EP3206935A1 - Device for controlling the steering of a motor vehicle with assisted steering - Google Patents

Device for controlling the steering of a motor vehicle with assisted steering

Info

Publication number
EP3206935A1
EP3206935A1 EP15771206.8A EP15771206A EP3206935A1 EP 3206935 A1 EP3206935 A1 EP 3206935A1 EP 15771206 A EP15771206 A EP 15771206A EP 3206935 A1 EP3206935 A1 EP 3206935A1
Authority
EP
European Patent Office
Prior art keywords
steering
vehicle
speed
steering wheel
controlling
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Withdrawn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
EP15771206.8A
Other languages
German (de)
French (fr)
Inventor
Dominique VALENTI
Christophe CASIER
Jean Christophe BAGOUIN
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 EP3206935A1 publication Critical patent/EP3206935A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters

Definitions

  • the invention is in the field of controlled steering of motor vehicles, such as the power assisted steering or the electric steering ("steer by wire”).
  • the electric power steering is a very common equipment in current motor vehicles. It consumes little energy, and in addition to its own role of assisting the driver in steering the steering wheel, it communicates and interacts with various vehicle systems, such as the brakes or the stability control system (ESC, Electronic Stability Control).
  • ESC Electronic Stability Control
  • the document FR2906519 describes a method of preventing overbraking providing for the application of a braking torque, for example of the viscous type, applied in addition to the assist torque of the electric motor of the electric assistance.
  • the invention provides a device for controlling the direction of a motor vehicle driven steering, the device comprising a means for obtaining an angular speed of a steering wheel of the vehicle, characterized in that the control device further comprises means for obtaining a value representative of a vehicle speed in relation to the ground, and further comprises means for controlling the power of the electric power steering assistance motor. vehicle to a defined value according to said angular velocity and said value representative of a vehicle speed relative to the ground.
  • the means for adjusting the power of the electric motor can adjust said power on the basis of values extracted from a power limitation table with two inputs, the two inputs being the speed of rotation of the steering wheel and the speed of the vehicle. compared to the ground. Given the two entries to obtain a value, we use a 3D map.
  • the control device may be configured to control said power progressively as a function of said angular velocity and of said value representative of a vehicle speed relative to the ground and respects predetermined adjustment values.
  • a magnitude of the power reduction of the electric motor can be defined according to a static stability index of the vehicle.
  • the invention also relates to the motor vehicle comprising a steering control device as evoked.
  • FIG. 1 is a diagram showing a system incorporating the invention.
  • FIG. 4 represents the dimensioning of the device as a function of a stability parameter of the vehicle
  • FIG. 1 shows the activation of the device according to the invention according to the speed of the vehicle relative to the ground.
  • FIG 1 there is shown the architecture of a system in which the invention is inscribed. This is implemented in an automobile, and the diagram represents the direction of it.
  • the pilot actuates a steering wheel 100.
  • the latter transmits the pilot's control to an electric power steering computer 1 10 and the latter actuates an electric power steering motor 120.
  • the engine 120 is an electric motor which acts to provide a assisting the steering effort (changing the orientation of the wheels), the driver turning the wheels by a steering wheel action via the steering column, with assistance of the engine, thus turning the vehicle to the left or to the right .
  • FIG 2 there is shown the implementation of the invention in this context.
  • the embodiment shown uses a means for obtaining the angular speed of the flywheel 130.
  • This means 130 may incorporate, for example, an angular position sensor of the steering wheel and a means of derivation of the value measured by the sensor.
  • the embodiment shown also uses a means for obtaining or estimating the speed of the vehicle relative to the ground, for example a means for obtaining the speed of wheels 140.
  • This means 140 is based on functions already available in the CAN bus ("Controller Area Network", for CAN network or field bus).
  • the means 130 and 140 transmit the corresponding information to a control computer of the dynamics of the steering wheel 150, which can be separated from the assistance steering computer 1 10 or be part of it.
  • the control computer of the dynamic steering wheel 150 based on the information transmitted by the means 130 and 140, decides whether or not to limit the control generated by the electric power steering computer 1 10 for the power steering motor 120
  • the activation of the control of the dynamics of the steering wheel is represented as a function of the angular speed of the steering wheel as obtained using the means 130.
  • the speed of rotation of the steering wheel was given in degrees per second, from 0 to 1260 degrees per second.
  • an activation percentage of the control function of the dynamics of the steering wheel that is to say the amplitude with which the control computer of the dynamics of the steering wheel 150 acts on the command issued by the electric assist steering computer 1 10 for the electric assist motor 120.
  • the activation rate of control of the dynamics of the steering wheel is zero when the steering wheel speed is 0 degrees per second, then gradually increases to the value of 50% which is reached for a value close to 360 degrees per second. But for low speed values of the steering wheel, the function can also remain under surveillance without intervention, the activation rate remaining at 0% and becoming positive only from a threshold in angular speed.
