WO2007039689A2 - Method and system for controlling the movement of a vehicle close to an obstacle - Google Patents

Method and system for controlling the movement of a vehicle close to an obstacle Download PDF

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Publication number
WO2007039689A2
WO2007039689A2 PCT/FR2006/050862 FR2006050862W WO2007039689A2 WO 2007039689 A2 WO2007039689 A2 WO 2007039689A2 FR 2006050862 W FR2006050862 W FR 2006050862W WO 2007039689 A2 WO2007039689 A2 WO 2007039689A2
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WO
WIPO (PCT)
Prior art keywords
vehicle
clutch
obstacle
speed
proximity
Prior art date
Application number
PCT/FR2006/050862
Other languages
French (fr)
Other versions
WO2007039689A3 (en
Inventor
Yannick Guillouzic
Sylvain Rivoiron
Original Assignee
Renault S.A.S
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 S.A.S filed Critical Renault S.A.S
Publication of WO2007039689A2 publication Critical patent/WO2007039689A2/en
Publication of WO2007039689A3 publication Critical patent/WO2007039689A3/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D48/00—External control of clutches
    • F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
    • F16D48/08—Regulating clutch take-up on starting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/302—Signal inputs from the actuator
    • F16D2500/3026—Stroke
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/31—Signal inputs from the vehicle
    • F16D2500/3108—Vehicle speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/312—External to the vehicle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/502—Relating the clutch
    • F16D2500/50224—Drive-off
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/704—Output parameters from the control unit; Target parameters to be controlled
    • F16D2500/70402—Actuator parameters
    • F16D2500/7041—Position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/706—Strategy of control
    • F16D2500/7061—Feed-back
    • F16D2500/70626—PID control

Definitions

  • the present invention relates to a method for controlling the movement of a motor vehicle, equipped with a robotized or automatic gearbox and a proximity obstacle detection device, fixed or mobile, and more precisely its setting in motion , close to an obstacle. It also relates to an embedded system for implementing said method.
  • the setting in motion of a motor vehicle equipped with a robotized gearbox or an automatic gearbox is managed in two possible ways: at startup, that is to say when the setting in motion has place by support of the driver on the accelerator pedal and automatic closing of the clutch, the clutch being intended to transmit to the wheels the torque delivered by the engine, in forward as in reverse; in ramping, that is to say when the setting in motion takes place by progressive automatic closing of the clutch, on the idle speed of the engine, the gearbox being engaged either on the first gear or the reverse, without driver intervention on the accelerator pedal or on the brake pedal.
  • a current back-up assistance solution consists in integrating a proximity radar into the rear bumper of the vehicle, which informs the driver of the possible presence of an obstacle, but without, however, controlling the setting in motion of the vehicle. function of this obstacle.
  • the object of the invention is to propose a method of controlling the setting in motion of a vehicle, equipped with a robotized or automatic gearbox, by slaving to the information delivered by a device for detecting proximity obstacles.
  • a first object of the invention is a method for controlling the setting in motion of a motor vehicle equipped with a robotic or automatic gearbox and a device for detecting fixed or mobile proximity obstacles. , characterized in that it consists in slaving, crawling phase or starting the vehicle while its speed is below a threshold corresponding to the idling speed and that the gearbox is engaged on the first gear or reverse gear driving the vehicle by controlling the opening of the clutch according to the obstacle proximity information delivered by the obstacle detection device.
  • the opening of the clutch is controlled according to the distance between the detected obstacle and the vehicle.
  • a second object of the invention is a system for implementing the method for controlling the setting in motion of a motor vehicle equipped with a robotic or automatic gearbox and a device for detecting proximity obstacles.
  • fixed or mobile comprising first integration means, receiving as input information on the speed of the vehicle and information on the position of the clutch abutment, representative of the engine torque transmitted to the wheels by the electronically controlled clutch, and whose output signal is the actual value of the position of the clutch, which is sent to the input of second integration means, receiving further information on the speed of the vehicle and a proximity information of an obstacle detected near the vehicle and whose output signal is the clutch opening instruction as a function of the distance between the detected obstacle and the vehicle, a returnee loop r with a stability constant for ensuring the stability of the setpoint being associated with the second integration means.
