EP2448783A1 - Method for very low-speed rolling on a ground comprising low grip - Google Patents

Method for very low-speed rolling on a ground comprising low grip

Info

Publication number
EP2448783A1
EP2448783A1 EP10745355A EP10745355A EP2448783A1 EP 2448783 A1 EP2448783 A1 EP 2448783A1 EP 10745355 A EP10745355 A EP 10745355A EP 10745355 A EP10745355 A EP 10745355A EP 2448783 A1 EP2448783 A1 EP 2448783A1
Authority
EP
European Patent Office
Prior art keywords
speed
low
vehicle
low speed
engine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP10745355A
Other languages
German (de)
French (fr)
Inventor
François Gay
Loïc FRADIN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
PSA Automobiles SA
Original Assignee
Peugeot Citroen Automobiles SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Peugeot Citroen Automobiles SA filed Critical Peugeot Citroen Automobiles SA
Publication of EP2448783A1 publication Critical patent/EP2448783A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18027—Drive off, accelerating from standstill
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18063—Creeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18172—Preventing, or responsive to skidding of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/26—Wheel slip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/10—Change speed gearings
    • B60W2710/105—Output torque

Definitions

  • the present invention relates to a method of rolling at a very low speed of a motor vehicle, on a terrain with low traction of the driving wheels, and a motor vehicle equipped with such a method.
  • Motor vehicles may include a function of limitation of the slip of the driving wheels, called ASR (Anti Slip Regulation), which is one of the functions of the process of stability control of the vehicle, called ESP (Electronic Stabily Program).
  • ASR Anti Slip Regulation
  • ESP Electronic Stabily Program
  • the stability control of the ESP vehicle uses sensors measuring the dynamics of the vehicle, and a brake control of the wheels, to brake some wheels of the vehicle and thus exert a torque on the vehicle around its center of gravity, allowing to modify its trajectory.
  • the ASR drive wheel slip limitation function uses engine control and wheel brakes to limit the speed and the traction force of each drive wheel on the ground, by function of its adhesion. In this way, it is possible to maintain a certain optimum wheel slip of each wheel to maintain the best traction, and to ensure the traction and steering of the vehicle on very slippery floors, including for example mud or snow.
  • this clutch For vehicles with a progressive coupling clutch between the engine and the transmission, once the start-up phase of the vehicle is completed, this clutch is kept closed without the possibility of slipping. But the engine must run at a minimum speed to avoid stalling and deliver sufficient torque.
  • the transmission connected to this clutch also rotates with a minimum speed that usually drives the vehicle at speeds of the order of 12 to 13 km / h.
  • the differential drive of an axle differentially distributes the movement received from the gearbox towards the two drive wheels of this axle, so that the sum of the speeds of the two wheels corresponds to the speed imposed on the output of the gearbox.
  • the present invention is intended in particular to avoid these drawbacks of the prior art, and to provide a method for improving the adhesion of the drive wheels of a vehicle for rolling at a very low speed.
  • a continuous rolling process at very low speed on a terrain with low adhesion for a motor vehicle comprising a controlled means of progressive coupling between the engine and the transmission, and a wheel slip limitation function driving which following wheel speed information motor, controls the braking of each drive wheel to limit their slippage, characterized in that for rolling at a very low speed, the function of limiting the slippage of the drive wheels also controls the controlled means of progressive coupling, to maintain a sliding continuous way of this means so as to reduce the average speed of the drive wheels, and get a small slip of these wheels.
  • An advantage of this continuous rolling method at a very low speed is that, thanks to a permanent regulation of the sliding of the coupling means, and while keeping the minimum speed of rotation of the heat engine, the average rotation speed can be greatly reduced. driving wheels, and thus adapt to the very low speed of progression of the vehicle with a reduced slip of these wheels.
  • the continuous low speed rolling method according to the invention may further include one or more of the following features, which may be combined with each other.
  • the function of limiting the slippage of the drive wheels sends simultaneously to the engine a low engine speed setpoint.
  • the low engine speed setpoint can generate a minimum speed of the engine to avoid stalling, while delivering to the drive wheels a sufficient traction torque.
  • the very low speed rolling method emits a low engine speed instruction, and monitors the average speed of the driving wheels with respect to the speed of the vehicle, to evaluate the slippage and deduce a sliding setpoint for the control of the controlled progressive coupling means, in order to obtain an optimum slip value.
  • the continuous rolling process at very low speed comprises a specific management of the transition between the running of the vehicle at a very low speed, and the normal operation with the coupling means closed, which is established to gradually return to the conditions of this normal march.
  • the very low speed taxiing method can receive information from a control maneuvered by the driver to signal a state of adhesion of the track, this information allowing him to adapt internal operating parameters.
  • the invention also relates to a motor vehicle having a continuous rolling process at very low speed on a terrain comprising a low adhesion, this rolling method further comprising any of the preceding features.