  • a second zone referenced 1010, between 360 degrees per second and 850 degrees per second, the activation rate of control of the dynamics of the steering wheel continues to increase continuously, then approaches and stabilizes at the value 100%.
  • This domain is qualified here as a "customer domain with strong dynamic flying", corresponding for example to a sporty driving or to a situation likely to create accidents.
  • 850 degrees per second the speed of rotation of the steering wheel is particularly abrupt and it is considered that we have here simply a domain usable only during tests of the vehicle, referenced 1020.
  • the control of the dynamic steering wheel is activated at 100%.
  • Figure 4 there is shown a dimensioning element of the control of the dynamics of the steering wheel according to the target vehicle, and in particular of its geometry.
  • the static stability index of the vehicle SSF (Static Stability Factor"). This index applies to minivans and sedans and is concerned with risk management for high reversion vehicles. It is calculated as the ratio between the width of the track (which is related to the width of the vehicle) and the height of the center of gravity of the vehicle. By convention, this last report is divided by two to get the SSF.
  • the SSF index varying from 1 to 2.
  • the width of the vehicle is equal to twice the height of its center of gravity.
  • the width of the vehicle is four times this height.
  • the ordinate shows the activation percentage of the control of the dynamics of the steering wheel according to the SSF of the vehicle. From a value of SSF 1 to an SSF value of 1, 2 (zone referenced 2000), it is agreed, provided that such a vehicle is implemented, to strongly activate the control of the dynamics of the steering wheel, and the activation value is conventionally set to 100%. The activation is then greatly reduced for the SSF values between 1, 2 and 1, 4 (zone referenced 2010 and beyond), the value gradually decreasing from 100% to 20%. We then choose to lower the value gradually, but more slowly from 20% to 0% when the value of SSF increases between 1, 4 and 2 (zone referenced 2020). In the diagram, the border between the 2010 and 2020 zones is chosen to correspond to an activation value of 50%.
  • the control of the dynamics of the steering wheel is totally disabled, leaving the power applied to the engine 120, expressed in speed equivalent steering wheel rotation, unchanged. Then, when the speed of the wheels increases, the control is activated gradually for speeds between the first horizontal speed determined by the manufacturer v- ⁇ and a second horizontal speed determined by the manufacturer. v 2 (zone referenced 3010).
  • the progressive activation is done in a linear manner, with a slope that is adjusted according to the manufacturer's knowledge of the uses made by the customers for the vehicle model considered.
  • the electric power supplied to the engine 120 is lower than that which would be provided solely on the basis of the speed of rotation of the steering wheel. It is equivalent to only a fraction of the rotational speed of the steering wheel, which decreases.
  • the control of the dynamics of the steering wheel is maintained activated with a constant amplitude, leaving the electrical power supplied to the motor 120 constant.
  • the control of the dynamics of the steering wheel can be deactivated again, in a progressive manner, for example linearly with a slope. determined according to the known uses of the customers for the considered model.
  • the activation rate of the control of the dynamics of the steering wheel can be again, by choice of the manufacturer, as an example, fully disabled (referenced area 3040).
  • the power supplied to the engine 120 is equal to that corresponding to the speed of rotation of the steering wheel. It can also be weaker, equal to or different from that obtained in zone 3000.
  • the curve represented in FIG. 3 can take different forms depending on the ground speed of the vehicle.
  • the curve shown in Figure 5 can take different forms depending on the speed of rotation of the steering wheel.
  • One embodiment uses a two-input table, the two inputs being the rotational speed of the steering wheel and the speed relative to the road.
  • the values given in the table are the electrical power values supplied to the motor.
  • the intervention of the function is automatic and is managed by the slopes and levels of adjustment of the function, which makes it transparent to the driver.
  • This system is remarkable in that it only requires an evolution of the power steering software and therefore does not require hardware changes, such as the implementation of a new sensor.
  • This system is also remarkable in that it is not intrusive in the driver's steering mode as could be by example an evolution of a stability control system (ESC).
  • ESC stability control system
  • the proposed solution presents an excellent compromise between the service provided and the security provided.
  • the solution presented is transparent to the driver and allows, for the manufacturer, a wide possibility of controlling the control function of the dynamics of the steering wheel through the parameters of the curves of Figures 3 and 5.
  • control computer of the dynamics of the steering wheel 150 can enable the function only on a range of rotational speed of the steering wheel, regardless of the speed relative to the ground, and a speed range by relative to the ground regardless of the speed of rotation of the steering wheel.
  • the invention is not limited to the embodiment shown but extends to all variants within the scope of the claims.
  • it can be implemented with a power steering ("steer by wire").

Abstract

The invention relates to a device for controlling the steering of a motor vehicle with assisted steering, the device comprising a means (130) for obtaining an angular speed of a steering wheel (100) of the vehicle, characterised in that the control device also comprises a means (140) for obtaining a value representing a speed of the vehicle relative to the ground, and also includes a means (150) for controlling the power of the electric motor (120) for assisting the steering of the vehicle to a value which is defined by the control device in accordance with said angular speed and said value representing a speed of the vehicle relative to the ground.

