FR3062619A1 - CONTROL OF AN INSPECTION DISTANCE CONTROL SPEED CONTROL SYSTEM ON A MOTOR VEHICLE - Google Patents

Abstract

The present invention relates to the control of a system (1) for speed control on-board remote control on a motor vehicle, the system (1) of regulation being of the type regulating the speed of the motor vehicle by a closed-loop servocontrol function at least one set speed (Vref) chosen by a driver, a relative speed (Av) of a third vehicle detected at the front of the motor vehicle, a distance (Ax) separating said third detected vehicle of the motor vehicle and at least one adjustment parameter (θ) of the control system specific servo (1). The control system comprises means (3) for interacting with a conductor to enable said driver to evaluate the behavior of the system (1) for regulating the running situation of the motor vehicle during a learning step, and a control module (2) connected on the one hand to the interaction means (3) and on the other hand to the control system (1), said control module (2) being able to adjust the adjustment parameter (θ) of the regulation system (1) according to the results of the evaluation.

Description

Holder (s): VALEO SCHALTER UND SENSOREN GMBH Simplified joint-stock company.

Extension request (s)

Agent (s): VALEO COMFORT AND DRIVING ASSISTANCE.

CONTROL OF A SPEED CONTROL SYSTEM WITH REMOTE CONTROL ON BOARD ON A MOTOR VEHICLE.

FR 3 062 619 - A1 _ The present invention relates to the control of a speed control system (1) with distance control on board a motor vehicle, the control system (1) being of the type regulating the speed of the motor vehicle by a closed loop control function of at least one set speed (Vref) chosen by a driver, of a relative speed (Av) of a third vehicle detected at the front of the motor vehicle, of a distance ( Ax) separating said detected third vehicle from the motor vehicle and from at least one adjustment parameter (θ) of the servo proper to the regulation system (1). The control system comprises means (3) for interacting with a driver to enable said driver to evaluate the behavior of the regulation system (1) in a driving situation of the motor vehicle during a learning step, and a control module (2) connected on the one hand, to the means (3) of interaction, and on the other hand, to the regulation system (1), said control module (2) being able to adjust the adjustment parameter (Θ) of the regulatory system (1) based on the results of the evaluation.

CONTROL OF A CONTROLLED SPEED REGULATION SYSTEM

FROM DI STANCE ON BOARD ON A VEHI CULE AUTOMOBI

The present invention relates generally to autonomous motor vehicles, and more specifically to a method and a system for controlling a speed control system with distance control on board a motor vehicle.

The adaptive cruise control with distance control, or ACC (acronym set for Adaptive Cruise Control) is an active driving assistance system allowing the speed of the vehicle to be adjusted to a set speed chosen by the driver , while taking into account the various obstacles likely to be present at the front of the vehicle, in particular by maintaining a safety distance between the vehicle and another vehicle in front.

To do this, an electronic speed control module with distance control on board a motor vehicle conventionally comprises, as shown diagrammatically in FIG. 1, a controller 1 capable of receiving several pieces of information in real time, and in particular:

- the set speed V _re f requested by the driver;

- in the event of the presence of a third-party vehicle detected by a radar or laser or ultrasonic sensor, or any sensor monitoring an area in front of the motor vehicle, the relative distance Δχ separating the motor vehicle from the detected third-party vehicle and its speed relative Δν;

- odometric parameters of the motor vehicle such as its current speed V _c and / or its current acceleration A _c .

The controller 1 then uses the various information received to generate a control signal S _c which will act directly or indirectly, like the brake or acceleration pedal, on the vehicle transmission components to control the components dosing of the fuel (injection pump for a diesel type engine, air intake control butterfly for a petrol engine) or to control the voltage and / or the current of the engine in the case of an electric vehicle.