  • the controlled means of progressive coupling between the engine and the transmission of the motor vehicle may include a clutch comprising disks whose tightening is controlled by an actuator.
  • FIG. 1 is a diagram showing the main components of a vehicle comprising the continuous rolling process at very low speed according to the invention.
  • the vehicle 1 comprises a heat engine 2 which drives by a clutch 4 comprising an automated control device, a gearbox 6 connected to the drive wheels 8 of the vehicle.
  • the gearbox 6 is a robotic manual gearbox, comprising actuators for effecting the gear changes.
  • the clutch comprises a torque transmission disk whose tightening is controlled by an actuator.
  • the vehicle may comprise other transmission devices such as a double-clutch gearbox, a continuously variable gear transmission, or an automatic gearbox comprising planetary gears and a hydraulic input torque converter, the slip can be controlled.
  • the vehicle may also include an auxiliary motor as an electric machine, in addition to the main thermal engine, to form a hybrid vehicle.
  • a central control unit 10 comprising a computer and control laws stored in memory, receives information 20 from a braking system 12 comprising an independent brake control on each drive wheel 8.
  • the received information 20 include in particular the speed of each driving wheel 8, delivered by speed sensors connected to each wheel.
  • the control unit 10 comprises a method for monitoring the stability of the vehicle ESP, comprising a function of limiting the slippage of the driving wheels ASR.
  • the control unit 10 may include other functions for assisting the driving of the vehicle, such as an anti-lock braking system called ABS (Anti-lock Braking System).
  • control unit 10 monitors the rotational speed of the drive wheels 8 with the information received from the braking system 12, and compares them with theoretical speeds calculated from information from other sources, such as the speed of rotation of the non-drive wheels of the vehicle.
  • the computer issues a brake pressure setpoint 22 for this wheel, delivered to the braking system 12, in order to slow it down.
  • the control unit 10 sends to the heat engine 2 a set of engine speed 24, to limit its speed and avoid an increase in this speed due to the loss of traction of the drive wheel.
  • the vehicle may further comprise a man-machine interface comprising a control 14 operated by the driver, for report to the control unit 10 a slippery track condition, including for example snow or ice.
  • a slippery track condition including for example snow or ice.
  • This additional information may include several levels of adhesion, allows the control unit 10 to choose the most appropriate laws to optimize control and get the best result.
  • the speed obtained which is linked to that of the output of the clutch 4, is applied to the differential of the axle of the driving wheels 8.
  • This speed of the differential is the average speed of the driving wheels 8.
  • the method according to the invention operates as follows.
  • the control unit 10 also transmits a sliding instruction 26 intended for the automated steering device of the clutch 4, to ask it to maintain a certain permanent slip in this clutch between the input speed which is that of the engine. 2, and that output applied to the gearbox 6.
  • the sliding instruction is transformed taking into account the characteristics of the clutch 4, in position set for the clutch release bearing, which moves to effect a partial disengagement of this clutch.
  • the driver activates the control 14 signaling a passage with little or possible adhesion of the ground.
  • This command 14 gives the information to the control unit 10, which chooses the best control laws.
  • the control unit 10 transmits a low engine speed instruction 24, close to its limit lower speed, and monitors the average speed of the driving wheels 8 with respect to the speed of the vehicle, to measure the skating of these driving wheels which must remain weak, according to a pre-established value.
  • the control unit 10 then adjusts the controlled sliding setpoint 26 to be applied to the clutch 4, to obtain the slip value for optimizing the traction and steering of the vehicle.
  • control unit 10 can intervene with the brake pressure setpoint 22, individually on each drive wheel 8 to limit its slip in case of lower adhesion of the wheel.
  • Controlled sliding of the clutch 4 thus makes it possible to deliver to the drive wheels 8 a certain engine torque, with the ideal average rotation speed to obtain the best grip of these driving wheels.
  • control unit 10 constantly adapts the sliding instruction 26 to obtain a similar evolution of the average speed of the drive wheels 8.
  • the continuous rolling process at very low speed is then automatically deactivated.
  • the driver can also signal the end of this passage by the control 14 if the vehicle is equipped, which allows to neutralize the rolling process at a very low speed and to avoid it delivers to the clutch 4 inappropriately , a sliding instruction 26 which could wear it.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention relates to a method for the continuous, very low-speed rolling on a ground comprising low grip for a motor vehicle (1), and including a controlled means (4) for gradually coupling the heat engine (2) and the transmission (6) together, and a function (8) for limiting the spin of the drive wheels that, according to drive wheel speed information (20), controls the braking (12) of each drive wheel so as to limit the spinning thereof, characterized in that, for very low-speed rolling, the function (8) for limiting the spin of the drive wheels further simultaneously controls the controlled gradual coupling means (4) in order to maintain a continuous slipping of said means so as to reduce the mean drive wheel speed and to achieve a low spinning of said wheels.