Description

« DISPOSITIF DE CONTROLE DE LA DIRECTION D'UN VEHICULE AUTOMOBILE A DIRECTION PILOTEE »  "DEVICE FOR CONTROLLING THE DIRECTION OF A MOTOR VEHICLE WITH A PILOTED DIRECTION"
[0001 ] L'invention s'inscrit dans le domaine de la direction pilotée des véhicules automobiles, comme par exemple la direction à assistance électrique ou la direction à commande électrique (« steer by wire »). The invention is in the field of controlled steering of motor vehicles, such as the power assisted steering or the electric steering ("steer by wire").
[0002] La direction à assistance électrique est un équipement très répandu dans les véhicules automobiles actuels. Il est peu consommateur en énergie, et outre son rôle propre d'assistance du conducteur à la manœuvre du volant, il communique et interagit avec divers systèmes du véhicule, comme par exemple les freins ou le système de contrôle de stabilité (ESC, Electronic Stability Control). The electric power steering is a very common equipment in current motor vehicles. It consumes little energy, and in addition to its own role of assisting the driver in steering the steering wheel, it communicates and interacts with various vehicle systems, such as the brakes or the stability control system (ESC, Electronic Stability Control).
[0003] Ces différents systèmes s'appuient sur de nombreux capteurs présents dans les véhicules, comme par exemple des capteurs de vitesse ou de distance. Ces capteurs permettent la mise en place de différentes fonctions proposées pouvant par exemple être le parking automatique ou le signalement de franchissement de ligne blanche. [0004] En matière de prévention des accidents en cours de trajet à vitesse modérée ou élevée, comme par exemple sur le réseau secondaire ou sur le réseau autoroutier, l'ESC agit sur les conséquences d'une dynamique de lacet trop importante, quand celle-ci est déjà en place dans la dynamique du véhicule. Une telle dynamique de lacet trop importante peut être liée à un stress du conducteur, qui l'amène à avoir une action inappropriée sur son volant. Une telle situation peut se rencontrer en cas de virage serré inattendu, de volonté d'éviter un obstacle sur la chaussée, de somnolence du conducteur notamment sur autoroute, ou toute situation amenant le conducteur à donner un coup de volant brusque, avec une vitesse de rotation supérieure à ce qui serait réellement nécessaire. [0005] On voit qu'une telle situation est de nature à provoquer un tête à queue, ou une mise sur deux roues du véhicule menant à un retournement. These different systems rely on many sensors in vehicles, such as speed sensors or distance. These sensors allow the implementation of various proposed functions may for example be the automatic parking or the white line crossing signal. In the prevention of accidents during travel at moderate or high speeds, such as on the secondary network or the motorway network, the ESC acts on the consequences of excessive yaw dynamics, when the This is already in place in the dynamics of the vehicle. Such excessive yaw dynamics can be linked to driver stress, which leads to inappropriate action on the steering wheel. Such a situation can be encountered in the event of an unexpected sharp turn, a desire to avoid an obstacle on the road, driver drowsiness, especially on the highway, or any situation causing the driver to make a sudden steering wheel blow, with a speed of rotation higher than what would actually be needed. We see that such a situation is likely to cause a head to tail, or placing on two wheels of the vehicle leading to a reversal.
[0006] Il est proposé ici d'intervenir plus tôt dans le processus qui conduit à un risque d'accident, en empêchant le conducteur de déclencher une situation à risque par une action excessive sur le volant, sans l'empêcher d'atteindre le niveau de prestation lui permettant de manœuvrer son véhicule dans la situation rencontrée. Notamment, on ne se propose pas de sous-dimensionner la direction à assistance électrique, car cela serait perçu par le conducteur comme un défaut du véhicule, l'empêchant de le conduire de la manière souhaitée lors de situation contrôlée sans risque d'accident. It is proposed here to intervene earlier in the process that leads to a risk of accident, preventing the driver to trigger a risky situation by excessive action on the steering wheel, without preventing it from reaching the level of service allowing him to maneuver his vehicle in the situation encountered. In particular, it is not proposed to undersize the direction of electric assistance, because it would be perceived by the driver as a defect of the vehicle, preventing it from driving in the desired manner during a controlled situation without the risk of an accident.
[0007] Le document FR2906519 décrit un procédé de prévention des surbraquages prévoyant l'application d'un couple de freinage, par exemple de type visqueux, appliqué en plus du couple d'assistance du moteur électrique de l'assistance électrique. The document FR2906519 describes a method of preventing overbraking providing for the application of a braking torque, for example of the viscous type, applied in addition to the assist torque of the electric motor of the electric assistance.
