FR3044118A1 - METHOD AND DEVICE FOR CHECKING THE ACCELERATION OF A DUAL-CONTROLLED VEHICLE BASED ON ENCOUNTERS - Google Patents

Abstract

A device (DC) controls the acceleration of a vehicle (V) comprising first (PA1) and second (PA2) accelerator pedals respectively associated with first (C1) and second (C2) recess sensors and clean to be used respectively by a student and a monitor. This device (DC) comprises control means (MC) arranged to control the acceleration as a function of a first depression of the first accelerator pedal (PA1), determined by the first depression sensor (C1), when a safety command has been deactivated by the monitor and this first depression is greater than a second depression of the second accelerator pedal (PA2), determined by the second depression sensor (C2).

Description

The invention relates to so-called double-controlled vehicles, and more precisely to the control of acceleration within such vehicles.

The term "dual control vehicle" herein refers to a vehicle, generally belonging to a driving school, and comprising a first accelerator pedal that can be used by a student and a second accelerator pedal that can be used by an instructor. eg driving school.

In most dual-control vehicles, the first and second accelerator pedals move simultaneously and identically because they are coupled by a deformable crossbar and two connecting rods. The control of the acceleration of the vehicle is then based on the depression of the first accelerator pedal which is determined by a single depression sensor associated with the first accelerator pedal.

This dual control mechanism is penalizing in terms of mass, number of parts, size, specific layout to be made, assembly time, and number of fixing parts, it has been proposed to add to each of first and second accelerator pedals a depressing sensor to overcome the return bar and connecting rods. The control of the acceleration of the vehicle is therefore based on the depression of the first or second accelerator pedal. Such control is not safe enough because it does not prevent the student from controlling acceleration when the monitor deems it necessary. The invention is therefore particularly intended to improve the situation.

It proposes for this purpose a method for controlling the acceleration of a vehicle comprising first and second accelerator pedals respectively associated with first and second driving sensors and adapted to be used respectively by a student and a monitor.

This method is characterized in that it comprises a step in which the acceleration is controlled according to a first depression of the first accelerator pedal, determined by the first depression sensor, when a safety command has been disabled by the monitor and this first depression is greater than a second depression of the second accelerator pedal, determined by the second depression sensor.

This significantly improves the security of control of the acceleration of the vehicle.

The control method according to the invention can comprise other characteristics that can be taken separately or in combination, and in particular: in the step, it is possible to control the acceleration as a function of a second depression of the second pedal; accelerator, determined by the second depression sensor, when the safety control is deactivated and the second depression is greater than the first depression of the first accelerator pedal determined by the first depression sensor; > in the step, the first accelerator pedal may remain authorized to resume control of the acceleration so that the control is effective as soon as its first depression becomes greater than the second depression of the second accelerator pedal; in the step, it is possible to control the acceleration as a function of the second depression of the second accelerator pedal, determined by the second depression sensor, when the safety command has been reactivated by the monitor and therefore the first accelerator pedal is forbidden to take control of acceleration regardless of its second depression; in the step, the monitor can activate the safety control by impulsively pulling, very briefly, upwards (typically between 0.1 seconds and 0.5 seconds) the second accelerator pedal with one foot, and the monitor can deactivate the safety control by exerting impulsively, very briefly, a downward pressure (typically between 0.1 s and 0.5 s) on the second accelerator pedal with this foot. The invention also proposes a device for controlling the acceleration of a vehicle comprising first and second accelerator pedals respectively associated with first and second driving sensors and suitable for use by a student and a monitor, respectively.

This device is characterized in that it comprises control means arranged to control the acceleration as a function of a first depression of the first accelerator pedal, determined by the first depression sensor, when a control of safety has been disabled by the monitor and that the first depression is greater than a second depression of the second accelerator pedal determined by the second depression sensor.

