EP3720755A1 - Procede de controle de positions lors d'un deploiement du volant d'un vehicule a conduite autonome - Google Patents
Procede de controle de positions lors d'un deploiement du volant d'un vehicule a conduite autonomeInfo
- Publication number
- EP3720755A1 EP3720755A1 EP18826409.7A EP18826409A EP3720755A1 EP 3720755 A1 EP3720755 A1 EP 3720755A1 EP 18826409 A EP18826409 A EP 18826409A EP 3720755 A1 EP3720755 A1 EP 3720755A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- distance
- driver
- steering wheel
- vehicle
- control method
- 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- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/16—Steering columns
- B62D1/18—Steering columns yieldable or adjustable, e.g. tiltable
- B62D1/181—Steering columns yieldable or adjustable, e.g. tiltable with power actuated adjustment, e.g. with position memory
Definitions
- the present invention relates to a position control method for the automatic redeployment of a retractable flywheel on a motor vehicle having an autonomous driving system, and a motor vehicle implementing such a control method.
- Motor vehicles have a steering column receiving a rear steering wheel maneuvered by the driver, connected to the front to a steering box controlling the pivoting of the front wheels of the vehicle.
- the control system of the column operator must then provide during a resumption of driving the vehicle by the driver, a redeployment of this column without risk to quickly return the steering wheel to its original position.
- the driver's seats may include a motorized longitudinal position adjustment, comprising position sensors.
- a known system for a vehicle with autonomous driving, control of the position of the seat and the movable cabin elements necessary for the manual driving of the vehicle presented in particular by the document WO-A1-2016165924, includes a surveillance by a camera internal positions of these elements arranged for autonomous driving, to verify that a manual driving by the driver remains functional in this mode. The driver can take back the hand at any time for driving, even if his driving position is not optimized.
- the present invention is intended to avoid these disadvantages of the prior art.
- the method according to the invention may further comprise one or more of the following features, which may be combined with one another.
- the method measures the distance after a failure detection of the retractable flywheel drive system.
- the method measures with the camera a nominal distance between the steering wheel, and the driver or his seat, and he keeps this distance in memory.
- the method can calculate the minimum safety distance by removing a maximum safety value at the nominal distance.
- the method may also require a motorizations stop of this seat in case of arrival of the distance measured over the minimum safety distance.
- the method can establish a maximum safety distance corresponding to a maximum acceptable distance of the steering wheel with the driver or his seat for a manual driving of the vehicle.
- the method in case of arrival of the distance measured over the maximum safety distance, the method requires a shutdown of the motorization of the retractable flywheel.
- the invention also relates to a motor vehicle equipped with an autonomous driving system and an indoor camera, remarkable in that it comprises means implementing a control method comprising any one of the preceding features.
- the camera facing the driver is fixed on the dashboard in front of the steering wheel.
- the vehicle includes a driver attention monitoring function performing a pattern recognition of the driver's face from images delivered by the camera.
- FIG. 1 is a side view of the driving position in the nominal position for manual driving, a motor vehicle having an autonomous driving system, and implementing an automatic position control method according to the invention
- FIG. 2 is a view of this driving position in an autonomous driving position comprising the retracted steering wheel.
- Figure 1 shows a driver 2 sitting on the seat of the driving position 4 of a vehicle with an autonomous driving system.
- the seat 4 comprises motorized position adjustments using motors and position sensors, including in particular a longitudinal adjustment of the position of the seat 16 and a tilting adjustment of the backrest 18. These two settings cause a modification of the seat. longitudinal position of the torso and the driver's head 2 in the vehicle.
- a support 6 receives a steering column equipped at its rear end with a steering wheel 8, comprising a motor is sensors controlled by a computer, allowing automatic retraction of the column with its steering wheel forward along its axis. pivoting.
- the autonomous driving system allows certain autonomous driving operations of the vehicle, including in particular an action on the steering of this vehicle.
- the steering column operator retracts the steering wheel 8 forward, following a distance R shown in FIG.
- the position of the seat 4 can also be changed automatically in the autonomous driving mode.
- the retraction of the steering wheel 8, and possibly the movements of the seat 4, give a greater space in front of the driver ensuring a better comfort, and him to perform certain operations such as reading a tablet in front of him.
- the computer requests an automatic reconfiguration of the driving position in the nominal position of manual driving, including a redeployment of the steering column by moving back the steering wheel 8, and if necessary a reconfiguration of the seat 4.
- the driving position comprises a dashboard 1 2 supporting a digital camera 10 disposed a little in front of the steering wheel 8, having a field of view 14 facing rearward, covering the upper part of the steering wheel 8, and the upper part of the conductor 2 comprising the head and the torso.
- the camera 10 can be used for various functions, including in particular a monitoring of the conductor 2 allowing by a shape recognition system of his face, to detect a risk or a beginning of drowsiness or falling asleep to emit a signal for the prevent or wake him up.
- the camera 10 can detect in particular certain signs of fatigue such as the eyes that close.
- level 3 of advanced driver assistance systems called “ADAS” for “Advanced Driver Assistance Systems” in the English language, prohibits sleepiness of the driver to allow a quick recovery of the driving of the vehicle.
- the monitoring function of the driver 2 by the camera 10 can prevent this falling asleep.
- the position control method for the automatic redeployment of the flywheel 8 performs, when driving in nominal position for manual driving, measurements of the nominal distance A between the driver 2 and the steering wheel 8.