[0008] Dans ce contexte, l'invention vise un dispositif de contrôle de la direction d'un véhicule automobile à direction pilotée, le dispositif comprenant un moyen d'obtention d'une vitesse angulaire d'un volant de direction du véhicule, caractérisé en ce que le dispositif de contrôle comprend de plus un moyen d'obtention d'une valeur représentative d'une vitesse du véhicule par rapport au sol, et comprend de plus un moyen pour commander la puissance du moteur électrique d'assistance de direction du véhicule à une valeur définie en fonction de ladite vitesse angulaire et de ladite valeur représentative d'une vitesse du véhicule par rapport au sol. In this context, the invention provides a device for controlling the direction of a motor vehicle driven steering, the device comprising a means for obtaining an angular speed of a steering wheel of the vehicle, characterized in that the control device further comprises means for obtaining a value representative of a vehicle speed in relation to the ground, and further comprises means for controlling the power of the electric power steering assistance motor. vehicle to a defined value according to said angular velocity and said value representative of a vehicle speed relative to the ground.
[0009] Le moyen pour régler la puissance du moteur électrique peut régler ladite puissance sur la base de valeurs extraites d'une table de limitation de la puissance à deux entrées, les deux entrées étant la vitesse de rotation du volant et la vitesse du véhicule par rapport au sol. Compte tenu des deux entrées pour obtenir une valeur, on utilise une cartographie 3D. The means for adjusting the power of the electric motor can adjust said power on the basis of values extracted from a power limitation table with two inputs, the two inputs being the speed of rotation of the steering wheel and the speed of the vehicle. compared to the ground. Given the two entries to obtain a value, we use a 3D map.
[0010] Le dispositif de contrôle peut être configuré pour commander ladite puissance progressivement en fonction de ladite vitesse angulaire et de ladite valeur représentative d'une vitesse du véhicule par rapport au sol et respecte des valeurs de réglage prédéterminées. The control device may be configured to control said power progressively as a function of said angular velocity and of said value representative of a vehicle speed relative to the ground and respects predetermined adjustment values.
[001 1 ] Une ampleur de la diminution de puissance du moteur électrique peut être définie en fonction d'un indice de stabilité statique du véhicule. [0012] L'invention porte aussi sur le véhicule automobile comprenant un dispositif de contrôle de la direction tel qu'évoqué. [001 1] A magnitude of the power reduction of the electric motor can be defined according to a static stability index of the vehicle. The invention also relates to the motor vehicle comprising a steering control device as evoked.
[0013] L'invention sera mieux comprise, et d'autres buts, caractéristiques, détails et avantages de celle-ci apparaîtront plus clairement dans la description explicative qui va suivre faite en référence aux dessins annexés donnés uniquement à titre d'exemple illustrant un mode de réalisation de l'invention et dans lesquels : [0014] - La figure 1 est un schéma représentant un système n'incorporant pas l'invention. The invention will be better understood, and other objects, features, details and advantages thereof will appear more clearly in the explanatory description which follows with reference to the accompanying drawings given solely by way of example illustrating a embodiment of the invention and in which: [0014] - Figure 1 is a diagram showing a system not incorporating the invention.
[0015] - la figure 2 est un schéma représentant un système incorporant l'invention. [0015] - Figure 2 is a diagram showing a system incorporating the invention.
[0016] - la figure 3 représente l'activation du dispositif selon l'invention en fonction de la vitesse de rotation du volant - Figure 3 shows the activation of the device according to the invention according to the speed of rotation of the steering wheel
[0017] - la figure 4 représente le dimensionnement du dispositif en fonction d'un paramètre de stabilité du véhicule [0017] FIG. 4 represents the dimensioning of the device as a function of a stability parameter of the vehicle
[0018] - la figure 5 représente l'activation du dispositif selon l'invention en fonction de la vitesse du véhicule par rapport au sol. [0019] En figure 1 , on a représenté l'architecture d'un système dans lequel s'inscrit l'invention. Celle-ci est mise en œuvre dans une automobile, et le schéma représente la direction de celle-ci. Le pilote actionne un volant 100. Celui-ci transmet la commande du pilote à un calculateur de direction à assistance électrique 1 10 et ce dernier actionne un moteur de direction à assistance électrique 120. Le moteur 120 est un moteur électrique qui agit pour fournir une assistance à l'effort de direction (modification de l'orientation des roues), le conducteur tournant les roues par une action au volant via la colonne de direction, avec assistance du moteur, faisant ainsi virer le véhicule vers la gauche ou vers la droite. [0018] - Figure 5 shows the activation of the device according to the invention according to the speed of the vehicle relative to the ground. In Figure 1, there is shown the architecture of a system in which the invention is inscribed. This is implemented in an automobile, and the diagram represents the direction of it. The pilot actuates a steering wheel 100. The latter transmits the pilot's control to an electric power steering computer 1 10 and the latter actuates an electric power steering motor 120. The engine 120 is an electric motor which acts to provide a assisting the steering effort (changing the orientation of the wheels), the driver turning the wheels by a steering wheel action via the steering column, with assistance of the engine, thus turning the vehicle to the left or to the right .
