FR3127186B1 - Procédé de pilotage autonome d’un actionneur d’un appareil - Google Patents

Procédé de pilotage autonome d’un actionneur d’un appareil Download PDF

Info

Publication number
FR3127186B1
FR3127186B1 FR2109851A FR2109851A FR3127186B1 FR 3127186 B1 FR3127186 B1 FR 3127186B1 FR 2109851 A FR2109851 A FR 2109851A FR 2109851 A FR2109851 A FR 2109851A FR 3127186 B1 FR3127186 B1 FR 3127186B1
Authority
FR
France
Prior art keywords
actuator
automobile device
autonomously controlling
trajectory
parameters
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
FR2109851A
Other languages
English (en)
Other versions
FR3127186A1 (fr
Inventor
Anh-Lam Do
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.)
Renault SAS
Nissan Motor Co Ltd
Original Assignee
Renault SAS
Nissan Motor Co Ltd
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 Renault SAS, Nissan Motor Co Ltd filed Critical Renault SAS
Priority to FR2109851A priority Critical patent/FR3127186B1/fr
Publication of FR3127186A1 publication Critical patent/FR3127186A1/fr
Application granted granted Critical
Publication of FR3127186B1 publication Critical patent/FR3127186B1/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
    • 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
    • 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
    • B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
    • 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
    • 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
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/40—Torque distribution

Landscapes

  • 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)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

L’invention concerne un procédé de pilotage autonome d’au moins un actionneur d’un appareil automobile qui est adapté à influer sur la trajectoire dudit appareil automobile, comportant des étapes de : - acquisition de paramètres (Vy, r, ΨL, yL, δ, Mz, γref) relatifs à la trajectoire de l’appareil automobile et de la vitesse (V) dudit appareil automobile, et de - calcul par un calculateur d’une consigne de pilotage (Mz_ref, δref) pour chaque actionneur, en fonction desdits paramètres, en utilisant un contrôleur (K). Selon l’invention, le contrôleur utilisé varie en fonction de la vitesse du véhicule. Figure pour l’abrégé : Fig.4
FR2109851A 2021-09-20 2021-09-20 Procédé de pilotage autonome d’un actionneur d’un appareil Active FR3127186B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR2109851A FR3127186B1 (fr) 2021-09-20 2021-09-20 Procédé de pilotage autonome d’un actionneur d’un appareil

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2109851 2021-09-20
FR2109851A FR3127186B1 (fr) 2021-09-20 2021-09-20 Procédé de pilotage autonome d’un actionneur d’un appareil

Publications (2)

Publication Number Publication Date
FR3127186A1 FR3127186A1 (fr) 2023-03-24
FR3127186B1 true FR3127186B1 (fr) 2024-02-16

Family

ID=78828136

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2109851A Active FR3127186B1 (fr) 2021-09-20 2021-09-20 Procédé de pilotage autonome d’un actionneur d’un appareil

Country Status (1)

Country Link
FR (1) FR3127186B1 (fr)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9915948B2 (en) * 2016-07-14 2018-03-13 Mitsubishi Electric Research Laboratories, Inc. System and method for controlling motion of vehicle
FR3088275B1 (fr) * 2018-11-13 2021-06-18 Renault Sas Procede et systeme d'evitement d'obstacles comprenant la commande des systemes de braquage et de freinage differentiel
FR3093689B1 (fr) * 2019-03-12 2021-04-09 Renault Procédé d’élaboration d’une consigne de pilotage mixte d’un système de braquage de roues et d’un système de freinage différentiel d’un véhicule automobile
FR3099450B1 (fr) 2019-08-01 2022-06-03 Renault Sas Procédé de pilotage autonome d’un actionneur d’un appareil automobile

Also Published As

Publication number Publication date
FR3127186A1 (fr) 2023-03-24

Similar Documents

Publication Publication Date Title
FR3093689B1 (fr) Procédé d’élaboration d’une consigne de pilotage mixte d’un système de braquage de roues et d’un système de freinage différentiel d’un véhicule automobile
FR3099450B1 (fr) Procédé de pilotage autonome d’un actionneur d’un appareil automobile
US11305815B2 (en) Disturbance feedforward control in cascade regulation
FR3063265B1 (fr) Dispositif de controle de trajectoire d un vehicule
CN107757620A (zh) 用于运行自动化机动车的方法和设备
FR2854962B1 (fr) Procede et dispositif de pilotage d'un aeronef
FR3127186B1 (fr) Procédé de pilotage autonome d’un actionneur d’un appareil
FR3093687B1 (fr) Procédé de pilotage autonome d’une mobilité d’un appareil
FR3125785B1 (fr) Procédé de pilotage de véhicule et d’évitement d’obstacle
JPH11311314A (ja) 速度ペダルの変位に応じて異なるレベルのジャ―クを提供するシステム及び方法
FR3094324B1 (fr) Procédé de pilotage autonome d’un organe de commande de trajectoire d’un appareil
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
FR3089494B1 (fr) Procédé d’asservissement en vitesse d’un dispositif d’entraînement en rotation des roues d’un aéronef
CN112596529B (zh) 基于方向的机器人行走速度调节方法、芯片及视觉机器人
FR3108879B1 (fr) Procédé et dispositif pour désactiver et réactiver un système de régulation de distance et/ou de vitesse d’un véhicule à moteur
FR3100515B1 (fr) Procédé de commande d’un système de régulation d’une distance inter-véhicules
FR3099113B1 (fr) Procédé de pilotage d’un véhicule automobile
RU2017144020A (ru) Система обучения водителя
JPH11287212A (ja) 機械の制御方法及び機械の制御装置
WO2016037658A1 (fr) Dispositif de commande de robot, unité de robot et procédé pour commander le fonctionnement d'une unité de robot
FR3100778B1 (fr) Procede de pilotage d’un vehicule automobile
FR3057527B1 (fr) Procede de commande d'un manipulateur de conduite de vehicule ferroviaire a retour de force
WO2023286428A1 (fr) Dispositif de commande de mécanisme de génération de force, et procédé de commande de mécanisme de génération de force
US11794303B2 (en) Systems and methods for polishing component surfaces using polishing tool mounted on motorized apparatus
JPH08210488A (ja) 連続可変式変速機の変速比を制御する方法及び装置

Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 2

PLSC Publication of the preliminary search report

Effective date: 20230324

PLFP Fee payment

Year of fee payment: 3

CA Change of address

Effective date: 20240301