EP3802255A1 - Verfahren und vorrichtung zur implementierung eines geschlossenen kreises einer verbesserten fahrhilfevorrichtung - Google Patents

Verfahren und vorrichtung zur implementierung eines geschlossenen kreises einer verbesserten fahrhilfevorrichtung

Info

Publication number
EP3802255A1
EP3802255A1 EP19728005.0A EP19728005A EP3802255A1 EP 3802255 A1 EP3802255 A1 EP 3802255A1 EP 19728005 A EP19728005 A EP 19728005A EP 3802255 A1 EP3802255 A1 EP 3802255A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
nominal
dispersion
drift
model
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.)
Pending
Application number
EP19728005.0A
Other languages
English (en)
French (fr)
Inventor
Pedro KVIESKA
Simon MUSTAKI
François Fauvel
Philippe CHEVREL
Mohamed YAGOUBI
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.)
Ampere SAS
Original Assignee
Renault SAS
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 Renault SAS filed Critical Renault SAS
Publication of EP3802255A1 publication Critical patent/EP3802255A1/de
Pending legal-status Critical Current

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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
    • 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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • B60W30/18145—Cornering
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/072—Curvature of the road
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • 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
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • B60W2040/1323—Moment of inertia of the vehicle body
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
    • B60W2050/0005—Processor details or data handling, e.g. memory registers or chip architecture
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0013—Optimal controllers
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • B60W2050/0033—Single-track, 2D vehicle model, i.e. two-wheel bicycle model
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0095—Automatic control mode change
    • 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
    • B60W2520/12—Lateral 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • 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
    • B60W2520/20—Sideslip angle
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/10—Weight
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/20—Tyre data
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • B60W2554/4026—Cycles
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/18—Propelling the vehicle
    • B60Y2300/18008—Propelling the vehicle related to particular drive situations
    • B60Y2300/1815—Cornering