Description

PROCEDE DE ROULAGE A TRES BASSE VITESSE SUR UN TERRAIN COMPORTANT UNE FAIBLE ADHERENCE  VERY LOW SPEED TRUCKING METHOD ON LAND WITH LOW ADHESION
La présente invention concerne un procédé de roulage à très basse vitesse d'un véhicule automobile, sur un terrain comportant une faible adhérence des roues motrices, ainsi qu'un véhicule automobile équipé d'un tel procédé. The present invention relates to a method of rolling at a very low speed of a motor vehicle, on a terrain with low traction of the driving wheels, and a motor vehicle equipped with such a method.
Les véhicules automobiles peuvent comporter une fonction de limitation du patinage des roues motrices, appelé ASR (Anti Slip Régulation), qui est une des fonctions du procédé de contrôle de stabilité du véhicule, appelé ESP (Electronic Stabily Program).  Motor vehicles may include a function of limitation of the slip of the driving wheels, called ASR (Anti Slip Regulation), which is one of the functions of the process of stability control of the vehicle, called ESP (Electronic Stabily Program).
Le contrôle de stabilité du véhicule ESP utilise des capteurs de mesure de la dynamique du véhicule, et un contrôle des freins des roues, pour freiner certaines roues du véhicule et ainsi exercer un couple sur le véhicule autour de son centre de gravité, permettant de modifier sa trajectoire.  The stability control of the ESP vehicle uses sensors measuring the dynamics of the vehicle, and a brake control of the wheels, to brake some wheels of the vehicle and thus exert a torque on the vehicle around its center of gravity, allowing to modify its trajectory.
La fonction de limitation du patinage des roues motrices ASR, présentée notamment dans le document FR-A1 -2909065, utilise le contrôle du moteur et les freins des roues pour limiter la vitesse et la force de traction de chaque roue motrice sur le sol, en fonction de son adhérence. On peut maintenir de cette manière un certain patinage optimal de chaque roue pour garder la meilleure motricité, et assurer la traction ainsi que la direction du véhicule sur des sols très glissants, comprenant par exemple de la boue ou de la neige.  The ASR drive wheel slip limitation function, presented in particular in document FR-A1 -2909065, uses engine control and wheel brakes to limit the speed and the traction force of each drive wheel on the ground, by function of its adhesion. In this way, it is possible to maintain a certain optimum wheel slip of each wheel to maintain the best traction, and to ensure the traction and steering of the vehicle on very slippery floors, including for example mud or snow.
Pour les véhicules disposant d'un embrayage de couplage progressif entre le moteur thermique et la transmission, une fois la phase de démarrage du véhicule accomplie, cet embrayage est maintenu fermé sans possibilité de glissement. Or le moteur thermique doit tourner à une vitesse minimale pour éviter un calage et délivrer un couple suffisant. La transmission reliée à cet embrayage, tourne aussi avec une vitesse minimale qui entraîne généralement le véhicule à des vitesses de l'ordre de 12 à 13 km/h. Le différentiel d'entraînement d'un essieu répartit de manière différenciée le mouvement reçu de la boîte de vitesses, vers les deux roues motrices de cet essieu, de manière à ce que la somme des vitesses des deux roues corresponde à la vitesse imposée en sortie de la boîte de vitesse. For vehicles with a progressive coupling clutch between the engine and the transmission, once the start-up phase of the vehicle is completed, this clutch is kept closed without the possibility of slipping. But the engine must run at a minimum speed to avoid stalling and deliver sufficient torque. The transmission connected to this clutch, also rotates with a minimum speed that usually drives the vehicle at speeds of the order of 12 to 13 km / h. The differential drive of an axle differentially distributes the movement received from the gearbox towards the two drive wheels of this axle, so that the sum of the speeds of the two wheels corresponds to the speed imposed on the output of the gearbox.
Dans le cas d'une faible adhérence du sol, on peut avoir besoin d'une progression continue et très lente du véhicule pour sortir d'un passage difficile, avec une vitesse qui peut être par exemple inférieure à 2km/h, voir inférieure à 1 km/h. On peut aussi avoir un démarrage prolongé, par exemple en pente avec une faible adhérence du sol, le véhicule ne prenant que très progressivement de la vitesse, et restant pendant longtemps à ces basses vitesses.  In the case of low ground adhesion, it may be necessary for a continuous and very slow progression of the vehicle to exit a difficult passage, with a speed that can be for example less than 2km / h, see below 1 km / h. It can also have an extended start, for example sloping with low ground adhesion, the vehicle taking only very gradually speed, and remaining for a long time at these low speeds.
Avec le différentiel il est alors nécessaire de réaliser un patinage relativement important d'une des roues motrices, en principe la roue motrice disposant de la plus faible adhérence, pour limiter le patinage de l'autre roue en actionnant son frein de roue, et lui faire transmettre une force de traction permettant la progression du véhicule.  With the differential then it is necessary to perform a relatively large slip of one of the drive wheels, in principle the drive wheel having the lowest adhesion, to limit the slippage of the other wheel by operating its wheel brake, and it to transmit a traction force allowing the progression of the vehicle.
