed of the vehicle (step 43), that is to say a set point zero speed.
If the acceleration set point is positive (step 44), that is to say that the vehicle must accelerate, then the engine control member 3 compares the current speed of the vehicle to the maximum speed possible for the gear ratio gear engaged (step 45). If the current speed of the vehicle is lower than the maximum speed of the vehicle for the gear ratio engaged (step 46), then the engine control member 3 defines a vehicle speed reference equal to the current speed of the vehicle incremented a predetermined speed value (step 95). If, on the other hand, the current speed of the vehicle is greater than or equal to the maximum speed of the vehicle for the gearbox ratio engaged (step 47), then the engine control member 3 defines a vehicle speed reference equal to the current speed. of the vehicle (step 43), that is equal to the maximum speed of the vehicle for the gear engaged.
After defining a vehicle speed setpoint, the engine control member 3 calculates a motor torque setpoint to reach the vehicle speed setpoint. For this, the engine control member tests whether the differential between the vehicle speed reference and the current speed of the vehicle is greater than a predefined positive deviation (step 48). If the differential between the vehicle speed reference and the current speed of the vehicle is greater than the positive difference (step 49), then the engine control member 3 defines a wheel torque setpoint, equal to the current wheel torque incremented by a predetermined torque value (step 50). In the opposite case (step 51), the engine control member 3 tests whether the differential between the vehicle speed reference and the speed is less than a predefined positive deviation (step 52). If the differential between the vehicle speed reference and the current speed of the vehicle is less than said negative difference (step 53), then the engine control member 3 defines a wheel torque setpoint equal to the current wheel torque decremented by the value of predetermined torque (step 54). Otherwise (step 55), that is to say that the vehicle speed reference is substantially equal to the current speed of the vehicle, then the engine control member 3 defines a wheel torque setpoint equal to the current wheel torque ( step 56).
After defining a wheel torque setpoint, the engine control member 3 defines a gearbox input shaft torque setpoint (step 57) as a function of the wheel torque setpoint and the gear ratio. gear engaged equal to the wheel torque setpoint divided by the transmission ratio of the gearbox.
Finally, during a final series of steps, the engine control member 3 determines an engine speed setpoint and a final torque setpoint transmittable by the clutch to obtain the corresponding gearbox input torque. . For this, the engine control member 3 tests the current state of the clutch (step 58). If the clutch is in a fully closed state (step 59), then the engine control member 3 calculates a motor speed setpoint and sends this setpoint to an engine actuator (step 60). The motor actuator then regulates the engine speed in accordance with the engine speed setpoint. In addition, the engine control member 3 generates a clutch setpoint corresponding to a complete closure of the clutch and sends said clutch setpoint to the clutch control member 6 (step 61). If the clutch is not fully closed (step 62), that is to say that the torque of the motor shaft is not or not fully transmitted to the input shaft of the gearbox then the engine control member 3 calculates a motor speed setpoint necessary to obtain the gearbox input shaft torque as well as the clutch setpoint (step 63). This calculation is performed using a map stored in memory of the engine control member 3 (step 63). This mapping defines for each gearbox input shaft torque a minimum engine speed setpoint and a torque setpoint transmittable by the corresponding clutch. The engine control member then sends the motor actuator the engine speed setpoint to be applied. In parallel, the engine control member sends to the clutch control member 6 the final torque setpoint transmissible by the clutch calculated using the mapping (step 64). The clutch control determines the time trajectory to follow to reach this final value of transmissible torque setpoint. The motor actuator regulates the engine speed according to the engine speed setpoint. The engine control member 3 performs steps 37 to 64 for each acceleration setpoint received, that is to say that after sending the engine speed setpoint and the clutch setpoint, the control member motor returns to the step of testing the acceleration setpoint (step 37).
Thus, when the torque to be transmitted by the clutch is greater than the maximum torque transmitted by the clutch at idle engine speed, the engine control member 3 controls the engine speed while maintaining the clutch in a maximum transmissible torque position to to reach the target clutch torque. Conversely, when the torque to be transmitted by the clutch is less than the maximum torque transmitted by the clutch at idle engine speed, typically during a stopping or taking off phase of the vehicle 8, the control of the movement of the vehicle is realized by applying a constant engine speed and by regulating the physical quantity controlling the clutch torque so that the clutch transmits to the input shaft of the gearbox the torque necessary to obtain the target clutch torque.
FIG. 5 is a flowchart illustrating the method of operation of the clutch control member of FIG. 1 from a driving situation with the clutch in maximum torque position transmittable to a stopping position of the vehicle in which the The clutch is disengaged then from the vehicle stop position with the clutch disengaged to a driving situation with the clutch in the maximum transmittable torque position. The clutch control member 6 continuously monitors the speed of the drive shaft and the speed of the input shaft of the gearbox (step 65). These speeds are analyzed by the clutch control member 6 in order to detect conditions for stalling or stopping the vehicle (step 66).
If the speed of the motor shaft and the speed of the input shaft of the transmission do not correspond to a stopping or stalling condition (step 67), that is to say that the vehicle 8 is in a rolling phase in which the movement of the vehicle 8 is controlled by the regulation of the engine speed via the engine control member 3, the clutch must remain in a maximum transmissible torque position. The clutch control member 6 then remains in the maximum transmissible torque position and continues its monitoring of the speed of the drive shaft and the gearbox shaft (step 65). If, on the other hand, a stopping or stalling condition is detected (step 68), that is to say that the vehicle is in a stopping phase or a risk of engine stalling, it is then necessary to move the clutch to a disengaged position.