Definitions

  • the present invention relates to the field of developing an advanced driving aid for the lateral control of a motor vehicle, and more particularly for the centering of a motor vehicle in a traffic lane.
  • advanced driving assistance devices also known by the Anglo-Saxon name “Advanced Driving Assistance System” or under the corresponding acronym “ADAS”.
  • advanced driver assistance devices are incorporated into autonomous vehicles for driving such vehicles.
  • An advanced driving assistance device for the lateral control of a vehicle has the function of piloting a steering wheel to act on the lateral position of the vehicle on the roadway.
  • An example of an advanced driver assistance device for lateral control is an advanced driver assistance device for centering a vehicle in a traffic lane.
  • Such a device is also known by the Anglo-Saxon name “Lane Centering Assist” or "LCA”.
  • Such a device controls the steering wheel to keep the vehicle at the center of a traffic lane.
  • An advanced driver assistance device for lateral control generally has a closed loop and an open loop term.
  • the closed loop has a slow dynamic aimed at ensuring a good level of service.
  • the open loop aims to ensure good performance when cornering.
  • the open loop is based on a model that does not change during the life of the vehicle.
  • the invention aims to increase the robustness of a closed loop providing an advanced driving aid for the lateral control of a motor vehicle.
  • a method for developing a closed loop of an advanced driving assistance device for the lateral control of a motor vehicle in which a closed loop controller is synthesized. by resolution of an optimization problem based on a bicyc lette model of the vehicle.
  • a family of at least two bicycle models of the vehicle is established, presenting one with respect to the other at least one chosen dispersion among a mass dispersion of the vehicle, a drift rigidity dispersion on a vehicle train, position dispersion of the vehicle center of gravity and dispersion of a moment of inertia of the vehicle, the optimization problem being solved on the basis of all the models of the family.
  • the models have, relative to each other at least one dispersion chosen from among a mass dispersion of the vehicle, a dispersion of drift stiffness on a front axle of the vehicle and a drift stiffness dispersion on a rear axle of the vehicle.
  • the family includes a nominal bicycle model corresponding to a configuration of the vehicle carrying exactly two passengers present at the front of the vehicle, the nominal bicyc lette model having a nominal vehicle mass, a drift stiffness over the nominal front axle and a rigidity of drift on the nominal rear axle, the family further comprising at least one alternative bicycle model.
  • a first alternative bicycle model has a mass of the vehicle equal to the nominal vehicle mass, a rigidity of drift on the front axle greater than the rigidity of drift on the nominal front axle and a rigidity of drift on the rear axle greater than the rigidity drift on the nominal rear axle.
  • This model corresponds to a configuration of the vehicle with a first change of tires.
  • a second alternative bicycle model has a mass of the vehicle equal to the nominal mass of the vehicle, a rigidity of drift on the front axle less than the rigidity of drift on the nominal front axle and a rigidity of drift on the rear axle less than the rigidity drift on the nominal rear axle.
  • This model corresponds to a configuration of the vehicle with a second change of tires.
  • a third alternative bicycle model has a mass of the vehicle greater than the nominal vehicle mass, a rigidity of drift on the front axle less than the rigidity of drift on the nominal front axle and a rigidity of drift on the rear axle greater than the drift stiffness on the nominal rear axle.
  • This model corresponds to a configuration of the vehicle with an addition of mass and a third change of tires.
  • a fourth alternative bicycle model has a mass of the vehicle greater than the nominal vehicle mass, a rigidity of drift on the front axle equal to the rigidity of drift on the nominal front axle and a rigidity of drift on the rear axle greater than the
  • SUBSTITUTE SHEET (RULE 26) drift stiffness on the nominal rear axle. This model corresponds to a configuration of the vehicle with an addition of mass and a fourth change of tires.
  • the aforementioned nominal and alternative bicycle models represent very different configurations of the vehicle while retaining the understeer nature of the vehicle.
  • vehicle chassis are generally constructed so as not to be oversteer. By selecting only bicycle models retaining the understeer character, preference is given to realistic models of the overall behavior of the vehicle.
  • the family includes the nominal bicycle model and the four aforementioned alternative bicycle models.
  • Such an implementation mode is particularly advantageous insofar as five different very relevant configurations are taken into account, so as to increase the robustness of the advanced driving assistance device as significantly as possible by limiting the number of models considered. and add realism when synthesizing to lower the pessimism.
  • we model a road curvature by a third order model with zero initial derivative we generate an environment model by subjecting the third order model to an irreducible signal and we solve the optimization problem on the basis of the generated environment model.
  • the strong continuity of the road curvature makes such a third-order model particularly suitable for generating a disturbance scenario being a road curvature.
  • the resolution of the optimization problem includes the minimization of the JC 2 standard of a transfer function between the irreducible signal and a jerk on the steering wheel angle, while respecting at least one constraint chosen from:
  • SUBSTITUTE SHEET ENT (RULE 26) - a second constraint to reduce the inverse of the norm of a sensitivity function of the advanced driving assistance device.