[0020] En figure 2, on a représenté la mise en œuvre de l'invention dans ce contexte. Le mode de réalisation présenté utilise un moyen d'obtention de la vitesse angulaire du volant 130. Ce moyen 130 peut incorporer, par exemple, un capteur de position angulaire du volant et un moyen de dérivation de la valeur mesurée par le capteur. In Figure 2, there is shown the implementation of the invention in this context. The embodiment shown uses a means for obtaining the angular speed of the flywheel 130. This means 130 may incorporate, for example, an angular position sensor of the steering wheel and a means of derivation of the value measured by the sensor.
[0021 ] Le mode de réalisation présenté utilise également un moyen d'obtention ou d'estimation de la vitesse du véhicule par rapport au sol, par exemple un moyen d'obtention de la vitesse de roues 140. Ce moyen 140 s'appuie sur des fonctions déjà disponibles dans le bus CAN (« Controller Area Network », pour réseau ou bus de terrain CAN). The embodiment shown also uses a means for obtaining or estimating the speed of the vehicle relative to the ground, for example a means for obtaining the speed of wheels 140. This means 140 is based on functions already available in the CAN bus ("Controller Area Network", for CAN network or field bus).
[0022] Les moyens 130 et 140 transmettent les informations correspondantes à un calculateur de contrôle de la dynamique du volant 150, qui peut être séparé du calculateur de direction à assistance 1 10 ou en faire partie. Le calculateur de contrôle de la dynamique du volant 150, sur la base des informations transmises par les moyens 130 et 140, décide s'il convient ou non de limiter la commande générée par le calculateur de direction à assistance électrique 1 10 à destination du moteur de direction à assistance électrique 120. [0023] En figure 3, on a représenté l'activation du contrôle de la dynamique du volant (dans le calculateur 150) en fonction de la vitesse angulaire du volant telle qu'obtenue à l'aide du moyen 130. En abscisses, on a figuré la vitesse de rotation du volant en degrés par seconde, de 0 à 1260 degrés par seconde. En ordonnées, on a représenté un pourcentage d'activation de la fonction de contrôle de la dynamique du volant, c'est-à-dire l'amplitude avec laquelle le calculateur de contrôle de la dynamique du volant 150 agit sur la commande émise par le calculateur de direction à assistance électrique 1 10 à destination du moteur à assistance électrique 120. The means 130 and 140 transmit the corresponding information to a control computer of the dynamics of the steering wheel 150, which can be separated from the assistance steering computer 1 10 or be part of it. The control computer of the dynamic steering wheel 150, based on the information transmitted by the means 130 and 140, decides whether or not to limit the control generated by the electric power steering computer 1 10 for the power steering motor 120 In FIG. 3, the activation of the control of the dynamics of the steering wheel (in the computer 150) is represented as a function of the angular speed of the steering wheel as obtained using the means 130. In the abscissae, the speed of rotation of the steering wheel was given in degrees per second, from 0 to 1260 degrees per second. On the ordinate, there is shown an activation percentage of the control function of the dynamics of the steering wheel, that is to say the amplitude with which the control computer of the dynamics of the steering wheel 150 acts on the command issued by the electric assist steering computer 1 10 for the electric assist motor 120.
[0024] Trois zones sont représentées. De 0 à 360 degrés par seconde, on a représenté un domaine qualifié de « domaine de confort pour le client », référencé 1000. Le taux d'activation de contrôle de la dynamique du volant est nul quand la vitesse du volant est de 0 degré par seconde, puis augmente progressivement jusqu'à la valeur de 50% qui est atteinte pour une valeur proche de 360 degrés par seconde. Mais pour des faibles valeurs de vitesse de rotation du volant, la fonction peut aussi rester en surveillance sans intervenir, le taux d'activation restant à 0% et ne devenant positif qu'à partir d'un seuil en vitesse angulaire. Three areas are represented. From 0 to 360 degrees per second, there is shown a field of "customer comfort range", referenced 1000. The activation rate of control of the dynamics of the steering wheel is zero when the steering wheel speed is 0 degrees per second, then gradually increases to the value of 50% which is reached for a value close to 360 degrees per second. But for low speed values of the steering wheel, the function can also remain under surveillance without intervention, the activation rate remaining at 0% and becoming positive only from a threshold in angular speed.
