EP3891032A2 - Verfahren zur regelung einer verbesserten fahrbarkeitssteuerung eines kraftfahrzeugs mit adaptiver fahrgeschwindigkeitsregelung - Google Patents

Verfahren zur regelung einer verbesserten fahrbarkeitssteuerung eines kraftfahrzeugs mit adaptiver fahrgeschwindigkeitsregelung

Info

Publication number
EP3891032A2
EP3891032A2 EP19868204.9A EP19868204A EP3891032A2 EP 3891032 A2 EP3891032 A2 EP 3891032A2 EP 19868204 A EP19868204 A EP 19868204A EP 3891032 A2 EP3891032 A2 EP 3891032A2
Authority
EP
European Patent Office
Prior art keywords
driver
speed
traction control
control system
motor vehicle
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Withdrawn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
EP19868204.9A
Other languages
English (en)
French (fr)
Inventor
Adrien GIROD A PETIT LOUIS
Jeremie RONDEL
Philippe Blaise
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
PSA 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 PSA Automobiles SA filed Critical PSA Automobiles SA
Publication of EP3891032A2 publication Critical patent/EP3891032A2/de
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/175—Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • 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
    • B60W30/02—Control of vehicle driving stability
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18063—Creeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means

Definitions

  • TITLE METHOD FOR REGULATING A REINFORCED MOTORITY CONTROL OF A MOTOR VEHICLE ASSOCIATED WITH AN ADAPTIVE SPEED REGULATOR
  • the present invention relates to a method for regulating a reinforced traction control of a motor vehicle associated with an adaptive cruise control.
  • a particularly advantageous application of the present invention relates to autonomous vehicles equipped with a driving assistance system.
  • a driving assistance system is an active information security or driver assistance system. Such a system makes it possible to avoid the appearance of a dangerous situation which risks leading to an accident, to free the driver from a certain number of tasks which could reduce his vigilance and to assist the driver in his perception of the environment while driving the vehicle. Such a driving assistance system must be more efficient than the driver's reactions.
  • adaptive cruise control also known by the acronym ACC.
  • an adaptive cruise control adjusts the vehicle's travel speed to traffic via acceleration and automatic braking. Even in heavy traffic, the adaptive cruise control can maintain the preset safety distance with the vehicle in front, allowing the driver to better focus on his driving.
  • the stability control system should then be deactivated. This is achieved by a reinforced traction control system, acting mainly on the grip of the tires of the motor vehicle on the ground.
  • This choice makes it possible to increase the grip of the vehicle as a function of the state of the running surface, for example snowy, sandy or muddy.
  • the ramping is specific to automatic transmissions. Crawling results in the vehicle moving at low speed to the forward position when the brakes are released. It is the torque converter in the gearbox that is at the origin of it, driven by the engine idling speed.
  • the ramping speed therefore corresponds to the vehicle speed on the flat, in forward motion and without action on the brakes, frequently but not necessarily of the order of 3 to 4 km / h.
  • the ramp speed is controlled with the brakes or a control block from the ESP stability control system.
  • combining control of the creep speed with a traction control may require oversizing the ESP block.
  • the problem underlying the invention is, in a motor vehicle, when applying a traction control command associated with an adaptive cruise control to avoid cumulating the control of the traction control with creep speed control.
  • the present invention relates to a method for regulating a reinforced traction control of a motor vehicle associated with an adaptive cruise control operating from a speed setpoint selected by a driver of the motor vehicle, the control traction control operation of an electronic stability control system in a mode selected by the driver, characterized in that the traction control associated with the cruise control is suspended when a ramping speed of the vehicle in force, obtained in traction without action by the driver of the motor vehicle, is greater than the speed setpoint selected by the driver.
  • the technical effect of the present invention aims to prohibit the reinforced traction control of a motor vehicle associated with an adaptive cruise control if ramping speed is greater than the speed setpoint and, if necessary, to indicate it to the driver. This solves the problem of oversizing the block of the electronic stability control system vis-à-vis the combination of creep speed control functions and enhanced traction control.
  • the advantage of the method according to the invention is to guarantee the use of the enhanced traction control function over the maximum range of use of the traction control instead of limiting it between 15 and 30 km / h for example.
  • the use of the method according to the invention also makes it possible to avoid the driver interpreting the inactivation of the function as a breakdown and avoiding unjustified quality returns.
  • the traction control associated with the cruise control is maintained when an effective ramping speed of the vehicle is less than or equal to the speed setpoint selected by the driver.
  • the minimum set speed selected by the driver for maintaining the traction control associated with the cruise control is displayed while being visible to the driver.
  • a suspended or maintained state of the traction control associated with the cruise control is also displayed.