In order to ensure the best possible comfort for the driver, the clutch control member 6 determines a gradual opening profile of the clutch as a function of the stopping or stalling conditions detected. This progressive opening profile is adapted to the situation detected, for example according to whether emergency braking or light braking is detected, the movement of the clutch between two positions is more or less fast. The clutch control member 6 then applies the progressive clutch opening profile adapted to the situation detected (step 69). The clutch control member 6 then controls the condition of the clutch to verify that the clutch is disengaged (step 70). If the clutch is not disengaged (step 71), the clutch control member 6 determines a new opening profile of the clutch possibly according to a new clutch setpoint (step 69). If, on the other hand, the clutch is completely released (step 72), the vehicle 8 is at a standstill and the clutch control member 6 remains waiting for a clutch setpoint corresponding to a restart of the vehicle 8 (step 73).
When the vehicle 8 is stopped and the clutch control member 6 receives a new clutch setpoint, the clutch control member 6 tests whether this clutch setpoint is zero (step 74 ).
If the clutch setpoint received by the clutch control member 6 is zero (step 75), that is to say that the vehicle 8 must remain at a standstill, the clutch control member 6 remains waiting for a new clutch setpoint (step 74) and the clutch remains in the disengaged position.
If instead the clutch setpoint received by the clutch control member 6 is non-zero (step 76), then the clutch control member 6 determines and applies a profile of progressive engagement of the clutch depending on the clutch set point (step 77). After having applied the clutch opening profile (step 77), the clutch control member checks whether the motor shaft and the input shaft of the gearbox are synchronized, that is, ie at the same speed (step 78).
If the drive shaft and the gearbox shaft are not synchronized (step 107), the clutch being in a slipping position not transmitting all of the torque of the drive shaft to the drive shaft. At the input of the gearbox, the clutch control member 6 remains waiting for a new clutch set point (step 74). Such a case occurs in particular when the torque to be transmitted via the clutch is less than the maximum torque transmitted by the clutch at idle speed of the engine. This new clutch setpoint may be a clutch setpoint resulting in a maximum torque transmittable position of the clutch or on the contrary to a disengaged position of the clutch, or a new position with slip.
If the drive shaft and the gearbox shaft are synchronized (step 108), the clutch transmitting the entire torque of the drive shaft to the input shaft of the gearbox, then the clutch control member 6 checks whether the clutch setpoint corresponds to a request for transmitting the maximum torque transmissible by the clutch (step 109). If the clutch setpoint is a clutch complete closing instruction (step 110), the vehicle 8 entering a rolling phase during which the engine control member 3 will control the movement of the vehicle 8 via the engine speed regulation , then the clutch control member 6 completely closes the clutch (step 111) and returns to the step of monitoring the speed of the motor shaft and the input shaft of the gearbox so detecting a stopping and / or stalling condition (step 65). If the clutch setpoint does not correspond to a set point for closing the clutch completely (step 112), then the clutch control member 6 returns to the step of monitoring the speed of the motor shaft and the input shaft of the gearbox to detect a stopping and / or stalling condition (step 65).
In a non-illustrated embodiment, the clutch control member 6 further comprises continuously a step of controlling the pedals of the vehicle. As soon as the clutch control member 6 detects a driver action on one of the pedals of the vehicle, the clutch control member switches to an inactive mode in which the driver controls the movement of the vehicle 8. If no action on the pedals of the vehicle 8 is detected, the clutch control member 6 activates, subject to receipt of the clutch setpoint by the engine control member 3, the monitoring of the motor shaft and the input shaft of the gearbox (step 65). Similarly to the assisted steering method described above with reference to FIG. 3, the inactive mode of the clutch control member 6 can be linked to the activation of other control elements of the vehicle and subjected to a comparison with a deactivation threshold.
Figures 6 to 9 illustrate the behavior of the various components of the vehicle assisted steering in different situations. In these figures, the curve 79 illustrates the distance with the target vehicle, the curve 80 illustrates the positive acceleration demand, the curve 81 illustrates the negative acceleration demand, typically the deceleration demand, the curve 82 illustrates the speed reference. vehicle, the curve 83 illustrates the current speed of the vehicle, the curve 84 illustrates the engine speed, the curve 85 illustrates the speed of the gearbox, the curve 86 illustrates the motor torque setpoint and the curve 87 illustrates the setpoint of clutch.
Moreover, in these figures, a first phase 88 illustrates a stopping phase of the vehicle, a second phase 89 corresponds to a phase of removal of the target vehicle. In FIGS. 6 to 8, a third phase 90 corresponds to a phase of rolling at a constant distance with the target vehicle, a fourth phase 91 corresponds to a phase of approaching the target vehicle and a fifth phase 92 corresponds to a stopping phase. . In FIG. 9, a third phase 93 corresponds to a phase of increasing distance from the target vehicle.
FIG. 6 illustrates the behavior of the various components of the vehicle during assisted driving successively during start-up, when driving at a speed lower than the idling speed for the gearbox gear engaged, and when the vehicle is stopped. vehicle. More particularly, the gearbox speed curve illustrates the clutch slip, allowing partial torque transmission from the drive shaft to the gearbox input shaft until the value of final torque requested by the motor control is reached. In addition, the clutch setpoint curve shows a progressive movement of the clutch to its disengaged or fully engaged position, allowing a comfortable transition for the driver between two positions of the clutch.