[0025] Dans une deuxième zone, référencée 1010, entre 360 degrés par seconde et 850 degrés par seconde, le taux d'activation du contrôle de la dynamique du volant continue d'augmenter de manière continue, puis approche et se stabilise à la valeur de 100%. Ce domaine est qualifié ici de « domaine pour client en forte dynamique volant », correspondant par exemple à une conduite sportive ou à une situation susceptible de créer des accidents. Au-delà de 850 degrés par seconde, la vitesse de rotation du volant est particulièrement brusque et on considère qu'on a ici simplement un domaine utilisable uniquement lors de tests du véhicule, référencé 1020. Au cours de ces tests, le contrôle de la dynamique du volant est activé à 100%. [0026] En figure 4, on a représenté un élément de dimensionnement du contrôle de la dynamique du volant en fonction du véhicule visé, et en particulier de sa géométrie. [0027] Ainsi, en abscisses, on a représenté l'indice de stabilité statique du véhicule SSF (« Static Stability Factor »). Cet indice s'applique aux véhicules monospaces et aux berlines et s'intéresse à la gestion des risques pour les véhicules à forte propension au retournement. Il se calcule comme le rapport entre la largeur de la voie (qui est liée à la largeur du véhicule) et la hauteur du centre de gravité du véhicule. Par convention, ce dernier rapport est divisé par deux pour obtenir le SSF. In a second zone, referenced 1010, between 360 degrees per second and 850 degrees per second, the activation rate of control of the dynamics of the steering wheel continues to increase continuously, then approaches and stabilizes at the value 100%. This domain is qualified here as a "customer domain with strong dynamic flying", corresponding for example to a sporty driving or to a situation likely to create accidents. Above 850 degrees per second, the speed of rotation of the steering wheel is particularly abrupt and it is considered that we have here simply a domain usable only during tests of the vehicle, referenced 1020. During these tests, the control of the dynamic steering wheel is activated at 100%. In Figure 4, there is shown a dimensioning element of the control of the dynamics of the steering wheel according to the target vehicle, and in particular of its geometry. Thus, on the abscissa, there is shown the static stability index of the vehicle SSF ("Static Stability Factor"). This index applies to minivans and sedans and is concerned with risk management for high reversion vehicles. It is calculated as the ratio between the width of the track (which is related to the width of the vehicle) and the height of the center of gravity of the vehicle. By convention, this last report is divided by two to get the SSF.
[0028] On a représenté en abscisses l'indice SSF variant de 1 à 2. Ainsi, pour une valeur de 1 , la largeur du véhicule est égale à deux fois la hauteur de son centre de gravité. Pour une valeur SSF de 2, la largeur du véhicule est égale à quatre fois cette hauteur. Par conséquent, plus on s'éloigne de la gauche pour se déplacer vers la droite du schéma, le véhicule considéré perd de la sensibilité au retournement et gagne de la sensibilité à la dynamique de lacet. There is shown on the abscissa the SSF index varying from 1 to 2. Thus, for a value of 1, the width of the vehicle is equal to twice the height of its center of gravity. For an SSF value of 2, the width of the vehicle is four times this height. As a result, the further one moves away from the left to move to the right of the diagram, the vehicle considered loses sensitivity to rollover and gains sensitivity to yaw dynamics.
[0029] En ordonnées, on a représenté le pourcentage d'activation du contrôle de la dynamique du volant en fonction du SSF du véhicule. D'une valeur de SSF 1 à une valeur de SSF de 1 ,2 (zone référencée 2000), il est convenu, pour autant qu'un tel véhicule soit mis en œuvre, d'activer fortement le contrôle de la dynamique du volant, et on a par convention fixé la valeur d'activation à 100%. L'activation est fortement diminuée ensuite pour les valeurs de SSF entre 1 ,2 et 1 ,4 (zone référencée 2010 et au-delà), la valeur baissant progressivement de 100% à 20%. On choisit de faire baisser ensuite la valeur progressivement, mais plus lentement de 20% à 0% quand la valeur de SSF augmente entre 1 ,4 et 2 (zone référencée 2020). Sur le schéma, la frontière entre les zones 2010 et 2020 est choisie pour correspondre à une valeur d'activation de 50%. The ordinate shows the activation percentage of the control of the dynamics of the steering wheel according to the SSF of the vehicle. From a value of SSF 1 to an SSF value of 1, 2 (zone referenced 2000), it is agreed, provided that such a vehicle is implemented, to strongly activate the control of the dynamics of the steering wheel, and the activation value is conventionally set to 100%. The activation is then greatly reduced for the SSF values between 1, 2 and 1, 4 (zone referenced 2010 and beyond), the value gradually decreasing from 100% to 20%. We then choose to lower the value gradually, but more slowly from 20% to 0% when the value of SSF increases between 1, 4 and 2 (zone referenced 2020). In the diagram, the border between the 2010 and 2020 zones is chosen to correspond to an activation value of 50%.
[0030] En figure 5, on a représenté l'activation du contrôle de la dynamique du volant en fonction de la vitesse horizontale du véhicule, estimée par la vitesse des roues, pour une vitesse de rotation du volant donnée et constante. In Figure 5, there is shown the activation of the control of the dynamics of the steering wheel according to the horizontal speed of the vehicle, estimated by the speed of the wheels, for a given speed of rotation of the steering wheel and constant.