Thus, when the lane is considered to be free at the front of the motor vehicle, the controller 1 regulates the current speed of the motor vehicle so that it reaches the set speed V _re f. If a third vehicle is detected and is traveling at a speed lower than that of the motor vehicle, then the controller 1 controls a deceleration to maintain a predetermined safety distance and can warn the driver by a visual and audible alert if the driver must intervene. In the case where the channel is free again, the controller 1 commands an acceleration until the set speed V _re f.

In certain known ACCs, closed loop regulation or servo-control can be of the at least proportional type, that is to say applying a gain θ proportional to the difference between a current speed of the motor vehicle and, depending on the road situation, either the set speed requested by the driver or a set speed set by the controller.

In this case, the function of the controller 1 making it possible to deliver the control signal S _c on the basis of the information recalled above and of the adjustment parameters of the controller 1, in particular its gain Θ, can be expressed mathematically, as shown in Figure 1, in the form

F (V _ref ; Δχ; Δν; V _c; A _c ; Θ)

More generally, any ACC has a function F of the preceding type, dependent on the measurements carried out (in a nonlimiting manner Δχ, Δν, V _c and A _c ), and on its adjustment parameters represented generically by Θ).

In ACC systems hitherto known, the adjustment parameters θ of the controller 1 are generally fixed beforehand, as a function of the model of motor vehicle on which the regulator will have to operate, and fixes directly or indirectly the reaction time of the motor vehicle.

FIG. 2 illustrates two examples of behaviors obtained with two similar ACC systems but with different adjustment parameters θ, on the one hand, during the deceleration phase (upper part of the figure

2), and on the other hand, in the acceleration phase (lower part of FIG. 2). More precisely :

- the curve Ci illustrates the behavior (distance traveled) of a first ACC system to slow down from 70 km / h to 50 km / h;

- the curve C2 illustrates the behavior (distance traveled) of a second ACC system for decelerating from 70 km / h to 50 km / h;

- curve C3 illustrates the behavior (distance traveled) of the first ACC system to accelerate from 50 km / h to 70 km / h;

- curve C4 illustrates the behavior (distance traveled) of the second ACC system to accelerate from 50 km / h to 70 km / h.

These examples of curves show that the first ACC system has a generally shorter reaction time than the second ACC system. In addition, the first ACC system exhibits a “sporty” behavior, with a stronger deceleration at the start of the deceleration phase (curve Ci) and a relatively linear acceleration (curve C3), while the second ACC system exhibits fairly soft with a substantially parabolic acceleration profile (curve C4).

However, such systems do not always give the driver a feeling of safety. In particular, some drivers of a calm nature will find that the speed regulation is in some cases too brutal (acceleration and / or deceleration too fast for example, as in the case of the first system above), while other drivers , for more aggressive driving, will on the contrary consider that speed regulation is in certain situations too slow.

In other words, unique setting parameters for a cruise control will lead to automatic behavior of the cruise control which rarely corresponds to what the driver would do himself without the ACC functionality. This results in a risk that the driver will use the ACC functionality little, if ever.

To solve this confidence problem, document US 2012/0215415 describes a driving assistance system which uses a determination of parameters characteristic of the behavior of a driver of the motor vehicle in terms of acceleration and braking to regulate the speed. of the vehicle according to these parameters.

The characteristic parameters are, in this system, threshold values of acceleration or deceleration. Also, this system allows only to imitate the driver in his way of depressing more or less deeply a brake or accelerator pedal while driving, but in no case to take into account other parameters specific to the style of driving, like the speed at which you press a brake or accelerator pedal, or the degree of anticipation (instant when the driver will actually start to accelerate or brake).

The object of the present invention is to propose a solution which makes it possible to control any type of ACC system, in particular the already existing ACC systems, so as to allow the ACC system to generate braking and / or acceleration profiles which best respond to the wishes of a system user.

This objective is achieved according to the invention which relates to a method for controlling a speed control system with distance control on board a motor vehicle, the control system being of the type regulating the speed of the motor vehicle by a servo in closed loop function of at least one set speed chosen by a driver, of a relative speed of a third vehicle detected at the front of the motor vehicle, of a distance separating said detected third vehicle from the motor vehicle and d '' at least one servo adjustment parameter specific to the regulation system, the method being characterized in that it includes a learning step during which the behavior of the regulation system in a driving situation of the motor vehicle is evaluated by a driver, and in that the regulation system adjustment parameter is adjusted according to the results of the evaluation.