Avec une vitesse très faible d'une roue motrice, la vitesse de l'autre roue motrice est alors largement amplifiée par le différentiel qui reporte le mouvement de la première roue sur la deuxième. On obtient ainsi avec des vitesses très lentes du véhicule, un patinage important d'une des roues ce qui diminue d'autant son adhérence, et de plus peut creuser le sol. Ces conditions ne sont pas favorables pour la progression du véhicule.  With a very low speed of a drive wheel, the speed of the other drive wheel is then amplified by the differential that carries the movement of the first wheel on the second. Thus, with very slow speeds of the vehicle, a significant slip of one of the wheels which decreases all its adhesion, and more can dig the ground. These conditions are not favorable for the progression of the vehicle.
La présente invention a notamment pour but d'éviter ces inconvénients de la technique antérieure, et de proposer un procédé permettant d'améliorer l'adhérence des roues motrices d'un véhicule pour un roulage à très basse vitesse.  The present invention is intended in particular to avoid these drawbacks of the prior art, and to provide a method for improving the adhesion of the drive wheels of a vehicle for rolling at a very low speed.
Elle propose à cet effet un procédé de roulage continu à très basse vitesse sur un terrain comportant une faible adhérence, pour un véhicule automobile comprenant un moyen piloté de couplage progressif entre le moteur thermique et la transmission, et une fonction de limitation du patinage des roues motrices qui suivant des informations de vitesse des roues motrices, contrôle le freinage de chaque roue motrice pour limiter leur patinage, caractérisé en ce que pour un roulage à très basse vitesse, la fonction de limitation du patinage des roues motrices contrôle de plus simultanément le moyen piloté de couplage progressif, pour maintenir un glissement continu de ce moyen de manière à réduire la vitesse moyenne des roues motrices, et obtenir un faible patinage de ces roues. It proposes for this purpose a continuous rolling process at very low speed on a terrain with low adhesion, for a motor vehicle comprising a controlled means of progressive coupling between the engine and the transmission, and a wheel slip limitation function driving which following wheel speed information motor, controls the braking of each drive wheel to limit their slippage, characterized in that for rolling at a very low speed, the function of limiting the slippage of the drive wheels also controls the controlled means of progressive coupling, to maintain a sliding continuous way of this means so as to reduce the average speed of the drive wheels, and get a small slip of these wheels.
Un avantage de ce procédé de roulage continu à très basse vitesse est que l'on peut grâce à une régulation permanente du glissement du moyen de couplage, et tout en gardant la vitesse minimale de rotation du moteur thermique, baisser fortement la vitesse moyenne de rotation des roues motrices, et ainsi l'adapter à la très faible vitesse de progression du véhicule avec un patinage réduit de ces roues.  An advantage of this continuous rolling method at a very low speed is that, thanks to a permanent regulation of the sliding of the coupling means, and while keeping the minimum speed of rotation of the heat engine, the average rotation speed can be greatly reduced. driving wheels, and thus adapt to the very low speed of progression of the vehicle with a reduced slip of these wheels.
Le procédé de roulage continu à très basse vitesse selon l'invention peut en outre comporter une ou plusieurs des caractéristiques suivantes, qui peuvent être combinées entre elles.  The continuous low speed rolling method according to the invention may further include one or more of the following features, which may be combined with each other.
Avantageusement, la fonction de limitation du patinage des roues motrices, envoie simultanément au moteur thermique une consigne de régime moteur bas.  Advantageously, the function of limiting the slippage of the drive wheels, sends simultaneously to the engine a low engine speed setpoint.
La consigne de régime moteur bas peut générer une vitesse minimale du moteur thermique permettant d'éviter un calage, tout en délivrant aux roues motrices un couple de traction suffisant.  The low engine speed setpoint can generate a minimum speed of the engine to avoid stalling, while delivering to the drive wheels a sufficient traction torque.
Selon un mode de réalisation de l'invention, le procédé de roulage à très basse vitesse émet une consigne de régime moteur bas, et surveille la vitesse moyenne des roues motrices par rapport à la vitesse du véhicule, pour évaluer le patinage et en déduire une consigne de glissement pour le contrôle du moyen piloté de couplage progressif, afin d'obtenir une valeur de patinage optimale.  According to one embodiment of the invention, the very low speed rolling method emits a low engine speed instruction, and monitors the average speed of the driving wheels with respect to the speed of the vehicle, to evaluate the slippage and deduce a sliding setpoint for the control of the controlled progressive coupling means, in order to obtain an optimum slip value.