[0031 ] A des vitesses horizontales faibles, entre 0 et une première vitesse déterminée par le constructeur v-i (zone référencée 3000), le contrôle de la dynamique du volant est totalement désactivé, laissant la puissance appliquée au moteur 120, exprimée en équivalent de vitesse de rotation du volant, inchangée. [0032] Puis, quand la vitesse des roues augmente, le contrôle est activé de manière progressive pour des vitesses comprises entre la première vitesse horizontale déterminée par le constructeur v-ι et une deuxième vitesse horizontale déterminée par le constructeur v2 (zone référencée 3010). Dans le mode de réalisation qui est présenté, l'activation progressive se fait de manière linéaire, avec une pente qui est réglée en fonction des connaissances du constructeur des usages faits par les clients pour le modèle de véhicule considéré. La puissance électrique fournie au moteur 120 est plus faible que celle qui serait fournie sur la seule base de la vitesse de rotation du volant. Elle équivaut à seulement une fraction de la vitesse de rotation du volant, fraction qui diminue. At low horizontal speeds, between 0 and a first speed determined by the manufacturer vi (zone referenced 3000), the control of the dynamics of the steering wheel is totally disabled, leaving the power applied to the engine 120, expressed in speed equivalent steering wheel rotation, unchanged. Then, when the speed of the wheels increases, the control is activated gradually for speeds between the first horizontal speed determined by the manufacturer v-ι and a second horizontal speed determined by the manufacturer. v 2 (zone referenced 3010). In the embodiment that is presented, the progressive activation is done in a linear manner, with a slope that is adjusted according to the manufacturer's knowledge of the uses made by the customers for the vehicle model considered. The electric power supplied to the engine 120 is lower than that which would be provided solely on the basis of the speed of rotation of the steering wheel. It is equivalent to only a fraction of the rotational speed of the steering wheel, which decreases.
[0033] Entre la deuxième vitesse prédéterminée v2 et une troisième vitesse prédéterminée v3 (zone référencée 3020), le contrôle de la dynamique du volant est maintenu activé avec une amplitude constante, laissant la puissance électrique fournie au moteur 120 constante. Between the second predetermined speed v 2 and a third predetermined speed v 3 (zone referenced 3020), the control of the dynamics of the steering wheel is maintained activated with a constant amplitude, leaving the electrical power supplied to the motor 120 constant.
[0034] Enfin, entre la troisième vitesse prédéterminée v3 et une quatrième vitesse prédéterminée v4 (zone référencée 3030), le contrôle de la dynamique du volant peut être à nouveau désactivé, de manière progressive, par exemple de manière linéaire avec une pente déterminée en fonction des usages connus des clients pour le modèle considéré. [0035] Au-delà de la quatrième vitesse prédéterminée v4, le taux d'activation du contrôle de la dynamique du volant peut être à nouveau, par choix du constructeur, à titre d'exemple, pleinement désactivé (zone référencée 3040). La puissance fournie au moteur 120 est égale à celle correspondant à la vitesse de rotation du volant. Elle peut aussi être plus faible, égale ou différente de celle obtenue dans la zone 3000. [0036] La courbe représentée en figure 3 peut prendre différentes formes en fonction de la vitesse au sol du véhicule. De même, la courbe représentée en figure 5 peut prendre différentes formes en fonction de la vitesse de rotation du volant. Un mode de réalisation utilise une table à deux entrées, les deux entrées étant la vitesse de rotation du volant et la vitesse par rapport à la route. Les valeurs indiquées dans la table sont les valeurs de puissance électrique fournie au moteur. Finally, between the third predetermined speed v 3 and a fourth predetermined speed v 4 (zone referenced 3030), the control of the dynamics of the steering wheel can be deactivated again, in a progressive manner, for example linearly with a slope. determined according to the known uses of the customers for the considered model. Beyond the fourth predetermined speed v 4 , the activation rate of the control of the dynamics of the steering wheel can be again, by choice of the manufacturer, as an example, fully disabled (referenced area 3040). The power supplied to the engine 120 is equal to that corresponding to the speed of rotation of the steering wheel. It can also be weaker, equal to or different from that obtained in zone 3000. The curve represented in FIG. 3 can take different forms depending on the ground speed of the vehicle. Similarly, the curve shown in Figure 5 can take different forms depending on the speed of rotation of the steering wheel. One embodiment uses a two-input table, the two inputs being the rotational speed of the steering wheel and the speed relative to the road. The values given in the table are the electrical power values supplied to the motor.
[0037] L'intervention de la fonction est automatique et est gérée par les pentes et les niveaux de réglage de la fonction, ce qui la rend transparente pour le conducteur. The intervention of the function is automatic and is managed by the slopes and levels of adjustment of the function, which makes it transparent to the driver.