  • the present invention also relates to a device for deactivating an operation of a reinforced traction control system associated with a cruise control.
  • the activation device comprises an electronic unit comprising a computer and means for memorizing a speed setpoint selected by the driver, means for receiving a value of ramping speed in force, means for comparing the speed setpoint with the ramping speed in force and means for deactivating the enhanced traction control system associated with the adaptive cruise control when the speed ramp rate in force is greater than the speed setpoint.
  • the deactivation device comprises a man-machine interface intended for the driver displaying an active state of activation or deactivation of the enhanced traction control system and a minimum speed setpoint to be selected by the driver for maintaining a activation of the enhanced traction control system.
  • the presence of a man-machine interface allows the driver to know the minimum speed that he must give in setpoint when he is in reinforced traction control associated with an adaptive cruise control.
  • the invention also relates to an assembly of a stability control system and of a reinforced traction control system associated with an adaptive cruise control in a motor vehicle, the enhanced traction control system comprising means for deactivating the stability control system in a mode determined by a selection means operated by a driver of the vehicle, characterized in that the assembly includes such a device for deactivating an operation of the enhanced traction control system associated with a cruise control adaptive speed.
  • an optional man-machine interface has advantageously been added to display the deactivation and activation states of the enhanced traction control system.
  • the selection means is a dial or a button with at least two insertion positions.
  • the invention relates to a motor vehicle, characterized in that it comprises such an assembly of a stability control system and of a reinforced traction control system associated with an adaptive cruise control.
  • the motor vehicle is a vehicle equipped with a driving assistance system for the motor vehicle.
  • FIG. 1 is a simplified schematic representation of a device for deactivating an operation of a reinforced traction control system associated with an adaptive cruise control in a motor vehicle for the implementation of the regulation method according to an embodiment of the present invention
  • FIG. 2 is a flow diagram of the method for regulating a motor control command reinforced by a motor vehicle associated with an adaptive cruise control operating from a speed setpoint selected by a driver of the motor vehicle according to an embodiment of the present invention
  • FIG. 3a is a schematic representation of a display form of a man-machine interface for a device for deactivating an operation of a reinforced traction control system associated with an adaptive cruise control in a motor vehicle according to an embodiment of the present invention, FIG. 3a indicating that the activation of the traction control is maintained.
  • FIG. 3b is a schematic representation of a display form of a man-machine interface for a device for deactivating an operation of a reinforced traction control system associated with an adaptive cruise control in a motor vehicle according to an embodiment of the present invention, FIG. 3b indicating a deactivation of the traction control.
  • the present invention relates to a method for regulating a reinforced traction control of a motor vehicle associated with an adaptive cruise control.
  • the adaptive cruise control operates on the basis of a speed reference Cons V selected by a driver of the motor vehicle, being above a predetermined threshold which may be approximately 30 km / h.
  • the enhanced traction control also known by the Anglo-Saxon designation of "motricity control” suspends the operation of an electronic stability control system in a mode selected by the driver.
  • An electronic stability control system is also known as the ESP system.
  • Most motor vehicles have a braking system comprising an anti-lock function of the wheels known by the acronym "ABS", making it possible to intervene individually on the brakes of each wheel to avoid locking of these wheels during pronounced braking, or poor adhesion of the traffic lane.
  • ABS anti-lock function of the wheels
  • the individual braking control of the ABS anti-lock function is also used in the ESP systems to intervene on the stability of the vehicle by braking the wheels and keeping the vehicle on the path desired by the driver.
  • the enhanced traction control associated with the speed regulator is suspended when a ramping speed Vr in force of the vehicle, obtained in autonomous traction mode without the action of the driver of the motor vehicle, is greater than the speed reference Cons V selected by the driver.
  • a speed regulator has a speed setpoint higher than 30 km / h but in the case of a combination of a speed regulator with a reinforced traction control, this speed setpoint can be lowered, however presenting the disadvantage of being lower than a ramping speed of the motor vehicle.
  • FIG. 1 shows an electronic control ECU which, as a function of a ramping speed Vr and a speed setpoint Cons V assigned by the driver in the cruise control, makes a decision to maintain activation or deactivation d '' a reinforced motor control Cmot.
  • the ECU electronic control unit controls a display on an HMI man-machine interface of the activation or deactivation of the enhanced motor control command Cmot as well as an indication if the speed reference Cons V is less than or not the ramping speed Vr in force.
  • step 1 a first questioning is carried out as to whether the enhanced traction control is activated or not .