Avantageusement, le procédé de roulage continu à très basse vitesse comporte une gestion spécifique de la transition entre la marche du véhicule à très basse vitesse, et la marche normale avec le moyen de couplage fermé, qui est établie pour revenir de manière progressive vers les conditions de cette marche normale. Advantageously, the continuous rolling process at very low speed comprises a specific management of the transition between the running of the vehicle at a very low speed, and the normal operation with the coupling means closed, which is established to gradually return to the conditions of this normal march.
En option, le procédé de roulage à très basse vitesse peut recevoir des informations d'une commande manœuvrée par le conducteur pour signaler un état d'adhérence de la voie, ces informations lui permettant d'adapter des paramètres internes de fonctionnement.  Optionally, the very low speed taxiing method can receive information from a control maneuvered by the driver to signal a state of adhesion of the track, this information allowing him to adapt internal operating parameters.
L'invention a aussi pour objet un véhicule automobile disposant d'un procédé de roulage continu à très basse vitesse sur un terrain comprenant une faible adhérence, ce procédé de roulage comportant de plus l'une quelconque des caractéristiques précédentes.  The invention also relates to a motor vehicle having a continuous rolling process at very low speed on a terrain comprising a low adhesion, this rolling method further comprising any of the preceding features.
Le moyen piloté de couplage progressif entre le moteur thermique et la transmission du véhicule automobile, peut comporter un embrayage comprenant des disques dont le serrage est piloté par un actionneur.  The controlled means of progressive coupling between the engine and the transmission of the motor vehicle, may include a clutch comprising disks whose tightening is controlled by an actuator.
L'invention sera mieux comprise et d'autres caractéristiques et avantages apparaîtront plus clairement à la lecture de la description ci-après donnée à titre d'exemple, en référence aux dessins annexés dans lesquels :  The invention will be better understood and other features and advantages will emerge more clearly on reading the following description given by way of example, with reference to the appended drawings in which:
- la figure 1 est un schéma présentant les principaux organes d'un véhicule comprenant le procédé de roulage continu à très basse vitesse selon l'invention.  - Figure 1 is a diagram showing the main components of a vehicle comprising the continuous rolling process at very low speed according to the invention.
Le véhicule 1 comporte un moteur thermique 2 qui entraîne par un embrayage 4 comprenant un dispositif de pilotage automatisé, une boîte de vitesses 6 reliée aux roues motrices 8 du véhicule. La boîte de vitesses 6 est une boîte de vitesses manuelle robotisée, comprenant des actionneurs pour effectuer les changements de vitesse. En particulier, l'embrayage comprend un disque de transmission du couple dont le serrage est piloté par un actionneur.  The vehicle 1 comprises a heat engine 2 which drives by a clutch 4 comprising an automated control device, a gearbox 6 connected to the drive wheels 8 of the vehicle. The gearbox 6 is a robotic manual gearbox, comprising actuators for effecting the gear changes. In particular, the clutch comprises a torque transmission disk whose tightening is controlled by an actuator.
En variante le véhicule peut comporter d'autres dispositifs de transmission comme une boîte de vitesses à double embrayage, une transmission à variation continue de vitesse, ou une boîte de vitesses automatique comprenant des trains planétaires et un convertisseur hydraulique de couple en entrée, dont le glissement peut être contrôlé. Le véhicule peut aussi comporter une motorisation auxiliaire comme une machine électrique, venant en complément de la motorisation thermique principale, pour former un véhicule hybride. As a variant, the vehicle may comprise other transmission devices such as a double-clutch gearbox, a continuously variable gear transmission, or an automatic gearbox comprising planetary gears and a hydraulic input torque converter, the slip can be controlled. The vehicle may also include an auxiliary motor as an electric machine, in addition to the main thermal engine, to form a hybrid vehicle.
Une unité centrale de contrôle 10 comportant un calculateur et des lois de contrôle mises en mémoire, reçoit des informations 20 d'un système de freinage 12 comportant une commande indépendante de frein sur chaque roue motrice 8. Les informations reçues 20 comportent notamment la vitesse de chaque roue motrice 8, délivrée par des capteurs de vitesse reliés à chaque roue.  A central control unit 10 comprising a computer and control laws stored in memory, receives information 20 from a braking system 12 comprising an independent brake control on each drive wheel 8. The received information 20 include in particular the speed of each driving wheel 8, delivered by speed sensors connected to each wheel.
L'unité de contrôle 10 comporte un procédé de contrôle de la stabilité du véhicule ESP, comprenant une fonction de limitation du patinage des roues motrices ASR. L'unité de contrôle 10 peut comporter d'autres fonctions d'aide à la conduite du véhicule, comme un procédé d'antiblocage des roues au freinage appelé ABS (Anti-lock Braking System).  The control unit 10 comprises a method for monitoring the stability of the vehicle ESP, comprising a function of limiting the slippage of the driving wheels ASR. The control unit 10 may include other functions for assisting the driving of the vehicle, such as an anti-lock braking system called ABS (Anti-lock Braking System).