  • a region of the complex plane is defined between a maximum real part, two half-lines from the origin and forming a geometric angle with the axis of the reals and a level line of the module, the resolution of the optimization problem being implemented so that the poles of the controller are located in said region for each model belonging to the family.
  • the maximum real part makes it possible to reduce the slowest dynamics of the advanced driving assistance device.
  • the half-straight lines forming a geometric angle make it possible to reduce the damping of the advanced driving assistance device.
  • the module's level line increases the highest dynamic range of the advanced driving assistance device. By seeking to have all the poles in the region for the different models, the behavior of the driving device is made more homogeneous and more in line with the requirements in the different configurations.
  • a maximum value of a gain of the transfer function of the closed loop is collected, the resolution of the optimization problem being implemented so that the maximum value increases the gain of the transfer function of the closed loop.
  • the method is intended for the development of an advanced driving assistance device for centering a motor vehicle in a traffic lane.
  • a computer program comprising a code configured to, when executed by a processor or an electronic control unit, implement the method as defined above.
  • a system for developing a closed loop of an advanced driving assistance device for the lateral control of a motor vehicle comprising a unit for preparing a problem. optimization and a controller synthesis unit by solving the prepared optimization problem.
  • the preparation unit comprises a selection module configured to select a family of at least two bicycle models of the vehicle having one relative to the other at least one dispersion chosen from a mass dispersion of the vehicle, a dispersion of drift rigidity on a train of the vehicle, a dispersion of the position of the center of gravity of the vehicle and a dispersion of a moment of inertia of the vehicle, the synthesis unit being configured for solve the optimization problem based on all the family models.
  • FIG. 1 is a block diagram of an advanced driving assistance device for the lateral control of a motor vehicle
  • FIG. 2 schematically illustrates a focusing system according to one aspect of the invention
  • FIG. 3 is a block diagram illustrating the operation of the advanced driving assistance device during a development implemented by means of the system of Figure 2,
  • FIG. 4 schematically illustrates a development method according to another aspect of the invention.
  • FIG. 5 is a graphic representation of a region of the complex plane for defining an optimization constraint in the method of FIG. 4.
  • FIG. 1 there is schematically represented by a block diagram 2 the topology of an advanced driving assistance device for the lateral control of a motor vehicle.
  • the advanced driving aid is intended to be supplied to an autonomous vehicle.
  • a device for lateral control with a view to centering the vehicle in a traffic lane.
  • this device could just as easily provide an advanced driving aid for a different lateral control.
  • the block diagram 2 consists of a closed loop 4 and an open loop 6.
  • the function of the closed loop 4 is to keep the vehicle at the center of a virtual lane considered to be always straight.
  • the open loop 6 takes into account the curvature of the road and compensates for the effect of the turn on the states and the control.
  • the term open loop 6 is added to closed loop 4 by means of a summator 8.
  • the closed loop 4 comprises a comparator 14.
  • a reference signal S ref is supplied to the comparator 14.
  • a controller 16 collects the signal delivered by the comparator 14 and generates a corrected signal supplied to the summator 8.
  • the controller 16 can be configured so developing the closed loop 4 in order to improve the properties of the advanced driving aid supplied to the vehicle.
  • the closed loop 4 comprises an assembly 10 corresponding to the various mechanical elements constituting the advanced driving assistance device.
  • the assembly 10 comprises in particular a mechanical actuator of the advanced driving assistance device, such as a power steering of the vehicle, the automobile vehicle.
  • SUBSTITUTE SHEET (RULE 26) itself and the sensors fitted to the vehicle.
  • the assembly 10 delivers a measurement signal S me s of vehicle parameters.
  • the open loop 6 includes a predictive control block 12. Such a block is also known by the Anglo-Saxon name “feed forward”. Block 12 collects the signal S m es and delivers an output signal supplied to the summator 8.
  • the closed loop 4 includes a state observer 1 8.
  • the state observer collects the signal S mes and the signal delivered by the controller 1 6.
  • the state representation implemented by the state observer 1 8 is based on a bicycle model of the vehicle.
  • the corresponding state vector has the following seven states:
  • y is the speed of the relative heading angle
  • y G is the relative heading angle
  • ⁇ L is the lateral speed of the vehicle
  • y L is the lateral deviation of the vehicle
  • S is the speed of the angle front wheel angle
  • d is the front wheel angle
  • fy L is the integral of the lateral deviation.
  • the state representation implemented by the state observer 1 8 is as follows:
  • the lateral control implemented by the closed loop 4 aims to minimize the state vector x around zero, which corresponds to a straight line.
  • the states y and d must be corrected.
  • the steering wheel angle and the wheel angle are directly linked by the vehicle's power steering, which corresponds to a gear ratio and second order dynamics. It is thus considered that the angle d corresponds to the angle on the steering wheel.
  • a system 20 has been schematically represented.
  • the system 20 is intended for the development of the advanced driving aid device illustrated in FIG. 1. More particularly, the system 20 is intended to configure the controller 1 6 for the development of the closed loop 4 in order to meet the requirements of the advanced driving aid provided to the vehicle.