  • the method according to the invention relates to a motor vehicle equipped with a robotized or automatic gearbox, which manages the gearshifts automatically and sets the vehicle in motion without the driver having to maneuver a clutch pedal.
  • the clutch is automatically controlled by an electronic computer to transmit to the wheels of the vehicle the torque delivered by the motor and necessary for their rotation. When the clutch is open, the couple transmitted is zero and when closed, the transmitted torque is maximum. In ramping phase, the speed of movement of the vehicle is directly dependent on this torque, without the driver pressing the accelerator pedal.
  • the method according to the invention consists in coupling the automatism of a robotized or automatic gearbox to a proximity sensor system, such as a reversing radar, a camera or the like, detecting the environment close to the vehicle.
  • a proximity sensor system such as a reversing radar, a camera or the like
  • the opening of the clutch is controlled according to the distance to a fixed or moving obstacle detected by the proximity device. Without the driver having to depress the brake pedal, the method controls the stopping of the transmission of the engine torque to the wheels by the total opening of the clutch.
  • the method controls the total opening of the clutch to stop the transmission of engine torque to wheels and inhibit starting.
  • the depression of the accelerator pedal by the driver is then without effect on the setting in motion of the vehicle.
  • An exemplary implementation system of the control method according to the invention, embedded on the vehicle, is represented by an electronic diagram in the single figure. It comprises first integration means 1, receiving as input information on the speed of the vehicle V v , delivered by a sensor or a computer 2 integrated in the vehicle and which will be taken into account if it is less than a maximum threshold defined by development. Said integrating means also receive the information eg on the position of the clutch bearing, delivered by a sensor 3 and representative of the engine torque transmitted to the wheels through the clutch electronically controlled by a robotized or automatic gearbox, including the gear ratios are taken into account in the vehicle speed information V v according to the gear engaged.
  • first integration means 1 receiving as input information on the speed of the vehicle V v , delivered by a sensor or a computer 2 integrated in the vehicle and which will be taken into account if it is less than a maximum threshold defined by development. Said integrating means also receive the information eg on the position of the clutch bearing, delivered by a sensor 3 and representative of the engine torque transmitted to the wheels through the
  • These means are for example a PID type integrator - proportional integral derivative - whose output signal S pe is the actual value of the position of the clutch, which is sent to the input of second integration means 4, receiving further information on the speed V v of the vehicle as well as a proximity information prox an obstacle detected at the rear or front of the motor vehicle.
  • This proximity information is delivered by a device 5 for detecting fixed or mobile proximity obstacles, embedded on the vehicle and is particularly representative of the distance between the detected obstacle and the vehicle.
  • These second integration means 4 are, for example, a PID type integrator, the output signal C pe of which is the setpoint of the position of the clutch abutment as a function of the distance between the detected obstacle and the vehicle.
  • the system associates with the second integration means 4 a delay loop 6 with a stability constant ⁇ intended to ensure the stability of the setpoint.
  • the proximity distance is calibrated to 10 cm for example and the development of the opening values of the clutch as a function of this distance is made by calibration according to the type of vehicle.
  • This system for controlling the setting in motion of the vehicle by controlling the clutch as a function of the proximity of a detected obstacle may advantageously be integrated into the electronic computer of the robotised or automatic gearbox of the vehicle.
  • the main advantages of the invention are assistance with parking maneuvers and pedestrian safety in particular and obstacles in general, since the opening of the clutch is controlled by the proximity of an obstacle detected by the vehicle itself. -even.
  • the partial or total opening of the clutch can be controlled to stop the vehicle and therefore avoid any brutal shock.

Abstract

The invention relates to a method and system for controlling the movement of a motor vehicle which is equipped with an automatic or robotised gearbox and a device for detecting nearby fixed or moving obstacles. The invention is characterised in that, during the vehicle starting or creeping phase and while the speed thereof is less than a threshold corresponding to idling speed and the gearbox is in first or reverse, the movement of the vehicle is automatically controlled by controlling the opening of the clutch as a function of data relating to the proximity of an obstacle, such as distance, which are delivered by the obstacle detection device.

