FR3119147B1 - Contrôleur embarqué à bord d’un véhicule automobile autonome et véhicule automobile autonome correspondant - Google Patents

Contrôleur embarqué à bord d’un véhicule automobile autonome et véhicule automobile autonome correspondant Download PDF

Info

Publication number
FR3119147B1
FR3119147B1 FR2100613A FR2100613A FR3119147B1 FR 3119147 B1 FR3119147 B1 FR 3119147B1 FR 2100613 A FR2100613 A FR 2100613A FR 2100613 A FR2100613 A FR 2100613A FR 3119147 B1 FR3119147 B1 FR 3119147B1
Authority
FR
France
Prior art keywords
motor vehicle
autonomous motor
manual
controller
intended
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
FR2100613A
Other languages
English (en)
Other versions
FR3119147A1 (fr
Inventor
Paulo Miranda
Nicolas Desmoineaux
Laurent Vallot
Aurélien Gaget
Laurianne Choquet
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.)
Transdev Group Innovation SAS
Original Assignee
Transdev Group Innovation 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 Transdev Group Innovation SAS filed Critical Transdev Group Innovation SAS
Priority to FR2100613A priority Critical patent/FR3119147B1/fr
Publication of FR3119147A1 publication Critical patent/FR3119147A1/fr
Application granted granted Critical
Publication of FR3119147B1 publication Critical patent/FR3119147B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • 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
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • 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
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/023—Avoiding failures by using redundant parts
    • 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
    • B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
    • B60W60/00186—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions related to the vehicle
    • 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
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • B60W60/0054—Selection of occupant to assume driving tasks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
    • G06F11/16—Error detection or correction of the data by redundancy in hardware
    • G06F11/20—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements
    • G06F11/202—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements where processing functionality is redundant
    • G06F11/2023—Failover techniques
    • G06F11/2028—Failover techniques eliminating a faulty processor or activating a spare
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B60W2050/022—Actuator failures
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • B60W2050/0297—Control Giving priority to different actuators or systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Theoretical Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Contrôleur embarqué à bord d’un véhicule automobile autonome et véhicule automobile autonome correspondant Le contrôleur (10) comporte une interface de communication aval (20), destinée à être reliée à au moins un actionneur électromécanique de traction/freinage (22, 26) ou de direction (21, 25), une interface de communication amont (30) destinée à être reliée à un dispositif de pilotage automatique (32), et un connecteur électrique (40) destiné à être connecté à des moyens de pilotage manuel (42). Le contrôleur (10) intègre un module orchestrateur (15) propre à détecter que des consignes manuelles de pilotage sont reçues des moyens de pilotage manuel (42) et à basculer d’un mode de fonctionnement autonome, dans lequel les commandes transmises à l’actionneur électromécanique correspondent à des consignes reçues du dispositif de pilotage automatique (32), vers un mode de fonctionnement manuel, dans lequel les commandes transmises à l’actionneur électromécanique correspondent aux consignes manuelles reçues des moyens de pilotage manuel (42). Figure pour l'abrégé : Figure 1
FR2100613A 2021-01-22 2021-01-22 Contrôleur embarqué à bord d’un véhicule automobile autonome et véhicule automobile autonome correspondant Active FR3119147B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR2100613A FR3119147B1 (fr) 2021-01-22 2021-01-22 Contrôleur embarqué à bord d’un véhicule automobile autonome et véhicule automobile autonome correspondant

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2100613A FR3119147B1 (fr) 2021-01-22 2021-01-22 Contrôleur embarqué à bord d’un véhicule automobile autonome et véhicule automobile autonome correspondant
FR2100613 2021-01-22

Publications (2)

Publication Number Publication Date
FR3119147A1 FR3119147A1 (fr) 2022-07-29
FR3119147B1 true FR3119147B1 (fr) 2024-03-22

Family

ID=76522996

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2100613A Active FR3119147B1 (fr) 2021-01-22 2021-01-22 Contrôleur embarqué à bord d’un véhicule automobile autonome et véhicule automobile autonome correspondant

Country Status (1)

Country Link
FR (1) FR3119147B1 (fr)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2989047B1 (fr) * 2012-04-05 2014-04-11 Renault Sa Systeme de commande de vehicule en mode autonome et vehicule comprenant un tel systeme de commande
FR3068345B1 (fr) * 2017-06-29 2019-08-23 Compagnie Generale Des Etablissements Michelin Systeme de commande d'un chariot elevateur a fourche a plusieurs modes de fonctionnement
CN109229102A (zh) * 2017-07-04 2019-01-18 百度在线网络技术（北京）有限公司 无人驾驶车辆控制系统、方法和装置
US10521974B2 (en) * 2017-08-28 2019-12-31 GM Global Technology Operations LLC Method and apparatus for monitoring an autonomous vehicle
KR20200081530A (ko) * 2018-12-19 2020-07-08 주식회사 만도 자율 주행 차량의 안전 제어 시스템 및 방법
US11975727B2 (en) * 2019-06-04 2024-05-07 Volvo Truck Corporation Autonomous vehicle control system

Also Published As

Publication number Publication date
FR3119147A1 (fr) 2022-07-29

Similar Documents

Publication Publication Date Title
CN107531272A (zh) 用于自主车辆的转向系统和方法
DE502007003187D1 (de) Parklenkassistent mit verbesserter quereinparkfunktion
JP2019533604A (ja) 車両の高度自動運転モードが停止された場合に運転者を支援するための方法および装置
FR3051725B1 (fr) Systeme de qualite d'air pour vehicule automobile
FR3098781B1 (fr) Ensemble de pilotage de véhicule, notamment de véhicule ferroviaire, et procédé de commande associé
JP2020094622A (ja) 車両用クリーナシステム
FR3056801B1 (fr) Dispositif d'alerte lumineux pour vehicule automobile autonome
CN107002862B (zh) 包括自动变速器和可手动操纵的换挡元件的车辆
EP2628659A3 (fr) Système de direction de véhicule
FR3101306B1 (fr) Dispositif de contrôle de l’angle de braquage d’un véhicule automobile à conduite autonome
EP3006251A1 (fr) Unité de commande de force d'entraînement de véhicule, système et procédé de commande, et véhicule
KR20140016017A (ko) 차량의 크루즈 컨트롤 장치 및 그 방법
FR3117980B1 (fr) Système de commande, et véhicule automobile associé
FR3119147B1 (fr) Contrôleur embarqué à bord d’un véhicule automobile autonome et véhicule automobile autonome correspondant
FR2904595B1 (fr) Dispositif de liaison pour systeme de direction.
FR3121111B1 (fr) Dispositif de contrôle d’un angle de braquage d’un véhicule automobile autonome ou du freinage du véhicule automobile autonome, et véhicule comprenant ce dispositif
JP5918647B2 (ja) 車両用制御装置
FR2891648A1 (fr) Procede et systeme de controle du deplacement d'un vehicule a proximite d'un obstacle.
CN103465847A (zh) 一种禁止操作车载设备的控制方法及系统
EP1584539A3 (fr) Système de direction hydro-statique
FR3010473B1 (fr) Procede et systeme de pilotage d'un embrayage
KR101131341B1 (ko) 자동 변속기 변속 제어 장치
WO2006000431A3 (fr) Dispositif de commande d'un dispositif de reglage dans un vehicule automobile
KR102228444B1 (ko) 수동변속기 자동차용 클러치 제어장치
US5769179A (en) Power steering system and method for a vehicle

Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 2

PLSC Publication of the preliminary search report

Effective date: 20220729

PLFP Fee payment

Year of fee payment: 3

PLFP Fee payment

Year of fee payment: 4