For example, the control means can be arranged to consider that the monitor has activated the safety command when receiving information indicating that the second accelerator pedal was pulled impulsively, very briefly, upwards. , and to consider that the monitor has deactivated the safety control when receiving information that a downward pressure has been exerted impulsively, very briefly, on the second accelerator pedal. The invention also proposes a computer, intended to equip a vehicle comprising first and second accelerator pedals respectively associated with first and second driving sensors and adapted to be used respectively by a student and a monitor, and comprising a device control type of the one presented above. The invention also proposes a vehicle, possibly of automobile type, and comprising first and second accelerator pedals respectively associated with first and second driving sensors and suitable for being used respectively by a pupil and a monitor, and a calculator of the type presented above. Other features and advantages of the invention will appear on examining the detailed description below, and the accompanying drawings, in which: - Figure 1 schematically and functionally illustrates an example of a vehicle comprising a powertrain, motor thermal and manually controlled gearbox, and a supervision computer comprising a control device according to the invention, and - Figure 2 schematically illustrates an example of an algorithm implementing a control method according to the invention. The object of the invention is in particular to propose a control method, and an associated DC control device, for controlling the acceleration of a vehicle V comprising first PA1 and second PA2 accelerator pedals respectively associated with first C1 and second C2 driving sensors and adapted to be used respectively by a student and a monitor.

In what follows, it is considered, by way of non-limiting example, that the vehicle V is automotive type. This is for example a car. But the invention is not limited to this type of vehicle. It concerns indeed any type of vehicle whose acceleration can be controlled by two accelerator pedals in parallel. Therefore, it relates in particular to land vehicles such as, for example, cars, coaches (or buses), and trucks.

FIG. 1 schematically illustrates a non-limiting example of a vehicle V, here of automotive type. In this non-limiting example, the vehicle V comprises a conventional powertrain, that is to say exclusively thermal engine MT. But the powertrain could be of the hybrid type and therefore include at least one engine and at least one machine (or engine), electric or hydraulic or compressed air, associated (e) means of energy storage, or good all-electric type.

As illustrated, this vehicle V here comprises, on the one hand, a powertrain comprising in particular a thermal engine MT, an EM clutch, a gearbox BV, here manually controlled, and a supervision computer CS, and, of On the other hand, first PE1 and second PE2 clutch pedals, first PF1 and second PF2 brake pedals, and first PA1 and second PA2 accelerator pedals.

Note that when the gearbox BV is automatic type vehicle V does not include a clutch pedal.

In the case of a driving school, the first clutch pedal PE1, the first brake pedal PF1, and the first accelerator pedal PA1 are intended to be used by students in training, while the second clutch pedal PE2, second brake pedal PF2, and second accelerator pedal PA2 are intended to be used by monitors. The first accelerator pedal PA1 is associated with a first depression sensor C1 responsible for determining a first depression e1 of the first accelerator pedal PA1 by a foot of a pupil. The second accelerator pedal PA2 is associated with a second recess sensor C2 responsible for determining a second depression e2 of the second accelerator pedal PA2 by a foot of a monitor.

The operation of the powertrain is controlled by the supervision computer CS which knows in particular at each moment the measurement of the current speed of the thermal engine MT, the load of the thermal engine MT, and the state (or level) of depression of the pedals brake PF1 and PF2, clutch PE1 and PE2 and accelerator PA1 and PA2.

As indicated above, the invention proposes in particular to implement in a vehicle V dual control a method for enabling the control of the acceleration of the latter (V).

The implementation of the (control) method can be done by means of a DC control device. It will be noted that in the example shown non-limitatively in FIG. 1, the control device DC is part of the supervision computer CS. But this is not obligatory. Indeed, the DC control device could itself be in the form of a dedicated computer including a dedicated program and coupled to the supervision computer CS, or be part of another computer embedded in the vehicle V. Therefore, a DC control device, according to the invention, can be realized in the form of software modules (or computer (or "software")), or electronic circuits (or "hardware"), or still a combination of electronic circuits and software modules.

The control device DC comprises at least control means MC.