  • the system 20 includes a preparation unit 22 and a synthesis unit 24.
  • the function of the unit 22 is to prepare an optimization problem, the solution of which is a setting of the corrector 16 providing optimal characteristics of the closed loop 4.
  • the unit 22 comprises a selection module 26, a generation module 28 and a establishment module 30.
  • the function of the unit 24 is to solve the optimization problem provided by the unit 22 in order to find this solution.
  • module 26 The function of module 26 is to select a family of bicycle models of the vehicle.
  • the module 26 transmits the selected family to the unit 24 which solves the optimization problem on the basis of all the models of the transmitted family.
  • module 28 is to generate an environment model representative of a disturbance to which the advanced driving assistance device is subjected.
  • the disturbance is a curvature of the road.
  • the module 28 includes a means
  • SUBSTITUTE SHEET (RULE 26) 32 to model an adapted transfer function.
  • the means 32 establishes a third order model with zero initial derivative.
  • the module 28 is capable of supplying the model established by the means 32 with an irreducible signal such as a white noise or a train of Dirac pulses.
  • the signal delivered by the third order model thus supplied is an environment model transmitted to unit 24 for the resolution of the optimization problem.
  • the module 30 is provided with a configuration module 34.
  • the function of the module 34 is to generate an optimization criterion and an optimization constraint to define an optimization problem under basic constraint.
  • the module 30 includes a cho ix module 36 having the function of generating an additional optimization constraint.
  • the module 36 includes a first means 37 for defining a region in a complex plane.
  • the module 36 is provided with a second means 38 for entering a maximum gain value.
  • the module 36 is able to translate as an optimization constraint the placement of the poles of the corrector 16 in the region defined by the means 37.
  • the module 36 is also able to translate as an optimization constraint the increase in the gain of the transfer function of the closed loop 4 by the value entered in the means 38.
  • the optimization criteria and constraints generated by the modules 34 and 36 are respectively supplied to the unit 24 for the resolution of the optimization problem.
  • the third order model modeled by the means 32 is represented by block 39.
  • the transfer function W p is a third order model with zero initial derivative.
  • Block 39 is supplied with an irreducible signal w r .
  • Block 39 outputs a signal corresponding to the disturbance p supplied to the augmented vehicle model shown diagrammatically by block 40.
  • the block 40 outputs a measurement signal y of the vehicle parameters and a measurement signal env environmental parameters there.
  • a block 42 corresponding to the predictive controller 12 collects the signal y env and generates a reference measurement signal y re f and an input signal
  • SUBSTITUTE SHEET (RULE 26) reference control u re f.
  • the signal y re is subtracted from the signal y by a comparator 44.
  • the signal sent by the comparator 44 is supplied to two blocks 46 and 48 corresponding to the state observer 1 8.
  • a summator 50 adds the term of closed loop Uf b with the term open loop u re f.
  • FIG. 4 a development process can be schematically represented which can be implemented with the system 20 represented in FIG. 2.
  • the process comprises a first phase of preparation P01 and a second phase of synthesis P02.
  • Phase P01 includes a step E01 of selecting a family of bicycle models of the vehicle.
  • module 26 selects at least two bicycle models of the vehicle to form a family.
  • a model is a set of parameters associated with a vehicle configuration. Whatever there is a plurality of models, a dispersion concerning a parameter corresponds to the existence of a difference on this parameter between at least two models of this plurality of models.
  • the family models at least have a dispersion chosen from a dispersion of the mass m, a dispersion of the stiffness C, a dispersion of the stiffness C r , a dispersion of the position L, a dispersion of the position L r and a dispersion of the matrix I z .
  • SUBSTITUTE SHEET (RULE 26) especially in the case of a family, utility or truck type vehicle.
  • the distance Lf is directly linked to the mass m. It is therefore possible to suppress a degree of freedom to vary the position Lf or L r independently of the variation of the mass m. This reduces the number of models considered without significantly limiting the number of different configurations considered.
  • the mass m can vary between the mass m n 0 mi nai of a vehicle loaded with two adult passengers and the total authorized weight in load mpT AC ⁇
  • the mass rn n om inai corresponds to empty weight to which 160 kg are added.
  • the mass mpTAC which varies depending on the vehicle model.
  • the problem is simplified by considering that the mass m varies between rn n om inai and 1.25 x
  • the rigidities Cf and C r are linked to the variation in the stiffness of the tires fitted to the front and rear axles.
  • the stiffness of a tire is linked to a large number of parameters including the vehicle load, the temperature, the inflation, the size, the geometry, the drift angle and the aging of the tires.
  • SUBSTITUTE SHEET (RULE 26) account of the stiffness of the vehicle tires, it will be considered that the rigidity of a train of the vehicle can vary between -30% and + 30% of a nominal value of stiffness of the train C f, nominal name OR Cr, nom ina l ⁇
  • the selected models have a chosen dispersion from a dispersion of the mass m, a dispersion of the rigidity Cf and a dispersion of the rigidity C r . It is still possible to reduce the number of models by selecting the models that maintain the understeer character of the vehicle.