Description

Procédé et système de contrôle du déplacement d'un véhicule à proximité d'un obstacle. Method and system for controlling the movement of a vehicle near an obstacle
La présente invention concerne un procédé de contrôle du déplacement d'un véhicule automobile, équipé d'une boîte de vitesses robotisée ou automatique et d'un dispositif détecteur d'obstacles de proximité, fixes ou mobiles, et plus précisément de sa mise en mouvement, en proximité d'un obstacle. Elle concerne également un système embarqué de mise en œuvre dudit procédé.The present invention relates to a method for controlling the movement of a motor vehicle, equipped with a robotized or automatic gearbox and a proximity obstacle detection device, fixed or mobile, and more precisely its setting in motion , close to an obstacle. It also relates to an embedded system for implementing said method.
Actuellement, la mise en mouvement d'un véhicule automobile équipé d'une boîte de vitesses robotisée ou d'une boîte de vitesses automatique est gérée de deux manières possibles : en démarrage, c'est-à-dire quand la mise en mouvement a lieu par appui du conducteur sur la pédale d'accélération et fermeture automatique de l'embrayage, l'embrayage étant destiné à transmettre aux roues le couple délivré par le moteur, en marche avant comme en marche arrière ; en rampage, c'est-à-dire quand la mise en mouvement a lieu par fermeture automatique progressive de l'embrayage, sur le régime de ralenti du moteur, la boîte de vitesses étant engagée soit sur le premier rapport soit la marche arrière, sans intervention du conducteur ni sur la pédale d'accélérateur, ni sur la pédale de frein.Currently, the setting in motion of a motor vehicle equipped with a robotized gearbox or an automatic gearbox is managed in two possible ways: at startup, that is to say when the setting in motion has place by support of the driver on the accelerator pedal and automatic closing of the clutch, the clutch being intended to transmit to the wheels the torque delivered by the engine, in forward as in reverse; in ramping, that is to say when the setting in motion takes place by progressive automatic closing of the clutch, on the idle speed of the engine, the gearbox being engaged either on the first gear or the reverse, without driver intervention on the accelerator pedal or on the brake pedal.
En manœuvre de parking, le rampage seul ne permet pas d'éviter un choc si le conducteur lui-même n'a pas détecté la proximité d'un obstacle fixe ou mobile. Une solution actuelle d'assistance aux manœuvres de marche arrière consiste à intégrer un radar de proximité dans le bouclier arrière du véhicule, qui informe le conducteur de la présence éventuelle d'un obstacle, mais sans pour autant contrôler la mise en mouvement du véhicule en fonction de cet obstacle.In parking maneuver, ramping alone does not prevent a shock if the driver himself has not detected the proximity of a fixed or mobile obstacle. A current back-up assistance solution consists in integrating a proximity radar into the rear bumper of the vehicle, which informs the driver of the possible presence of an obstacle, but without, however, controlling the setting in motion of the vehicle. function of this obstacle.
Le but de l'invention est de proposer un procédé de contrôle de la mise en mouvement d'un véhicule, équipé d'une boîte de vitesses robotisée ou automatique, par asservissement aux informations délivrées par un dispositif de détection d'obstacles de proximité. Pour cela, un premier objet de l'invention est un procédé de contrôle de la mise en mouvement d'un véhicule automobile équipé d'une boîte de vitesses robotisée ou automatique et d'un dispositif de détection d'obstacles de proximité fixes ou mobiles, caractérisé en ce qu'il consiste à asservir, en phase de rampage ou de démarrage du véhicule alors que sa vitesse est inférieure à un seuil correspondant au régime de ralenti et que la boîte de vitesses est engagée sur le premier rapport ou la marche arrière, la mise en mouvement du véhicule par pilotage de l'ouverture de l'embrayage en fonction de l'information de proximité d'obstacle délivrée par le dispositif de détection d'obstacle.The object of the invention is to propose a method of controlling the setting in motion of a vehicle, equipped with a robotized or automatic gearbox, by slaving to the information delivered by a device for detecting proximity obstacles. For this purpose, a first object of the invention is a method for controlling the setting in motion of a motor vehicle equipped with a robotic or automatic gearbox and a device for detecting fixed or mobile proximity obstacles. , characterized in that it consists in slaving, crawling phase or starting the vehicle while its speed is below a threshold corresponding to the idling speed and that the gearbox is engaged on the first gear or reverse gear driving the vehicle by controlling the opening of the clutch according to the obstacle proximity information delivered by the obstacle detection device.