According to other possible aspects of the process:

the learning step advantageously comprises manual and / or voice input by a driver of an evaluation datum representative of his degree of satisfaction with the behavior of the regulation system;

the behavior of the regulation system is preferably evaluated by a driver independently depending on whether the regulation system is in the deceleration phase or in the acceleration phase;

- The learning stage can include several successive evaluations of a driver of the behavior of the regulation system.

The invention also relates to a system for controlling a speed control system with distance control on board a motor vehicle, the control system being of the type regulating the speed of the motor vehicle by a closed loop control function of '' at least one set speed chosen by a driver, a relative speed of a third vehicle detected at the front of the motor vehicle, a distance separating said detected third vehicle from the motor vehicle and at least one parameter for adjusting the servo control specific to the regulation system, the system being characterized in that it includes means for interacting with a driver to allow said driver to evaluate the behavior of the regulation system in a driving situation of the motor vehicle during a learning step, and a control module connected on the one hand, to the interaction means, and on the other hand, to the regulation system, said control module is able to adjust the adjustment parameter of the regulation system according to the results of the evaluation.

The interaction means include, for example, a manual activation command or a voice recognition device.

The invention and the various advantages which it provides will be better understood in the light of the following description, given with reference to the appended figures, in which:

- Figure 1, already described above, shows, in the form of a simplified block diagram, the operating principle of a standard ACC system;

FIG. 2, already described above, illustrates examples of behaviors for two standard ACC systems having different adjustment parameters;

- Figure 3 shows, in simplified form, the control elements of an ACC system according to the invention.

- Figure 4 shows a vehicle equipped with an ACC system according to the invention.

The principle of the invention is based on the possibility given to the driver of the motor vehicle on which an ACC 1 system such as that shown in FIG. 1 is on board, to evaluate for himself the behavior of the ACC system in a driving situation, during a learning step, then on the control allowing to come to indicate to the ACC system the adjustment parameter which it must apply according to the rolling situation encountered, and taking into account the results of the evaluation.

By evaluation is meant a rating or more generally any evaluation data corresponding to a degree of satisfaction or, on the contrary, dissatisfaction of the driver with the behavior of the ACC 1 system in a given situation. It can therefore simply be a choice between two values (corresponding respectively to a "satisfied" or "not satisfied" state of the user), or a selection and / or entry of an evaluation value among several values, for example on an Likert scale type of appreciation scale which offers evaluation choices ranging from one extreme to the other (for example, "Not at all satisfied" to "Very satisfied"). The rating or evaluation entered by the user can also answer a specific question posed beforehand by the control system, or correspond to a more targeted evaluation of the behavior of the ACC system 1. One can for example target the questionnaire to know if the driver considers that acceleration and / or braking was too fast or too fast, too fast or too early ...

To do this, the control system according to the invention comprises, as shown in FIG. 3, interaction means 3 which will allow the user to issue a note I _US er · The interaction means 3 can be constituted by any means allowing at least the entry of a data by the user, even an exchange in the case of a question / answer. We can therefore consider voice input, or manual input via a simple button, preferably at the steering wheel of the vehicle, or even a control screen located in the passenger compartment of the vehicle.

The evaluation I _US er entered by the user is delivered to a system control module 2 which supervises the ACC system 1 to which it is connected. The control module 2 also receives the driving conditions under which the ACC system is evaluated, in particular the set speed V _r ef chosen by the user, and, where appropriate, the relative speed and distance indications Δν and Δχ of a third-party vehicle detected at the front of the vehicle.

Depending on the I _US er evaluation, the control module 2 supplies the ACC 1 system with a modified value of the adjustment parameter Θ. Depending on the more or less precise evaluation scale used, several successive evaluations may prove necessary to allow the control module 2 to converge on an adjustment value of the adjustment parameter θ which will make it possible to obtain driver satisfaction. for a given situation.