The (control) method according to the invention comprises a step that is performed recursively each time a monitor has selected a so-called "driving school" mode for the vehicle V.

In this step, the (control means MC) controls (s) the acceleration of the vehicle V according to a first depression e1 of the first accelerator pedal PA1, determined by the first depression sensor C1, when a safety command CS has been deactivated by the monitor and this first depression e1 is greater than a second depression e2 of the second accelerator pedal PA2, determined by the second depression sensor C2.

In the following, it is considered as a purely illustrative example that the safety control CS takes the value 0 when it has been deactivated (and therefore the monitor allows the control means MC to take into account the first depression e1 ), and the value 1 when it has been activated (and therefore the monitor forbids the control means MC to take into account the first depression e1).

In other words, if CS = 0 and e1> e2, then (control means MC) controls (s) the acceleration of the vehicle V as a function of e1.

For example, in the step on (the control means MC) can control the acceleration of the vehicle V as a function of the second depression e2 of the second accelerator pedal PA2, determined by the second depression sensor. C2, when the safety control is deactivated (CS = 0) and the second depression e2 is greater than the first depression e1 of the first accelerator pedal PA1, determined by the first depression sensor C1. In other words, if CS = 0 and e2> e1, then one (the control means MC) controls (s) the acceleration of the vehicle V as a function of e2.

Preferably, in the step the first accelerator pedal PA1 may remain authorized by the control means MC to regain control of the acceleration so that this control is effective as soon as its first depression e1 becomes greater than the second depression e2 of the second accelerator pedal PA2. In other words, when CS = 0, then (the control means MC) controls (s) the acceleration of the vehicle V as a function of e1, as soon as e1 becomes greater than e2. By way of example, in the step on (the control means MC) it is possible to control the acceleration of the vehicle V as a function of the second depression e2 of the second accelerator pedal PA2, determined by the second sensor when the safety command CS has been reactivated by the monitor (CS = 1) and therefore the first accelerator pedal PA1 is forbidden to take control of the acceleration regardless of the current value of his second sink e2. In other words, as soon as CS = 1, then (control means MC) controls (s) the acceleration of the vehicle V as a function of e2, regardless of the current value of e1.

Note that in the step the monitor can, for example, activate the safety control CS (to pass it here from the value 0 to the value 1) by impulsively pulling, very briefly, upwards the second pedal accelerator PA2 with a foot, and the monitor can disable the safety control CS (to pass it here from the value 1 to the value 0) by exerting impulsively, very briefly, a downward pressure on the second accelerator pedal PA2 with this foot or after an uninterrupted rest time on the second accelerator pedal PA2 for a period that may be possibly predefined (for example by the vehicle manufacturer).

Here is meant by "very briefly" a duration that is much shorter than that of a conventional support for inducing acceleration of the vehicle. Therefore, such a duration, impulsive type, is typically between 0.1 s and 0.5 s. It should be noted that this duration may possibly be adjustable by the monitor and / or by the vehicle manufacturer.

But the activation or the deactivation of the security command CS could be done by other means, such as for example by activation of a dedicated control organ (such as a multipositions button), or by pronouncing a predefined expression ( such as "activation command" or "deactivation command"), or by selecting an option displayed on a touch screen (preferably in direct access).

It should be noted that the control means MC consider here that the monitor has activated the safety command CS (= 1) when receiving information indicating that the second accelerator pedal PA2 was pulled impulsively, very briefly , upwards, and consider that the monitor has deactivated the safety command CS (= 0) if it receives information that a downward pressure has been exerted impulsively, very briefly, on the second accelerator pedal PA2.

FIG. 2 schematically illustrates an example of an algorithm implementing a control method according to the invention. In this example, it is considered as a purely illustrative example: a variable v1 depressed state of the first accelerator pedal PA1 is set to OFF when the latter (PA1) is not authorized to control the acceleration, the value 0 when the first accelerator pedal PA1 is not depressed (e1 = 0), and the value 1 when the first accelerator pedal PA1 is at least partially depressed (e1> 0), and that a variable v2 of depression state of the second accelerator pedal PA2 is set to OFF when the latter (PA2) is not authorized to control the acceleration, the value 0 when the second pedal of accelerator PA2 is not depressed (e2 = 0), and the value 1 when the second accelerator pedal PA2 is at least partially depressed (e2> 0). The algorithm begins in a substep 10 when the vehicle V is started (i.e., powered on).

