FR3107605B1 - Procede de pilotage du robot de conduite utilise pour les essais d’homologation de vehicules automobiles - Google Patents

Procede de pilotage du robot de conduite utilise pour les essais d’homologation de vehicules automobiles Download PDF

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Publication number
FR3107605B1
FR3107605B1 FR2001678A FR2001678A FR3107605B1 FR 3107605 B1 FR3107605 B1 FR 3107605B1 FR 2001678 A FR2001678 A FR 2001678A FR 2001678 A FR2001678 A FR 2001678A FR 3107605 B1 FR3107605 B1 FR 3107605B1
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FR
France
Prior art keywords
controlling
acceleration
driving robot
motor vehicle
robot used
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.)
Active
Application number
FR2001678A
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English (en)
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FR3107605A1 (fr
Inventor
Frederic Cadilhon
Jean Francois Legros
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.)
Stellantis Auto Sas Fr
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
Priority to FR2001678A priority Critical patent/FR3107605B1/fr
Publication of FR3107605A1 publication Critical patent/FR3107605A1/fr
Application granted granted Critical
Publication of FR3107605B1 publication Critical patent/FR3107605B1/fr
Active legal-status Critical Current
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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
    • G05B13/024—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a parameter or coefficient is automatically adjusted to optimise the performance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36585—Speed and acceleration, rate of change of speed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43006—Acceleration, deceleration control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43094—Acceleration and deceleration together with their respective time

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

La présente invention concerne un procédé de pilotage d’un robot de conduite destiné aux essais d’homologation des véhicules automobiles, comprenant le paramétrage d’au moins un régulateur couplé audit robot, via un gabarit de consignes (C), respectivement, d’accélération et de décélération, caractérisé en ce que, dans une première étape, on analyse le gabarit des consignes de façon à détecter les zones (Z) de forts gradients de vitesse et les temps (t) correspondant au basculement des consignes d’une demande d’accélération vers une demande de décélération ou inversement puis, dans une seconde étape, on modifie le gain intégral (G) du régulateur en amont des temps de basculement des consignes (C) en le multipliant par un coefficient négatif et on l’applique avec un décalage temporel de façon à anticiper le freinage ou l’accélération du véhicule. Fig. 3A
FR2001678A 2020-02-20 2020-02-20 Procede de pilotage du robot de conduite utilise pour les essais d’homologation de vehicules automobiles Active FR3107605B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR2001678A FR3107605B1 (fr) 2020-02-20 2020-02-20 Procede de pilotage du robot de conduite utilise pour les essais d’homologation de vehicules automobiles

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2001678A FR3107605B1 (fr) 2020-02-20 2020-02-20 Procede de pilotage du robot de conduite utilise pour les essais d’homologation de vehicules automobiles
FR2001678 2020-02-20

Publications (2)

Publication Number Publication Date
FR3107605A1 FR3107605A1 (fr) 2021-08-27
FR3107605B1 true FR3107605B1 (fr) 2022-04-08

Family

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FR2001678A Active FR3107605B1 (fr) 2020-02-20 2020-02-20 Procede de pilotage du robot de conduite utilise pour les essais d’homologation de vehicules automobiles

Country Status (1)

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FR (1) FR3107605B1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3135942A1 (fr) * 2022-05-30 2023-12-01 Psa Automobiles Sa Procédé d’apprentissage de la pédale de frein d’un véhicule par un robot de conduite

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3144612B2 (ja) * 1994-04-06 2001-03-12 理化工業株式会社 ファジイ推論によるｐｉｄ制御方法
AT3930U1 (de) 1999-09-13 2000-10-25 Avl List Gmbh Verfahren zur analyse des fahrverhaltens von kraftfahrzeugen
ITMI20091673A1 (it) 2009-09-29 2011-03-30 Giovanni Mariani Banco prova dinamico modulare a rulli per la simulazione di prove su strada di veicoli, in particolare veicoli stradali
JP6504542B2 (ja) * 2015-09-10 2019-04-24 株式会社明電舎 車両速度制御装置
JP6721331B2 (ja) * 2015-12-25 2020-07-15 Thk株式会社 リニアモータの制御装置及び制御方法
JP6075479B1 (ja) * 2016-01-28 2017-02-08 株式会社明電舎 車両の自動運転システムおよび自動運転方法
JP6919543B2 (ja) * 2017-12-12 2021-08-18 株式会社明電舎 車速指令生成装置及び車速指令生成方法

Also Published As

Publication number Publication date
FR3107605A1 (fr) 2021-08-27

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