Selon une autre caractéristique du procédé, l'ouverture de l'embrayage est pilotée en fonction de la distance entre l'obstacle détecté et le véhicule.According to another characteristic of the method, the opening of the clutch is controlled according to the distance between the detected obstacle and the vehicle.
Un second objet de l'invention est un système de mise en œuvre du procédé de contrôle de la mise en mouvement d'un véhicule automobile équipé d'une boîte de vitesses robotisée ou automatique et d'un dispositif de détection d'obstacles de proximité fixes ou mobiles, comprenant des premiers moyens d'intégration, recevant en entrée une information sur la vitesse du véhicule et une information sur la position de la butée d'embrayage, représentative du couple moteur transmis aux roues par l'embrayage piloté électroniquement, et dont le signal de sortie est la valeur réelle de la position de l'embrayage, qui est envoyée à l'entrée de seconds moyens d'intégration, recevant de plus l'information sur la vitesse du véhicule ainsi qu'une information de proximité d'un obstacle détecté à proximité du véhicule et dont le signal de sortie est la consigne d'ouverture de l'embrayage en fonction de la distance entre l'obstacle détecté et le véhicule, une boucle de retour avec une constante de stabilité destinée à assurer la stabilité de la consigne étant associée aux seconds moyens d'intégration.A second object of the invention is a system for implementing the method for controlling the setting in motion of a motor vehicle equipped with a robotic or automatic gearbox and a device for detecting proximity obstacles. fixed or mobile, comprising first integration means, receiving as input information on the speed of the vehicle and information on the position of the clutch abutment, representative of the engine torque transmitted to the wheels by the electronically controlled clutch, and whose output signal is the actual value of the position of the clutch, which is sent to the input of second integration means, receiving further information on the speed of the vehicle and a proximity information of an obstacle detected near the vehicle and whose output signal is the clutch opening instruction as a function of the distance between the detected obstacle and the vehicle, a returnee loop r with a stability constant for ensuring the stability of the setpoint being associated with the second integration means.
D'autres caractéristiques et avantages de l'invention apparaîtront à la lecture de la description du procédé, illustrée par la figure unique qui est un schéma électronique d'un système de contrôle du déplacement d'un véhicule selon l'invention.Other features and advantages of the invention will appear on reading the description of the method, illustrated by the single figure which is an electronic diagram of a vehicle displacement control system according to the invention.
Le procédé selon l'invention concerne un véhicule automobile équipé d'une boîte de vitesses robotisée ou automatique, qui gère les passages de rapports automatiquement et met en mouvement le véhicule sans que le conducteur n'ait à manœuvrer une pédale d'embrayage. L'embrayage est piloté automatiquement par un calculateur électronique pour transmettre aux roues du véhicule le couple délivré par le moteur et nécessaire à leur rotation. Lorsque l'embrayage est ouvert, le couple transmis est nul et lorsqu'il est fermé, le couple transmis est maximal. En phase de rampage, la vitesse de déplacement du véhicule est directement fonction de ce couple, sans que le conducteur appuie sur la pédale d'accélérateur.The method according to the invention relates to a motor vehicle equipped with a robotized or automatic gearbox, which manages the gearshifts automatically and sets the vehicle in motion without the driver having to maneuver a clutch pedal. The clutch is automatically controlled by an electronic computer to transmit to the wheels of the vehicle the torque delivered by the motor and necessary for their rotation. When the clutch is open, the couple transmitted is zero and when closed, the transmitted torque is maximum. In ramping phase, the speed of movement of the vehicle is directly dependent on this torque, without the driver pressing the accelerator pedal.
Le procédé selon l'invention consiste à coupler l'automatisme d'une boîte de vitesses robotisée ou automatique à un système de capteur de proximité, tel un radar de recul, une caméra ou autre, détectant l'environnement proche du véhicule.The method according to the invention consists in coupling the automatism of a robotized or automatic gearbox to a proximity sensor system, such as a reversing radar, a camera or the like, detecting the environment close to the vehicle.