Pour la fonction de limitation du patinage des roues motrices ASR, l'unité de contrôle 10 surveille la vitesse de rotation des roues motrices 8 avec les informations 20 reçues du système de freinage 12, et les compare avec des vitesses théoriques calculées à partir d'informations venant d'autres sources, comme par exemple la vitesse de rotation des roues non motrices du véhicule.  For the ASR drive wheel slip limitation function, the control unit 10 monitors the rotational speed of the drive wheels 8 with the information received from the braking system 12, and compares them with theoretical speeds calculated from information from other sources, such as the speed of rotation of the non-drive wheels of the vehicle.
En cas de patinage d'une roue motrice, le calculateur émet une consigne de pression de frein 22 pour cette roue, délivrée au système de freinage 12, afin de la ralentir. En parallèle, l'unité de contrôle 10 envoie au moteur thermique 2 une consigne de régime moteur 24, pour limiter sa vitesse et éviter une augmentation de cette vitesse due à la perte d'adhérence de la roue motrice.  In case of slippage of a driving wheel, the computer issues a brake pressure setpoint 22 for this wheel, delivered to the braking system 12, in order to slow it down. In parallel, the control unit 10 sends to the heat engine 2 a set of engine speed 24, to limit its speed and avoid an increase in this speed due to the loss of traction of the drive wheel.
On obtient par ce contrôle un léger patinage des roues motrices 8 qui permet d'obtenir la meilleure progression du véhicule, et de conserver une capacité de direction de ce véhicule.  By this control is obtained a slight slip of the drive wheels 8 which allows to obtain the best progression of the vehicle, and to maintain a steering capacity of the vehicle.
Le véhicule peut comporter en complément une interface homme- machine comprenant une commande 14 manœuvrée par le conducteur, pour signaler à l'unité de contrôle 10 un état de voie glissante, comprenant par exemple de la neige ou du verglas. Cette information complémentaire pouvant comprendre plusieurs niveaux d'adhérence, permet à l'unité de contrôle 10 de choisir des lois les plus appropriées pour optimiser le contrôle et obtenir le meilleur résultat. The vehicle may further comprise a man-machine interface comprising a control 14 operated by the driver, for report to the control unit 10 a slippery track condition, including for example snow or ice. This additional information may include several levels of adhesion, allows the control unit 10 to choose the most appropriate laws to optimize control and get the best result.
Après le rapport de réduction de la vitesse donné par l'ensemble de la transmission, la vitesse obtenue qui est liée à celle de sortie de l'embrayage 4, est appliquée sur le différentiel de l'essieu des roues motrices 8. Cette vitesse du différentiel représente la vitesse moyenne des roues motrices 8.  After the reduction ratio of the speed given by the entire transmission, the speed obtained, which is linked to that of the output of the clutch 4, is applied to the differential of the axle of the driving wheels 8. This speed of the differential is the average speed of the driving wheels 8.
Après le décollage du véhicule à partir de l'arrêt et quand le terrain est glissant, pour une progression continue du véhicule 1 à une vitesse relativement stable et très lente, nettement inférieure à celle donnée par le moteur 2 tournant à une vitesse très basse lui permettant de ne pas caler, relié à un embrayage 4 fermé sans glissement, le procédé selon l'invention fonctionne de la manière suivante.  After the vehicle has taken off from the stop and when the terrain is slippery, for a continuous progression of the vehicle 1 at a relatively stable and very slow speed, much lower than that given by the engine 2 rotating at a very low speed him to avoid wedging, connected to a clutch 4 closed without slipping, the method according to the invention operates as follows.
L'unité de contrôle 10 émet de plus une consigne de glissement 26 destinée au dispositif de pilotage automatisé de l'embrayage 4, pour lui demander de maintenir un certain glissement permanent dans cet embrayage entre la vitesse d'entrée qui est celle du moteur thermique 2, et celle de sortie appliquée sur la boîte de vitesses 6.  The control unit 10 also transmits a sliding instruction 26 intended for the automated steering device of the clutch 4, to ask it to maintain a certain permanent slip in this clutch between the input speed which is that of the engine. 2, and that output applied to the gearbox 6.
La consigne de glissement est transformée en tenant compte des caractéristiques de l'embrayage 4, en consigne de position pour la butée de débrayage, qui se déplace pour effectuer un débrayage partiel de cet embrayage.  The sliding instruction is transformed taking into account the characteristics of the clutch 4, in position set for the clutch release bearing, which moves to effect a partial disengagement of this clutch.
Le conducteur active la commande 14 signalant un passage avec une faible adhérence possible ou probable du sol. Cette commande 14 donne l'information à l'unité de contrôle 10, qui choisit les meilleures lois de contrôle.  The driver activates the control 14 signaling a passage with little or possible adhesion of the ground. This command 14 gives the information to the control unit 10, which chooses the best control laws.