  • step 2 a second questioning is carried out to find out whether the speed setpoint Cons V of the adaptive cruise control is greater than or not the ramping speed Vr in force, which amounts to questioning whether the ramping speed Vr in force is whether or not less than the Cons V speed setpoint of the adaptive cruise control.
  • step 5 deactivates the enhanced traction control command.
  • step 5 can be continued by step 6 relating to a display of the deactivation of the enhanced traction control, of the inequality between ramping speed and speed setpoint of the adaptive cruise control as well as a minimum speed of Cons Cons mini setpoint, referenced in Figures 3a and 3b, so that the activation of the traction control is maintained.
  • step 3 If the answer is yes, which is symbolized by the output O of the second questioning, it is carried out in step 3 to maintain the activation of the enhanced traction control.
  • step 3 can be continued by step 4 relating to a display of the maintenance of the activation of the enhanced traction control, of the inequality then in force between ramping speed and speed setpoint of the cruise control and, incidentally of the minimum target speed of the adaptive cruise control to maintain activation.
  • the enhanced traction control associated with the cruise control is maintained when an effective ramping speed of the vehicle is less than or equal to the speed setpoint selected by the driver.
  • the minimum set speed selected by the driver for maintaining the enhanced traction control associated with the cruise control can therefore be displayed while being visible to the driver. This is particularly valid when deactivating the enhanced traction control. As shown in steps 4 and 6, in the case of maintaining or suspending the enhanced traction control, a suspended or maintained state of the enhanced traction control associated with the cruise control can be displayed.
  • the present invention also relates to a device for deactivating an operation of a reinforced traction control system associated with an adaptive cruise control in a motor vehicle for the implementation of a method as previously mentioned.
  • the activation device comprises an electronic ECU unit comprising a computer and means for memorizing a speed setpoint Cons V selected by the driver, means for receiving a value of ramping speed Vr in force.
  • the electronic control ECU includes means for comparing the speed setpoint Cons V with the ramping speed Vr in force and means for deactivating the enhanced traction control system associated with the adaptive cruise control when the speed of ramping Vr in force is greater than the speed reference Cons V.
  • the ECU electronic control unit can be the main electronic control unit responsible for driving several safety or motor vehicle operating systems, in particular the anti-lock braking system and the ESP system.
  • a man-machine interface HMI indicates in FIG. 3a an activation of the enhanced traction control with a ramping speed Vr lower than the speed setpoint Cons V of the adaptive speed regulator.
  • the deactivation device may include a man-machine interface HMI intended for the driver displaying a current state of activation of Corn ACT or deactivation Corn DESACT of the enhanced traction control system and a minimum speed reference Cons V mini to be selected by the driver to maintain activation of the enhanced traction control system.
  • the man-machine interface IHM indicates a deactivation of the enhanced traction control with a ramping speed Vr greater than the speed setpoint Cons V of the adaptive speed regulator.
  • the minimum Cons V minimum speed setpoint for a return to activation of the enhanced traction control system is also displayed, as is the inequality between the creep speed Vr and the Cons V speed setpoint of the governor.
  • the human machine interface HMI can be of a form other than a screen and include one or more control buttons.
  • the invention also relates to an assembly of a stability control system and of a reinforced traction control system associated with an adaptive cruise control in a motor vehicle, the enhanced traction control system comprising means for deactivating the stability control system in a mode determined by a selection means operated by a driver of the vehicle.
  • the assembly of a stability control system and of a reinforced traction control system associated with an adaptive cruise control comprises a device as previously mentioned for deactivating an operation of a reinforced traction control system. associated with an adaptive cruise control.
  • the means for selecting the enhanced traction control system may be a wheel or a button with at least two insertion positions.
  • the invention relates to a motor vehicle, comprising such an assembly of a stability control system and of a reinforced traction control system associated with an adaptive cruise control.
  • the motor vehicle can be a vehicle equipped with a driving assistance system for the motor vehicle.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Controls For Constant Speed Travelling (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
EP19868204.9A 2018-12-03 2019-12-02 Verfahren zur regelung einer verbesserten fahrbarkeitssteuerung eines kraftfahrzeugs mit adaptiver fahrgeschwindigkeitsregelung Withdrawn EP3891032A2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1872215A FR3089186B1 (fr) 2018-12-03 2018-12-03 Procede de regulation d’une commande de motricite renforcee d’un vehicule automobile associee a un regulateur de vitesse adaptatif
PCT/FR2019/052874 WO2020115408A2 (fr) 2018-12-03 2019-12-02 Procédé de régulation d'une commande de motricité renforcée d'un véhicule automobile associée a un régulateur de vitesse adaptatif