Ainsi, en phase de rampage, c'est-à-dire quand la mise en mouvement du véhicule a lieu sans intervention du conducteur sur l'accélérateur, alors que l'embrayage n'est pas totalement fermé et que la vitesse du véhicule est inférieure à un seuil maximal, défini par mise au point, l'ouverture de l'embrayage est pilotée en fonction de la distance à un obstacle fixe ou mobile détecté par le dispositif de proximité. Sans que le conducteur n'ait à appuyer sur la pédale de freins, le procédé commande l'arrêt de la transmission du couple moteur aux roues par l'ouverture totale de l'embrayage.Thus, in ramping phase, that is to say when the setting in motion of the vehicle takes place without intervention of the driver on the accelerator, while the clutch is not completely closed and the speed of the vehicle is less than a maximum threshold, defined by focusing, the opening of the clutch is controlled according to the distance to a fixed or moving obstacle detected by the proximity device. Without the driver having to depress the brake pedal, the method controls the stopping of the transmission of the engine torque to the wheels by the total opening of the clutch.
En phase de démarrage, c'est-à-dire quand la mise en mouvement du véhicule a lieu par appui du conducteur sur la pédale d'accélérateur, dans le cas où le dispositif de proximité détecte la présence d'un obstacle fixe ou mobile situé à une distance du véhicule inférieure à un seuil prédéfini et alors que la vitesse du véhicule est inférieure à un seuil maximal, défini par mise au point, le procédé commande l'ouverture totale de l'embrayage pour arrêter la transmission du couple moteur aux roues et inhiber le démarrage. L'enfoncement de la pédale d'accélérateur par le conducteur est alors sans effet sur la mise en mouvement du véhicule.In the starting phase, that is to say when the vehicle is set in motion by the driver pressing on the accelerator pedal, in the case where the proximity device detects the presence of a fixed or moving obstacle located at a distance from the vehicle below a predefined threshold and while the speed of the vehicle is below a maximum threshold, defined by focusing, the method controls the total opening of the clutch to stop the transmission of engine torque to wheels and inhibit starting. The depression of the accelerator pedal by the driver is then without effect on the setting in motion of the vehicle.
Un exemple de système de mise en oeuvre du procédé de contrôle selon l'invention, embarqué sur le véhicule, est représenté par un schéma électronique sur la figure unique. Il comporte des premiers moyens d'intégration 1 , recevant en entrée une information sur la vitesse du véhicule Vv , délivrée par un capteur ou un calculateur 2 intégré au véhicule et qui sera prise en compte si elle est inférieure à un seuil maximal défini par mise au point. Lesdits moyens d'intégration reçoivent également une information lpe sur la position de la butée d'embrayage, délivrée par un capteur 3 et représentative du couple moteur transmis aux roues par l'embrayage piloté électroniquement par une boîte de vitesses robotisée ou automatique, dont les démultiplications sont prises en compte dans l'information vitesse du véhicule Vv selon le rapport engagé. Ces moyens sont par exemple un intégrateur de type PID - proportionnel intégral dérivé -, dont le signal Spe de sortie est la valeur réelle de la position de l'embrayage, qui est envoyée à l'entrée de seconds moyens 4 d'intégration, recevant de plus l'information sur la vitesse Vv du véhicule ainsi qu'une information de proximité lprox d'un obstacle détecté à l'arrière ou à l'avant du véhicule automobile. Cette information de proximité est délivrée par un dispositif 5 de détection d'obstacles de proximité fixes ou mobiles, embarqué sur le véhicule et est notamment représentative de la distance entre l'obstacle détecté et le véhicule. Ces seconds moyens d'intégration 4 sont par exemple un intégrateur de type PID, dont le signal de sortie Cpe est la consigne de la position de la butée de l'embrayage en fonction de la distance entre l'obstacle détecté et le véhicule. Cette valeur de proximité entre l'obstacle et le véhicule pouvant ne pas être toujours continue, le système associe aux seconds moyens d'intégration 4 une boucle de retard 6 avec une constante de stabilité τ destinée à assurer la stabilité de la consigne. La distance de proximité est calibrée à 10 cm par exemple et la mise au point des valeurs d'ouverture de l'embrayage en fonction de cette distance est faite par calibration selon le type de véhicule.An exemplary implementation system of the control method according to the invention, embedded on the vehicle, is represented by an electronic diagram in the single figure. It comprises