- the measurement can be taken on the face of driver 2, or on his chest.
- the method can measure the nominal distance B between the seat and the steering wheel 8.
- the measured nominal distance A, B is stored in a memory of the computer.
- the nominal distance A, B can be periodically checked, in particular after each restart of the vehicle to detect a change of conductor 2 having caused a change in this distance.
- the method then defines a minimum safety distance A-X, B-X stored in memory, including the previously measured nominal distance A, B, from which a predefined maximum security value X is removed.
- the safety distance AX, BX corresponds to the minimum acceptable distance to be left between the steering wheel 8 and the driver 2 or its seat 4, allowing it to avoid injuries, and to ensure the driving of the vehicle with sufficient security even if his comfort is not optimal.
- the camera 10 only monitors the attention of the driver 2.
- the autonomous driving system requires a redeployment of the steering wheel 8 to restore a manual operation, which is normally performed if the various engines with their sensors performing the reconfiguration of the driving position are operational.
- the method then performs a redeployment of the steering wheel 8, and if necessary a reconfiguration of the seat 4, with a measurement by the camera 10 distance A 'between the driver 2 and the steering wheel 8, or the variant of the distance B' between the seat and the steering wheel.
- the process stops the operators concerned so as not to fall below this safety distance. In this way, it is ensured by dispensing information from position sensors which would be faulty, positioning the conductor 2 avoiding injuries, and allowing manual driving of the vehicle under sufficient conditions.
- the method may, during a redeployment of the steering wheel 8, systematically follow the measured distance A ', B' in order to constantly compare it with the minimum safety distance AX, BX, in order to stop the engines concerned when this value is reached.
- the method makes it possible to detect a new failure of the actuators with their sensors, which without its intervention has generated unacceptable positions for the driver.
- the method comprising the measurement of the current distance A ', B' can also during a request for redeployment of the steering wheel 8, detect another type of failure that would move the steering wheel away from the driver by preventing it from driving.
- the method can also stop the operators from a maximum distance of safety distance between the steering wheel 8 and the driver 2 or seat 4.
- the method according to the invention is carried out using, in particular, an already existing camera necessary for monitoring the driver in certain autonomous driving modes, with only software complements increasing the production costs of the vehicle, a redundancy ensuring the safety during a re-configuration of the driving position.
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1761688A FR3074466B1 (fr) | 2017-12-06 | 2017-12-06 | Procede de controle de positions lors d’un deploiement du volant d’un vehicule a conduite autonome |
PCT/FR2018/052787 WO2019110878A1 (fr) | 2017-12-06 | 2018-11-09 | Procede de controle de positions lors d'un deploiement du volant d'un vehicule a conduite autonome |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3720755A1 true EP3720755A1 (fr) | 2020-10-14 |
Family
ID=61003244
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18826409.7A Withdrawn EP3720755A1 (fr) | 2017-12-06 | 2018-11-09 | Procede de controle de positions lors d'un deploiement du volant d'un vehicule a conduite autonome |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3720755A1 (fr) |
FR (1) | FR3074466B1 (fr) |
WO (1) | WO2019110878A1 (fr) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3099120B1 (fr) * | 2019-07-24 | 2021-06-25 | Psa Automobiles Sa | Contrôle des positions de conduite manuelle et de conduite automatisée d’un siège de conducteur d’un véhicule |
WO2023031889A2 (fr) * | 2021-09-06 | 2023-03-09 | Zf Automotive Technologies (shanghai) Co., Ltd. | Système intérieur de véhicule, procédé de commande pour système intérieur de véhicule et dispositif associé |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60157963A (ja) * | 1984-01-30 | 1985-08-19 | Nippon Denso Co Ltd | ステアリングホイ−ル位置自動調整装置 |
DE102006032769A1 (de) * | 2006-07-14 | 2008-01-17 | GM Global Technology Operations, Inc., Detroit | Einrichtung zur Optimierung von geometrischen Parametern von Fahrzeugeinbauten |
MX345580B (es) * | 2013-07-23 | 2017-02-07 | Nissan Motor | Dispositivo de soporte de conducción de vehículo y método de soporte de conducción de vehículo. |
DE102015206501A1 (de) * | 2015-04-13 | 2016-10-13 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zum Betreiben eines Fahrzeugs und Fahrzeug |
US9944307B2 (en) * | 2015-06-26 | 2018-04-17 | Steering Solutions Ip Holding Corporation | Steering assembly and method of monitoring a space within vehicle |
CH711641B1 (de) * | 2015-10-09 | 2019-06-14 | Rinspeed Ag | Fahrzeug mit mindestens einer Anzeigevorrichtung mit mindestens einer in verschiedenen Positionen anbringbaren Anzeigefläche. |
CN107416008A (zh) * | 2016-04-13 | 2017-12-01 | 法拉第未来公司 | 使车辆方向盘自动缩回和伸出的系统和方法 |
-
2017
- 2017-12-06 FR FR1761688A patent/FR3074466B1/fr not_active Expired - Fee Related
-
2018
- 2018-11-09 WO PCT/FR2018/052787 patent/WO2019110878A1/fr unknown
- 2018-11-09 EP EP18826409.7A patent/EP3720755A1/fr not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
WO2019110878A1 (fr) | 2019-06-13 |
FR3074466A1 (fr) | 2019-06-07 |
FR3074466B1 (fr) | 2019-11-01 |
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