The control module 2 can then fill in tables (not shown) which make it possible to store the value of the adjustment parameter θ for a given situation.

Thereafter, the control module 2 uses these same tables to deliver to the ACC module 1 the value of the adjustment parameter θ which it must use according to the driving situation.

The learning phase can be launched at any time, for example by allowing the user to enter a learning mode via an interface located in the passenger compartment. Each user of the vehicle can thus adjust their preferences regarding the behavior of the ACC 1 system.

The duration of the learning stage is preferably determined to obtain sufficient evaluations of the driver for different driving situations, so as to allow the system to converge rapidly towards an adjustment of the adjustment parameters of the ACC 1 system which will satisfy the the better the driver.

The invention makes it possible to influence the temporal profile of braking / acceleration of the ACC 1 system in order to best approach the wishes of the user and thus allow him to feel in full confidence with the use of the ACC system. In addition, the invention can allow a different adjustment depending on whether one is in the acceleration phase or in the braking phase, by independent evaluations and / or different adjustments. This avoids categorizing a driver solely as “aggressive driver” or “calm driver” regardless of the driving situation encountered. On the contrary, it is possible here to take into account different attitudes that the same driver could have in front of different situations and to mix behaviors with short reaction times with behaviors with greater reaction times depending on which one is in a situation where you have to brake or in a situation where you can accelerate again.

By adding a control module 2 that acts as a software overlay compared to the ACC 1 system, we also offer a simple solution at low cost to adapt to any existing ACC system.

Claims (7)

REVENDI CATI ONS 1. Method for controlling a speed control system (1) with distance control on board a motor vehicle, the control system (1) being of the type regulating the speed of the motor vehicle by a closed-loop control function of '' at least one set speed (V _re f) chosen by a driver, a relative speed (Δν) of a third vehicle detected at the front of the motor vehicle, a distance (Δχ) separating said third vehicle detected from the motor vehicle and from at least one adjustment parameter (Θ) of the servo proper to the regulation system (1), the method being characterized in that it comprises a learning step during which the behavior of the regulation system (1) in a driving situation of the motor vehicle is evaluated by a driver, and in that the adjustment parameter (Θ) of the regulation system (1) is adjusted according to the results of the evaluation. 2. Control method according to claim 1, characterized in that the learning step comprises manual and / or voice input by a driver of evaluation data representative of his degree of satisfaction with the behavior of the system (1 ) of regulation. 3. Control method according to any one of the preceding claims, characterized in that the behavior of the regulation system (1) is evaluated by a conductor independently depending on whether the regulation system (1) is in the deceleration phase or in the acceleration phase. 4. Control method according to any one of the preceding claims, characterized in that the learning step comprises several successive evaluations of a driver of the behavior of the regulation system (1). 5. Control system for a speed control system (1) with distance control on board a motor vehicle, the control system (1) being of the type regulating the speed of the motor vehicle by a closed-loop servo control function d '' at least one set speed (V _re f) chosen by a driver, of a relative speed (Δν) of a third vehicle detected at the front of the vehicle 5 motor vehicle, by a distance (Δχ) separating said detected third vehicle from the motor vehicle and by at least one adjustment parameter (Θ) of the control proper to the regulation system (1), the system being characterized in that '' it comprises means (3) of interaction with a driver to allow said driver to assess the behavior 10 of the system (1) for regulating the driving situation of the motor vehicle during a learning step, and a control module (2) connected on the one hand, to the means (3) for interaction, and on the other hand, to the regulation system (1), said control module (2) being able to adjust the adjustment parameter (Θ) of the regulation system (1) 15 based on the results of the assessment. 6. Control system according to claim 5, characterized in that the means (3) for interaction comprise a manual activation control. 7. Control system according to claim 5, characterized in that The interaction means (3) comprise a voice recognition device. 1/2