  • the over-tacking character of the vehicle is evaluated by the positive sign of the turning gradient defined by
  • Phase P01 includes a step E02 of generating an environment model.
  • the means 32 generates the third order model W p with zero initial derivative:
  • the module 28 supplies the model W p with an irreducible signal w r . In doing so, a signal representative of a disturbance is generated, in this case the curvature of the road p.
  • the signal p will be used by optimization to predict and anticipate the evolution of the ⁇ vehicle - road ⁇ system, which will improve overall behavior by bringing realism and therefore reducing conservatism.
  • the standard L 2 of the output signal p is directly linked to the standard K 2 of the transfer function W p .
  • Phase P01 includes a step E03 for configuring the basic optimization problem.
  • the basic optimization problem is a constraint optimization problem.
  • an optimization criterion and one or more optimization constraints are determined.
  • Lateral control to keep a lane in the center is an advanced driving aid for comfort.
  • this assistance aims to help the driver by providing maximum comfort to maximize the acceptance of this help by the driver.
  • To maximize comfort we try to minimize jerk
  • SUBSTITUTE SHEET (RULE 26) on the steering wheel angle.
  • the jolts are minimized when flying and a continuous command close to the behavior of a human driver is obtained.
  • the minimization of the signal j u representing the jerk corresponds to the minimization of its energy, and therefore of its norm L 2 , and thus to the minimization of the norm of the transfer function connecting the input of block 39 to the output of block 40 (see Figure 3).
  • the advanced driving aid provided to the vehicle must fulfill a minimum performance requirement corresponding to a small lateral deviation y L.
  • y L the energy of the signal y L is less than a value k p denoting the level of performance targeted.
  • the smaller the value k p the smaller the difference y L.
  • the signal energy y L is expressed by the standard of the transfer function
  • the advanced driving aid must also be robust despite the uncertain behavior of the vehicle's power steering.
  • the power steering of a vehicle is generally supplied as a standard box by a supplier to the manufacturer of the motor vehicle. It is therefore difficult to identify the power steering control law.
  • an optimization constraint is parameterized reducing the input module margin by a minimum term k m .
  • This margin is directly linked to the peak of the sensitivity function S u (s) of the closed loop 4. More precisely, the modulus margin is defined as the inverse of the resonance peak of the function S u (s), ie the inverse of the norm JC ⁇ of the function S u (s).
  • the module 34 sets during step E03 an optimization criterion and two optimization constraints written as follows:
  • Phase P01 comprises two steps E04 and E05 for choosing additional optimization constraints.
  • the means 37 defines in the complex plane a region such as the region 52 shown in FIG. 5.
  • the region 52 is defined between a vertical straight line 54, a first oblique line 56, a section d ellipse 58 and a second oblique line 60.
  • the module 36 translates as an optimization constraint the fact that the poles of the corrector 16 belong to region 52.
  • the point comprises a real part RE (z) less than the ordinate minDecay of the vertical line 54.
  • region 52 is located on the left, by compared to the representation of FIG. 5, of the vertical line 54.
  • the ordinate minDecay is representative of a slower dynamic of the closed loop 4.
  • Lines 56 and 60 are symmetrical about the axis of the reals. More precisely, lines 56 and 60 are part of two straight lines passing through the origin of the complex coordinate system and forming an angle Q with the axis of the reals. In the example illustrated, the angle Q is substantially equal to 45 °.
  • the damping coefficient of the controller 1 6 is adjusted so as to reduce the damping of the closed loop 4 by a minimum damping coefficient minDamping.
  • the ellipse section 58 is a level line of the module corresponding to a maximum module maxFrequency. By delimiting region 52 inside section 58, the amplitude of high frequency vibrations in the closed loop 4 is increased.
  • step E05 a maximum value G max of a gain of the transfer function of the closed loop 4 is entered in the means 38.
  • the module 36 then translates as an optimization constraint
  • phase P01 there is a family made up of a plurality of models representative of the vehicle, a model representative of the environment of the vehicle and a constraint optimization problem defined by an optimization criterion and optimization constraints.
  • the optimization problem is solved based on the optimization criterion and the optimization constraints established during steps E03, E04 and E05.
  • the resolution of the optimization problem is implemented by considering the environment model generated during step E02 and by considering each of the models selected during step E01.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
EP19728005.0A 2018-06-11 2019-05-28 Verfahren und vorrichtung zur implementierung eines geschlossenen kreises einer verbesserten fahrhilfevorrichtung Pending EP3802255A1 (de)

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FR1855071A FR3082162B1 (fr) 2018-06-11 2018-06-11 Procede et dispositif de mise au point d'une boucle fermee d'un dispositif d'aide a la conduite avance
PCT/EP2019/063868 WO2019238418A1 (fr) 2018-06-11 2019-05-28 Procede et dispositif de mise au point d'une boucle fermee d'un dispositif d'aide a la conduite avance

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FR3082162B1 (fr) 2020-06-05
WO2019238418A1 (fr) 2019-12-19
FR3082162A1 (fr) 2019-12-13
JP7118517B2 (ja) 2022-08-16
JP2021526101A (ja) 2021-09-30
KR20210018447A (ko) 2021-02-17
KR102523556B1 (ko) 2023-04-20
US20210323551A1 (en) 2021-10-21

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