first integration means 1, receiving as input information on the speed of the vehicle V v , delivered by a sensor or a computer 2 integrated in the vehicle and which will be taken into account if it is less than a maximum threshold defined by development. Said integrating means also receive the information eg on the position of the clutch bearing, delivered by a sensor 3 and representative of the engine torque transmitted to the wheels through the clutch electronically controlled by a robotized or automatic gearbox, including the gear ratios are taken into account in the vehicle speed information V v according to the gear engaged. These means are for example a PID type integrator - proportional integral derivative - whose output signal S pe is the actual value of the position of the clutch, which is sent to the input of second integration means 4, receiving further information on the speed V v of the vehicle as well as a proximity information prox an obstacle detected at the rear or front of the motor vehicle. This proximity information is delivered by a device 5 for detecting fixed or mobile proximity obstacles, embedded on the vehicle and is particularly representative of the distance between the detected obstacle and the vehicle. These second integration means 4 are, for example, a PID type integrator, the output signal C pe of which is the setpoint of the position of the clutch abutment as a function of the distance between the detected obstacle and the vehicle. Since this value of proximity between the obstacle and the vehicle may not always be continuous, the system associates with the second integration means 4 a delay loop 6 with a stability constant τ intended to ensure the stability of the setpoint. The proximity distance is calibrated to 10 cm for example and the development of the opening values of the clutch as a function of this distance is made by calibration according to the type of vehicle.
Ce système de contrôle de la mise en mouvement du véhicule par pilotage de l'embrayage en fonction de la proximité d'un obstacle détecté peut être avantageusement intégré au calculateur électronique de la boîte de vitesses robotisée ou automatique du véhicule.This system for controlling the setting in motion of the vehicle by controlling the clutch as a function of the proximity of a detected obstacle may advantageously be integrated into the electronic computer of the robotised or automatic gearbox of the vehicle.
Les principaux avantages de l'invention sont l'assistance aux manœuvres de parking et la sécurité des piétons en particulier et des obstacles en général, car l'ouverture de l'embrayage est asservie à la proximité d'un obstacle détecté par le véhicule lui-même. Ainsi, lorsque la vitesse du véhicule est inférieure à un seuil correspondant au régime de ralenti, alors que la boîte de vitesses est enclenchée en première ou en marche arrière, l'ouverture partielle ou totale de l'embrayage peut être commandée pour arrêter le véhicule et donc éviter tout choc brutal. The main advantages of the invention are assistance with parking maneuvers and pedestrian safety in particular and obstacles in general, since the opening of the clutch is controlled by the proximity of an obstacle detected by the vehicle itself. -even. Thus, when the speed of the vehicle is below a threshold corresponding to the idling speed, while the gearbox is engaged first or in reverse, the partial or total opening of the clutch can be controlled to stop the vehicle and therefore avoid any brutal shock.

Claims

REVENDICATIONS
1. Procédé de contrôle de la mise en mouvement d'un véhicule automobile équipé d'une boîte de vitesses robotisée ou automatique et d'un dispositif de détection d'obstacles de proximité fixes ou mobiles, caractérisé en ce qu'il consiste à asservir, en phase de rampage ou de démarrage du véhicule alors que sa vitesse est inférieure à un seuil correspondant au régime de ralenti et que la boîte de vitesses est engagée sur le premier rapport ou sur la marche arrière, la mise en mouvement du véhicule par pilotage de l'ouverture de l'embrayage en fonction de l'information de proximité d'un obstacle délivrée par le dispositif de détection d'obstacle.1. A method for controlling the setting in motion of a motor vehicle equipped with a robotized or automatic gearbox and a device for detecting fixed or mobile proximity obstacles, characterized in that it consists in enslaving in the ramping or starting phase of the vehicle when its speed is below a threshold corresponding to the idling speed and when the gearbox is engaged on the first gear or in the reverse gear, the vehicle is set in motion opening the clutch according to the proximity information of an obstacle delivered by the obstacle detection device.