L'unité de contrôle 10 émet une consigne de régime moteur bas 24, proche de sa vitesse inférieure limite, et surveille la vitesse moyenne des roues motrices 8 par rapport à la vitesse du véhicule, pour mesurer le patinage de ces roues motrices qui doit rester faible, suivant une valeur préétablie. L'unité de contrôle 10 ajuste alors la consigne de glissement contrôlé 26 à appliquer sur l'embrayage 4, pour obtenir la valeur de patinage permettant d'optimiser la traction et la direction du véhicule. The control unit 10 transmits a low engine speed instruction 24, close to its limit lower speed, and monitors the average speed of the driving wheels 8 with respect to the speed of the vehicle, to measure the skating of these driving wheels which must remain weak, according to a pre-established value. The control unit 10 then adjusts the controlled sliding setpoint 26 to be applied to the clutch 4, to obtain the slip value for optimizing the traction and steering of the vehicle.
En parallèle, l'unité de contrôle 10 peut intervenir avec la consigne de pression de frein 22, individuellement sur chaque roue motrice 8 pour limiter son patinage en cas d'adhérence plus faible de cette roue.  In parallel, the control unit 10 can intervene with the brake pressure setpoint 22, individually on each drive wheel 8 to limit its slip in case of lower adhesion of the wheel.
Le glissement contrôlé de l'embrayage 4 permet ainsi de délivrer aux roues motrices 8 un certain couple moteur, avec la vitesse de rotation moyenne idéale pour obtenir la meilleure adhérence de ces roues motrices.  Controlled sliding of the clutch 4 thus makes it possible to deliver to the drive wheels 8 a certain engine torque, with the ideal average rotation speed to obtain the best grip of these driving wheels.
En fonction de l'évolution de la vitesse du véhicule, par exemple si cette vitesse augmente progressivement, l'unité de contrôle 10 adapte de manière constante la consigne de glissement 26 pour obtenir une évolution similaire de la vitesse moyenne des roues motrices 8.  Depending on the evolution of the speed of the vehicle, for example if this speed increases gradually, the control unit 10 constantly adapts the sliding instruction 26 to obtain a similar evolution of the average speed of the drive wheels 8.
A la fin du franchissement à très faible vitesse, qui peut être évalué automatiquement par des mesures de la vitesse ou de l'accélération du véhicule, le procédé de roulage continu à très faible vitesse est alors désactivé automatiquement.  At the end of the crossing at very low speed, which can be evaluated automatically by measurements of the speed or acceleration of the vehicle, the continuous rolling process at very low speed is then automatically deactivated.
Le conducteur peut aussi signaler la fin de ce passage par la commande 14 si le véhicule en est équipé, ce qui permet de neutraliser le procédé de roulage à très basse vitesse et d'éviter qu'il délivre à l'embrayage 4 de manière inadaptée, une consigne de glissement 26 qui pourrait l'user.  The driver can also signal the end of this passage by the control 14 if the vehicle is equipped, which allows to neutralize the rolling process at a very low speed and to avoid it delivers to the clutch 4 inappropriately , a sliding instruction 26 which could wear it.
Une gestion spécifique de la transition entre la marche du véhicule avec le procédé de roulage à très faible vitesse, et la marche normale sans glissement de l'embrayage 4, est établie pour revenir de manière progressive et sans à-coups vers les conditions normales de roulage.  Specific management of the transition between the running of the vehicle with the method of rolling at a very low speed, and the normal running without slipping of the clutch 4, is established to return gradually and smoothly to normal conditions of operation. rolling.
On obtient ainsi de manière simple et économique, à partir des éléments existant dans le véhicule 1 et en ajoutant seulement des programmes supplémentaires, un moyen efficace pour garder une motricité lors d'un roulage continu à très faible vitesse, permettant des franchissements de distantes importantes. En ramenant à un niveau faible le patinage des roues motrices 8, on évite notamment à ces roues de creuser le sol ce qui détériorerait encore plus l'adhérence. This provides a simple and economical way, from the existing elements in the vehicle 1 and adding only additional programs, an effective way to keep traction during a continuous rolling at a very low speed, allowing significant distance crossings . By reducing to a low level the slip wheels 8, especially avoids these wheels to dig the soil which would further deteriorate the adhesion.
Ce procédé permet d'éviter l'emploi de systèmes plus onéreux comme un différentiel à glissement limité, ou une transmission mécanique d'entraînement de quatre roues motrices. On notera cependant que le procédé selon l'invention peut aussi être utilisé en combinaison avec ces systèmes, pour permettre des performances de franchissement du véhicule supérieures.  This method makes it possible to avoid the use of more expensive systems such as a limited slip differential, or a four-wheel drive mechanical transmission. Note, however, that the method according to the invention can also be used in combination with these systems, to allow higher vehicle crossing performance.