In a substep 20 on (MC) places the securing command CS at the value 1 to prohibit the taking into account of the depression of the first accelerator pedal PA1 (CS = 1), and the variables v1 and v2 to the OFF value so that none of the accelerator pedals PA1 and PA2 can control the acceleration (ie v1 = OFF and v2 = OFF).

In a substep 30 on (MC) performs a test to determine if the driving school mode has been chosen. In the negative, the conventional operating mode (in simple command) has been chosen, and therefore in a substep 40 on (MC) places the securing command CS at the value 0 to allow the depression to be taken into account. of the first accelerator pedal PA1 (CS = 0), the variable v1 to the value 0 because it is not yet pressed (v1 = 0), and the variable v2 to the value OFF so that the second pedal of Accelerator PA2 can not control acceleration (v2 = OFF).

If so, the self-driving mode of operation (dual control) was chosen by a monitor, and therefore in a substep 50 on (MC) maintains the CS securing command at the value 1 to prohibit taking in account of the depressing of the first accelerator pedal PA1 (CS = 1), and one (MC) places the variables v1 and v2 at the value 0 because they are not yet depressed (ie v1 = 0 and v2 = 0).

It is then considered that the monitor has decided to deactivate the safety command CS (to change it from value 1 to 0), for example by exerting impulsively, very briefly, a downward pressure on the second accelerator pedal PA2 with a foot. Consequently, in a substep 60 on (MC) places the securing command CS at the value 0 to allow the depression of the first accelerator pedal PA1 (CS = 0) to be taken into account, and on ( MC) places the variables v1 and v2 at the value 0 because they are not yet depressed (ie v1 = 0 and v2 = 0).

In a substep 70 on (MC) performs a test to determine if the first PA1 and second PA2 accelerator pedals are at least partially depressed (ie v1 = 1 and v2 = 1). If so, (MC) performs in a substep 80 another test to determine if the first depression e1 of the first accelerator pedal PA1 is greater than the second depression e2 of the second accelerator pedal PA2 ( e1> e2?). In the affirmative (e1> e2), one (MC) controls in a substep 90 the acceleration as a function of the first depression e1. Then, one (MC) performs in a substep 100 another test to determine if the security command CS has been very recently placed at the value 1 (ie CS = 1?). In the negative (CS = 0), one (MC) returns to perform the substep 70. In the affirmative (CS = 1), one (MC) controls in a substep 110 the acceleration as a function of the second depression e2, and on (MC) waits for the monitor to decide if it should be disabled.

If the result of the test carried out in substep 80 is negative (ie e2> e1), control (MC) in a sub-step 120 controls the acceleration as a function of the second depression e2. Then (MC) performs the test of substep 100.

If the result of the test performed in substep 70 is negative (v1 Φ 1 and / or v2 Φ 1), then (MC) performs in a substep 130 another test to determine whether the first accelerator pedal PA1 is not depressed (ie v1 = 0) and if the second accelerator pedal PA2 is at least partially depressed (ie v2 = 1). If yes (v1 = 0 and v2 = 1), this means that only the second accelerator pedal PA2 is at least partially depressed. Therefore, one (MC) realizes the substep 120. If not, one (MC) performs in a substep 140 another test to determine if one has both the security command CS deactivated (CS = 0), the first accelerator pedal PA1 at least partially depressed (v1 = 1), and the second accelerator pedal PA2 not depressed (v2 = 0). If so (CS = 0, v1 = 1 and v2 = 0), this means that only the first accelerator pedal PA1 is at least partially depressed. Therefore, one (MC) realizes the substep 90. If not, there are two possibilities. If CS = 0, v1 = 0 and v2 = 0, this means that no accelerator pedal is depressed while the first accelerator pedal PA1 is allowed by the monitor to control the acceleration. Therefore, one (MC) realizes the sub-step 70 again. If CS = 1, v1 = 0 and v2 = 0, this means that no accelerator pedal is depressed and that the first accelerator pedal PA1 has been very recently banned by the monitor to control acceleration. Therefore, one (MC) returns between substeps 50 and 60, waiting for the monitor to disable the CS security command (to change it from 1 to 0) or else it starts again to press the second throttle pedal PA2 to control the acceleration.