Furthermore, Figure 6 illustrates a start from a stopped position of the vehicle. During a start of the vehicle 8, the engine control member 3 determines a motor torque necessary to take off the vehicle and sends a corresponding clutch setpoint to the clutch control member 6. This necessary engine torque corresponds to a motor torque to overcome the inertia of the vehicle at startup. The clutch control member 6 determines a torque path to reach the takeoff value from a zero transmissible torque corresponding to the stopped vehicle state. When the speed of the desired gearbox is reached, the engine control member 3 reduces the engine torque setpoint to stabilize the vehicle speed. Consequently, the engine control member 3 reduces the clutch setpoint at the same time in order to reduce the torque transmitted by the clutch.
FIG. 7 illustrates the behavior of the various components of the vehicle during assisted driving successively during a start, in a driving condition with a clutch in the fully closed state, and during a stopping of the vehicle.
FIG. 8 illustrates the behavior of the various components of the vehicle during assisted driving successively during a start, in a driving condition with a clutch torque setpoint according to the engine torque setpoint, and during a stopping of the vehicle.
FIG. 9 illustrates the behavior of the various components of the vehicle during assisted driving successively during a start and then in a driving condition at a speed greater than the maximum speed of the vehicle for the gearbox gear engaged.
As illustrated in FIG. 10, the driving assistance module 2 could also send an acceleration instruction calculated as above directly to an actuator control block 94 of an automatic transmission vehicle. Such an actuator control block 94 could for example be the block managing the transmission of torque between the engine and the wheels on such a vehicle with automatic transmission.
Figure 12 depicts an example of modification of the driving assistance method due to excessive values of the temperature of the clutch. Step 200 is an initialization step. Step 201 is a step of determining the energy of the clutch and determining the temperature of the clutch while the power dissipated in this clutch is zero. This determination is carried out, for example, by means of the method described in application EP 2 703 681 or in the application DE 10 2009 041 412. During this step 201, the temperature thus determined can be displayed on the man-machine interface of FIG. vehicle.
In step 202, it is checked whether the clutch is in the engaged position and if the sliding speed is greater than a predefined value. If not, go back to step 201. If yes, go to step 203 Step 203 is a step of calculating the power dissipated in the clutch, the energy of the clutch and the temperature of the clutch, these calculations being performed similarly to that described with reference to step 201. The temperature of the clutch thus determined can be displayed on the vehicle man-machine interface. Step 204 corresponds to a comparison between the temperature of the clutch measured in step 203 with a first threshold value Th1. If the temperature of the clutch is lower than Thl, the driver assistance module 2 is informed in step 206 of the possibility of activating the assisted steering for the second gear ratio. Step 207 corresponds to a comparison between the idle engine speed setpoint and the basic idle engine speed reference. If the idle engine speed set point is lower than the basic setpoint for the engine idle speed, it returns to step 202. If the idle engine speed setpoint is higher than the basic idle engine speed setpoint, it is fixed at a step 208 idle engine speed setpoint being equal to the basic setpoint of idle engine speed.
If, during step 204, it appears that the temperature of the clutch determined in step 203 is greater than Th1, during a step 209 a maximum value of engine speed is fixed, making it possible to guarantee that the power dissipated in the clutch will remain lower than a given value.
During a step 210 the value of the temperature of the clutch is determined and the temperature thus determined is compared with a second threshold value Th2 which is greater than Th1. When the temperature of the clutch is lower than Th2, return to step 202. When the clutch temperature is greater than Th2, it goes to a step 211 during which the engine idle speed is increased.
During a step 212, the value of the temperature of the clutch is determined and the temperature thus determined is compared with a third threshold value Th3 which is greater than Th2. When the temperature of the clutch is lower than Th3, return to step 202.
When the temperature of the clutch is greater than Th3, the assistance module 2 or the engine control member 3 decreases according to a step 213 the wheel torque setpoint during takeoff or increases the delay before restarting the vehicle for follow the target.
During a step 214 the value of the temperature of the clutch is determined and the temperature thus determined is compared with a fourth threshold value Th4 which is greater than Th3. When the temperature of the clutch is lower than Th4, return to step 202.
When the temperature of the clutch is greater than Th4, the assistance module 2 asks the driver in a step 215, for example via a message displayed on the man-machine interface, to switch from the second gear ratio to the first gearbox. Gearbox report. During this step 215, an audible and / or visual warning about excessive warming of the clutch can be generated. Step 216 consists of checking whether the engaged gear ratio is neutral. If not, return to step 215. If yes, proceed to a step 217 of suspending the target tracking. Step 218 is to check if the user has engaged the first gear ratio. If not, return to step 217. If yes, proceed to step 219 of reactivation of target tracking. Step 220 consists in checking whether an exit request from the target tracking is received by the assistance module 2. If it is not, we return to the step 202.
If so, we go to a step 221 of exit from the target tracking. An audible and / or visual warning can then be generated to warn the driver of the target tracking output.
Although the invention has been described in connection with several particular embodiments, it is obvious that it is not limited thereto and that it comprises all the technical equivalents of the means described and their combinations if they are within the scope of the invention. The use of the verb "to include", "to understand" or "to include" and its conjugated forms does not exclude the presence of other elements or steps other than those set out in a claim. The use of the indefinite article "a" or "an" for an element or a step does not exclude, unless otherwise stated, the presence of a plurality of such elements or steps.
In the claims, any reference sign in parentheses can not be interpreted as a limitation of the claim.