Claims

REVENDICATIONS
1 - Procédé de roulage continu à très basse vitesse sur un terrain comportant une faible adhérence, pour un véhicule automobile (1 ) comprenant un moyen piloté de couplage progressif (4) entre le moteur thermique (2) et la transmission (6), et une fonction de limitation du patinage des roues motrices (8) qui suivant des informations (20) de vitesse des roues motrices, contrôle le freinage (12) de chaque roue motrice pour limiter leur patinage, caractérisé en ce que pour un roulage à très basse vitesse, la fonction de limitation du patinage des roues motrices (8) contrôle de plus simultanément le moyen piloté de couplage progressif (4), pour maintenir un glissement continu de ce moyen de manière à réduire la vitesse moyenne des roues motrices, et obtenir un faible patinage de ces roues. 1 - Continuous rolling method at very low speed on a terrain with low adhesion, for a motor vehicle (1) comprising a controlled progressive coupling means (4) between the heat engine (2) and the transmission (6), and a wheel slip limiting function (8) which, following information (20) of the speed of the drive wheels, controls the braking (12) of each drive wheel to limit their slippage, characterized in that for a very low speed speed, the function of limiting the slippage of the drive wheels (8) furthermore controls the controlled means of progressive coupling (4), to maintain a continuous sliding of this means so as to reduce the average speed of the drive wheels, and to obtain a low slip of these wheels.
2 - Procédé de roulage continu à très basse vitesse selon la revendication 1 , caractérisé en ce que la fonction de limitation du patinage des roues motrices (8), envoie simultanément au moteur thermique (2) une consigne de régime moteur bas (24).  2 - continuous rolling process at very low speed according to claim 1, characterized in that the function of limiting the slippage of the drive wheels (8), simultaneously sends to the engine (2) a low engine speed setpoint (24).
3 - Procédé de roulage continu à très basse vitesse selon la revendication 2, caractérisé en ce que la consigne de régime moteur bas (24) génère une vitesse minimale du moteur thermique permettant d'éviter un calage, tout en délivrant aux roues motrices un couple de traction suffisant.  3 - continuous rolling process at very low speed according to claim 2, characterized in that the low engine speed setpoint (24) generates a minimum speed of the engine to avoid stalling, while delivering to the drive wheels a couple sufficient traction.
4 - Procédé de roulage continu à très basse vitesse selon la revendication 2 ou 3, caractérisé en ce qu'il émet une consigne de régime moteur bas (24), et surveille la vitesse moyenne des roues motrices (8) par rapport à la vitesse du véhicule (1 ), pour évaluer le patinage et en déduire une consigne de glissement (26) pour le contrôle du moyen piloté de couplage progressif (4), afin d'obtenir une valeur de patinage optimale.  4 - continuous rolling process at very low speed according to claim 2 or 3, characterized in that it emits a low engine speed setpoint (24), and monitors the average speed of the driving wheels (8) relative to the speed of the vehicle (1), to evaluate the slippage and derive a sliding instruction (26) for the control of the controlled progressive coupling means (4), in order to obtain an optimum slip value.
5 - Procédé de roulage continu à très basse vitesse selon l'une quelconque des revendications précédentes, caractérisé en ce qu'il comporte une gestion spécifique de la transition entre la marche du véhicule (1 ) à très basse vitesse, et la marche normale avec le moyen de couplage (4) fermé, qui est établie pour revenir de manière progressive vers les conditions de cette marche normale. 5 - continuous rolling process at very low speed according to any one of the preceding claims, characterized in that it comprises a specific management of the transition between the running of the vehicle (1) at a very low speed, and normal walking with the coupling means (4) closed, which is established to gradually return to the conditions of this normal march.
6 - Procédé de roulage continu à très basse vitesse selon l'une quelconque des revendications précédentes, caractérisé en ce qu'il reçoit des informations d'une commande (14) manœuvrée par le conducteur pour signaler un état d'adhérence de la voie, ces informations lui permettant d'adapter des paramètres internes de fonctionnement.  6 - continuous rolling process at very low speed according to any one of the preceding claims, characterized in that it receives information from a control (14) operated by the driver to signal a state of adhesion of the track, this information allows him to adapt internal operating parameters.
7 - Véhicule automobile (1 ) comportant un procédé de roulage continu à très basse vitesse sur un terrain comportant une faible adhérence, caractérisé en ce que ce procédé de roulage est réalisé suivant l'une quelconque des revendications précédentes.  7 - Motor vehicle (1) comprising a continuous rolling process at very low speed on a terrain having a low adhesion, characterized in that the rolling method is carried out according to any one of the preceding claims.
8 - Véhicule automobile (1 ) selon la revendication 7, caractérisé en ce que le moyen piloté de couplage progressif (4) entre le moteur thermique (2) et la transmission (6), comporte un embrayage comprenant des disques dont le serrage est piloté par un actionneur.  8 - Motor vehicle (1) according to claim 7, characterized in that the controlled means of progressive coupling (4) between the heat engine (2) and the transmission (6) comprises a clutch comprising discs whose tightening is controlled by an actuator.
EP10745355A 2009-07-01 2010-06-28 Method for very low-speed rolling on a ground comprising low grip Withdrawn EP2448783A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0954485A FR2947507B1 (en) 2009-07-01 2009-07-01 VERY LOW SPEED TRUCKING METHOD ON LAND WITH LOW ADHESION
PCT/FR2010/051340 WO2011001094A1 (en) 2009-07-01 2010-06-28 Method for very low-speed rolling on a ground comprising low grip

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EP2448783A1 true EP2448783A1 (en) 2012-05-09

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CN (1) CN102498021A (en)
BR (1) BRPI1010112A2 (en)
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WO (1) WO2011001094A1 (en)

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DE102014207081A1 (en) * 2014-04-14 2015-10-15 Zf Friedrichshafen Ag Method for rocking a motor vehicle

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IT1237745B (en) * 1989-12-28 1993-06-15 Fiat Auto Spa PROCEDURE AND TRACTION CONTROL SYSTEM FOR MOTOR VEHICLES WITH MECHANICAL SPEED CHANGE
DE4316421A1 (en) * 1993-05-17 1994-11-24 Fichtel & Sachs Ag Arrangement for actuating a friction clutch of a motor vehicle
FR2770466B1 (en) * 1997-11-06 2005-09-30 Luk Getriebe Systeme Gmbh MOTOR VEHICLE EQUIPPED WITH AN AUTOMATED MANEUVER DEVICE OF A CLUTCH
DE102004052304B4 (en) * 2004-03-03 2016-07-28 Continental Teves Ag & Co. Ohg Method for controlling the traction slip in the approach area
DE102006058194A1 (en) * 2006-10-07 2008-04-10 Luk Lamellen Und Kupplungsbau Beteiligungs Kg Operation control method for clutch in vehicle drive line, involves lowering target engine speed when detected driven wheel slip is over given threshold
SE530553C2 (en) * 2006-10-31 2008-07-08 Scania Cv Abp System and method for controlling a starting of a motor vehicle stationary on a road surface
FR2909065B1 (en) * 2006-11-27 2009-07-10 Peugeot Citroen Automobiles Sa STEERING DEVICE FOR IMPROVING THE POWER OF A VEHICLE.

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FR2947507A1 (en) 2011-01-07
FR2947507B1 (en) 2011-11-18
CN102498021A (en) 2012-06-13
WO2011001094A1 (en) 2011-01-06

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