Publications (1)

Publication Number Publication Date
EP3891032A2 true EP3891032A2 (de) 2021-10-13

Family

ID=66530144

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19868204.9A Withdrawn EP3891032A2 (de) 2018-12-03 2019-12-02 Verfahren zur regelung einer verbesserten fahrbarkeitssteuerung eines kraftfahrzeugs mit adaptiver fahrgeschwindigkeitsregelung

Country Status (4)

Country Link
EP (1) EP3891032A2 (de)
CN (1) CN113165639A (de)
FR (1) FR3089186B1 (de)
WO (1) WO2020115408A2 (de)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007036578B4 (de) * 2006-08-10 2023-05-25 Continental Automotive Technologies GmbH Verfahren und Vorrichtung zur robusteren Rutscherkennung von Fahrzeugen
FR3022207A1 (fr) * 2014-06-13 2015-12-18 Peugeot Citroen Automobiles Sa Procede d'indication de couple nul d'un vehicule automobile et dispositif associe
US9637096B2 (en) * 2014-06-16 2017-05-02 Honda Motor Co., Ltd. Vehicle control apparatus
DE102015225932A1 (de) * 2015-12-18 2017-06-22 Bayerische Motoren Werke Aktiengesellschaft Bedieneinrichtung zur Vorgabe des Grads der Unterstützung durch eine Fahrerassistenz
DE102016201348A1 (de) * 2016-01-29 2017-08-03 Volkswagen Aktiengesellschaft Verfahren, Steuervorrichtung und Schaltersystem zum Bedienen eines Kriechmodus eines Kraftfahrzeugs
DE102016204356B4 (de) * 2016-03-16 2022-02-10 Ford Global Technologies, Llc Verfahren und Vorrichtung zur Längsregelung eines Kraftfahrzeugs
DE102016225971A1 (de) * 2016-12-22 2018-06-28 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Steuereinheit zur Begrenzung der Fahrgeschwindigkeit

Also Published As

Publication number Publication date
WO2020115408A2 (fr) 2020-06-11
FR3089186A1 (fr) 2020-06-05
FR3089186B1 (fr) 2020-11-13
WO2020115408A3 (fr) 2020-07-30
CN113165639A (zh) 2021-07-23

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