[0038] Ce système est remarquable en ce qu'il ne nécessite qu'une évolution du logiciel de la direction à assistance électrique et ne nécessite donc pas d'évolution matérielle, comme l'implantation d'un nouveau capteur. Ce système est également remarquable en ce qu'il n'est pas intrusif dans le mode de pilotage du conducteur comme pourrait l'être par exemple une évolution d'un système de contrôle de stabilité (ESC). Néanmoins, la solution proposée présente un excellent compromis entre la prestation fournie et la sécurité apportée. La solution présentée est transparente pour le conducteur et permet, pour le constructeur, une large possibilité de piloter la fonction de contrôle de la dynamique du volant à travers les paramètres des courbes des figures 3 et 5. This system is remarkable in that it only requires an evolution of the power steering software and therefore does not require hardware changes, such as the implementation of a new sensor. This system is also remarkable in that it is not intrusive in the driver's steering mode as could be by example an evolution of a stability control system (ESC). Nevertheless, the proposed solution presents an excellent compromise between the service provided and the security provided. The solution presented is transparent to the driver and allows, for the manufacturer, a wide possibility of controlling the control function of the dynamics of the steering wheel through the parameters of the curves of Figures 3 and 5.
[0039] On précise que le calculateur de contrôle de la dynamique du volant 150 peut permettre d'activer la fonction uniquement sur une plage de vitesse de rotation du volant, indépendamment de la vitesse par rapport au sol, et sur une plage de vitesse par rapport au sol indépendamment de la vitesse de rotation du volant. It is specified that the control computer of the dynamics of the steering wheel 150 can enable the function only on a range of rotational speed of the steering wheel, regardless of the speed relative to the ground, and a speed range by relative to the ground regardless of the speed of rotation of the steering wheel.
[0040] L'invention n'est pas limitée au mode de réalisation présenté mais s'étend à toutes les variantes dans le cadre de la portée des revendications. Notamment, elle peut être mise en œuvre avec une direction à commande électrique (« steer by wire »). The invention is not limited to the embodiment shown but extends to all variants within the scope of the claims. In particular, it can be implemented with a power steering ("steer by wire").

Claims

REVENDICATIONS
1. Dispositif de contrôle de la direction d'un véhicule automobile à direction pilotée, le dispositif comprenant un moyen d'obtention (130) d'une vitesse angulaire d'un volant de direction du véhicule (100), caractérisé en ce que le dispositif de contrôle comprend de plus un moyen d'obtention (140) d'une valeur représentative d'une vitesse du véhicule par rapport au sol, et comprend de plus un moyen (150) pour commander la puissance d'un moteur électrique (120) d'assistance de direction du véhicule à une valeur qui est définie par le dispositif de contrôle en fonction de ladite vitesse angulaire et de ladite valeur représentative d'une vitesse du véhicule par rapport au sol. 1. Device for controlling the steering of a motor vehicle with controlled steering, the device comprising means for obtaining (130) an angular speed of a steering wheel of the vehicle (100), characterized in that the control device further comprises means (140) for obtaining a value representative of a vehicle speed relative to the ground, and further comprising means (150) for controlling the power of an electric motor (120). ) of steering assistance of the vehicle to a value which is defined by the control device according to said angular velocity and said value representative of a vehicle speed relative to the ground.
2. Dispositif de contrôle selon la revendication 1 , le moyen (150) pour commander la puissance du moteur électrique (120) règle ladite puissance sur la base de valeurs extraites d'une table de limitation de la puissance à deux entrées, les deux entrées étant la vitesse de rotation du volant et la vitesse du véhicule par rapport au sol. 2. A control device according to claim 1, the means (150) for controlling the power of the electric motor (120) adjusts said power on the basis of values extracted from a two-input power limiting table, the two inputs being the speed of rotation of the steering wheel and the speed of the vehicle relative to the ground.
3. Dispositif de contrôle selon la revendication 1 ou la revendication 2, configuré pour commander ladite puissance progressivement en fonction de ladite vitesse angulaire et de ladite valeur représentative d'une vitesse du véhicule par rapport au sol. 3. Control device according to claim 1 or claim 2, configured to control said power gradually as a function of said angular velocity and said value representative of a vehicle speed relative to the ground.
4. Véhicule automobile comprenant un dispositif de contrôle de la direction selon l'une des revendications 1 à 3. 4. Motor vehicle comprising a steering control device according to one of claims 1 to 3.
EP15771206.8A 2014-10-14 2015-09-11 Device for controlling the steering of a motor vehicle with assisted steering Withdrawn EP3206935A1 (en)

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FR1459827A FR3027010B1 (en) 2014-10-14 2014-10-14 DEVICE FOR CONTROLLING THE DIRECTION OF A MOTOR VEHICLE WITH A PILOTED DIRECTION
PCT/FR2015/052430 WO2016059310A1 (en) 2014-10-14 2015-09-11 Device for controlling the steering of a motor vehicle with assisted steering

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CN106794859A (en) 2017-05-31

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