权利要求:
Claims (10)
[1" id="c-fr-0001]
A method of assisting in driving a vehicle for tracking a target, the vehicle having a clutch mounted between a motor output shaft and an input shaft of a manual gearbox of the vehicle, the driver assisting method having recurrently the steps of: - detecting an input condition of the driving assistance method, the input condition including a gear ratio condition (20); ), the gear ratio condition being satisfied when the gear ratio is equal to a predetermined gear ratio selected from the first gear ratio and the second gear ratio, - providing a gear setpoint of acceleration (30, 31, 32) as a function of driving conditions, the driving conditions comprising a distance with a target as a function of time, - calculating a vehicle speed reference (41, 43, 95) in accordance with anointing of the acceleration setpoint and a current vehicle speed, - calculating a vehicle dynamics management torque setpoint (50, 54, 56) according to the vehicle speed setpoint, the current speed of the vehicle, vehicle and a current torque of the powertrain, - calculate a gearbox input torque setpoint (57) as a function of the engaged gear ratio and the torque control torque of the gearbox dynamics. vehicle, - regulate the engine speed according to the gearbox input torque setpoint, - calculate a clutch torque setpoint according to the gearbox input torque setpoint and the status opening the clutch; - regulating a physical quantity controlling the transmissible torque of the clutch as a function of the clutch torque setpoint. the method also comprising the step of comparing the temperature of the clutch with at least one threshold value and, when the temperature of the clutch is greater than the threshold value, the assistance to the driving of the vehicle is modified.
[2" id="c-fr-0002]
2. Method according to claim 1, wherein the assistance to the driving of the vehicle is modified by acting on at least one of the following quantities: - maximum engine speed for a given clutch torque, - engine idle speed, - - set of wheel torque during takeoff, - time delay before restarting the vehicle to follow the target, - average driving speed, - distance to the target, - acceleration set point, - value of the gearbox ratio engaged.
[3" id="c-fr-0003]
3. Method according to claim 2, wherein the clutch temperature is compared with the threshold value, and when the temperature of the clutch is greater than this threshold value, the maximum engine speed is limited for a given engine torque, so that the power dissipated in the clutch remains lower than or equal to a predefined value.
[4" id="c-fr-0004]
4. The method of claim 2, wherein the clutch temperature is compared with the threshold value, and when the temperature of the clutch is greater than this threshold value, the engine idling speed is increased.
[5" id="c-fr-0005]
5. The method as claimed in claim 2, in which the temperature of the clutch is compared with the threshold value, and when the temperature of the clutch is greater than this threshold value, the wheel torque setpoint is decreased during take-off and / or increases the delay before restarting the vehicle to follow the target and / or decreases the average speed of driving.
[6" id="c-fr-0006]
6. The method of claim 2, wherein the clutch temperature is compared with the threshold value, and when the clutch temperature is greater than this threshold value, the distance between the vehicle and the target is increased, and / or the acceleration of the vehicle is decreased.
[7" id="c-fr-0007]
7. The method of claim 2, wherein the clutch temperature is compared with the threshold value, and when the temperature of the clutch is greater than this threshold value, the driver is asked to change gearbox ratio. to a ratio corresponding to a greater reduction of the wheel torque to the gearbox input torque.
[8" id="c-fr-0008]
The method of claim 7, wherein when the clutch temperature is above this threshold value, the driver is required to switch from the second gear ratio to the first gear ratio.
[9" id="c-fr-0009]
9. The method as claimed in claim 2, comprising the following successive steps: comparing (204) the temperature of the clutch to a first threshold value, and when the clutch temperature is greater than this first threshold value, limiting the speed maximum engine for a given engine torque, so that the power dissipated in the clutch remains less than or equal to a predefined value, - comparing (210) the temperature of the clutch with a second threshold value greater than the first value threshold, and when the temperature of the clutch is greater than this second threshold value, increase the engine idle speed, - compare (212) the temperature of the clutch to a third threshold value greater than the second threshold value, and when the temperature of the clutch is greater than this third threshold value, decrease the wheel torque setpoint during takeoff and / or increase the time delay before restarting the vehicle to track the target and / or decrease the average driving speed, and / or increase the distance to the target, and / or decrease the acceleration of the vehicle, and - compare (214) the temperature of the vehicle. at a fourth threshold value, and when the temperature of the clutch is greater than this fourth threshold value, ask the driver to change gearbox ratio to a ratio corresponding to a greater reduction of the wheel torque to the gearbox. gearbox input torque, including asking the driver to switch from the second gearbox ratio to the first gearbox ratio.
[10" id="c-fr-0010]
A method as claimed in any one of the preceding claims comprising a step (221) of outputting the assistance when the modification of the assistance to the driving of the vehicle resulting from the overtaking by the temperature of the clutch of the threshold (s). no longer allows the vehicle to taxi.