It will be understood that, thanks to the invention, the security of the control of the acceleration of the vehicle in a driving school mode is notably improved.

Claims (10)

A method for controlling the acceleration of a vehicle (V) comprising first (PA1) and second (PA2) accelerator pedals respectively associated with first (C1) and second (C2) transducer sensors and clean to be used respectively by a student and a monitor, characterized in that it comprises a step in which said acceleration is controlled as a function of a first depression of said first accelerator pedal (PA1), determined by said first sensor, depression (C1), when a safety command has been deactivated by said monitor and said first depression is greater than a second depression of said second accelerator pedal (PA2), determined by said second depression sensor (C2 ). 2. Method according to claim 1, characterized in that in said step said acceleration is controlled as a function of a second depression of said second accelerator pedal (PA2), determined by said second depression sensor (C2), when said safety command is deactivated and said second depression is greater than said first depression of said first accelerator pedal (PA1), determined by said first depression sensor (C1). 3. Method according to claim 2, characterized in that in said step said first accelerator pedal (PA1) remains authorized to regain control of said acceleration so that this control is effective as soon as its first depression becomes greater than said second depression. said second accelerator pedal (PA2). 4. Method according to one of claims 1 to 3, characterized in that in said step said acceleration is controlled as a function of said second depression of said second accelerator pedal (PA2), determined by said second depression sensor (C2 ), when said safety command has been reactivated by said monitor and therefore said first accelerator pedal (PA1) is prohibited from taking control of said acceleration regardless of its second depression. 5. Method according to one of claims 1 to 4, characterized in that in said step said monitor activates said safety command by impulsively pulling, very briefly, upward said second accelerator pedal (PA2) with a foot, and said monitor disables said safety command by exerting impulsively, very briefly, a downward pressure on said second accelerator pedal (PA2) with said foot. 6. Device (DC) for controlling the acceleration of a vehicle (V) comprising first (PA1) and second (PA2) accelerator pedals respectively associated with first (C1) and second (C2) sensors of depression and adapted to be used respectively by a student and a monitor, characterized in that it comprises control means (MC) arranged to control said acceleration as a function of a first depression of said first accelerator pedal (PA1) determined by said first depression sensor (C1) when a safety command has been deactivated by said monitor and said first depression is greater than a second depression of said second accelerator pedal (PA2) determined by said second depressing sensor (C2). 7. Device according to claim 6, characterized in that said control means (MC) are arranged to consider that said monitor has activated said safety command when receiving information indicating that said second accelerator pedal (PA2 ) was impulsively pulled, very briefly, upwards, and to consider that said monitor deactivated said safety command upon receipt of information indicating that downward pressure has been exerted impulsively, very briefly, on said second accelerator pedal (PA2). 8. Calculator (CS) for a vehicle (V) comprising first (PA1) and second (PA2) accelerator pedals respectively associated with first (C1) and second (C2) driving sensors and adapted to be used respectively by a student and a monitor, characterized in that it comprises a control device (DC) according to one of claims 6 and 7. 9. Vehicle (V) comprising first (PA1) and second (PA2) accelerator pedals respectively associated with first (C1) and second (C2) driving sensors and adapted to be used respectively by a student and an instructor , characterized in that it further comprises a calculator (CS) according to claim 8. 10. Vehicle according to claim 9, characterized in that it is automotive type.