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同族专利:

公开号 | 公开日

FR3044626B1|2017-12-01|

EP3386822A1|2018-10-17|

WO2017098146A1|2017-06-15|

CN108602512A|2018-09-28|

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法律状态:
2016-12-29| PLFP| Fee payment|Year of fee payment: 2 |

2017-06-09| PLSC| Publication of the preliminary search report|Effective date: 20170609 |

2018-01-02| PLFP| Fee payment|Year of fee payment: 3 |

2019-12-31| PLFP| Fee payment|Year of fee payment: 5 |

2020-12-31| PLFP| Fee payment|Year of fee payment: 6 |

2021-12-31| PLFP| Fee payment|Year of fee payment: 7 |

优先权:

申请号 | 申请日 | 专利标题

FR1561944A|FR3044626B1|2015-12-07|2015-12-07|METHOD FOR TRACKING A TARGET|FR1561944A| FR3044626B1|2015-12-07|2015-12-07|METHOD FOR TRACKING A TARGET|

EP16819987.5A| EP3386822A1|2015-12-07|2016-12-07|Method for following a target|

CN201680080210.3A| CN108602512A|2015-12-07|2016-12-07|For tracking mesh calibration method|

PCT/FR2016/053242| WO2017098146A1|2015-12-07|2016-12-07|Method for following a target|

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