2. Procédé de contrôle selon la revendication 1 , caractérisé en ce que l'ouverture de l'embrayage est pilotée en fonction de la distance entre l'obstacle détecté et le véhicule équipé.2. Control method according to claim 1, characterized in that the opening of the clutch is controlled according to the distance between the detected obstacle and the equipped vehicle.
3. Procédé de contrôle selon la revendication 2, caractérisé en ce que, en phase de démarrage et alors que la vitesse du véhicule est inférieure à un seuil maximal, défini par mise au point, dans le cas où le dispositif de proximité détecte la présence d'un obstacle fixe ou mobile situé à une distance du véhicule inférieure à un seuil prédéfini, il commande l'ouverture totale de l'embrayage pour arrêter la transmission du couple moteur aux roues et inhiber le démarrage.3. Control method according to claim 2, characterized in that, in the starting phase and while the speed of the vehicle is less than a maximum threshold, defined by focusing, in the case where the proximity device detects the presence a fixed or moving obstacle located at a distance from the vehicle below a predefined threshold, it controls the total opening of the clutch to stop the transmission of the engine torque to the wheels and inhibit the starting.
4. Système de mise en oeuvre du procédé de contrôle de la mise en mouvement d'un véhicule équipé d'une boîte de vitesses robotisée ou automatique et d'un dispositif de détection d'obstacles de proximité fixes ou mobiles, embarqué sur le véhicule, selon l'une des revendications 1 à 3, caractérisé en ce qu'il comporte des premiers moyens d'intégration (1), recevant en entrée une information sur la vitesse du véhicule (Vv) et une information (lpe) sur la position de la butée d'embrayage, représentative du couple moteur transmis aux roues par l'embrayage piloté électroniquement par la boîte de vitesses robotisée ou automatique, dont les démultiplications sont prises en compte dans l'information vitesse du véhicule (Vv) selon le rapport engagé, et dont le signal (Spe) de sortie est la valeur réelle de la position de l'embrayage, qui est envoyée à l'entrée de seconds moyens (4) d'intégration, recevant de plus l'information sur la vitesse (Vv) du véhicule ainsi qu'une information de proximité (lprox) d'un obstacle détecté à proximité du véhicule et dont le signal de sortie (Cpe) est la consigne d'ouverture de l'embrayage en fonction de la distance entre l'obstacle détecté et le véhicule, une boucle de retard (6) avec une constante de stabilité (r ) destinée à assurer la stabilité de la consigne étant associée aux seconds moyens d'intégration (4).4. System for implementing the method for controlling the setting in motion of a vehicle equipped with a robotized or automatic gearbox and a device for detecting fixed or mobile proximity obstacles, embedded on the vehicle , according to one of claims 1 to 3, characterized in that it comprises first integration means (1), receiving as input information on the speed of the vehicle (V v ) and information (l pe ) on the position of the clutch abutment, representative of the engine torque transmitted to the wheels by the clutch electronically controlled by the automatic or robotic gearbox, whose gear ratios are taken into account in the vehicle speed information (V v ) according to the engaged ratio, and whose output signal (S pe ) is the actual value of the position of the clutch, which is sent to the input of second integration means (4), receiving further information on the speed (V v ) of the vee hicle and a proximity information (l prox ) of an obstacle detected near the vehicle and whose output signal (C pe ) is the clutch opening setpoint as a function of the distance between the obstacle detected and the vehicle, a delay loop (6) with a stability constant (r) for ensuring the stability of the setpoint being associated with the second integration means (4).
5. Système de mise en œuvre du procédé selon la revendication 4, caractérisé en ce que la calibration de la distance de proximité entre le véhicule et l'obstacle détecté ainsi que la mise au point des valeurs d'ouverture de l'embrayage piloté électroniquement en fonction de cette distance sont faites par calibration selon le type de véhicule.5. Implementation system of the method according to claim 4, characterized in that the calibration of the proximity distance between the vehicle and the detected obstacle and the development of the opening values of the electronically controlled clutch. depending on this distance are made by calibration according to the type of vehicle.
6. Système de mise en œuvre du procédé selon la revendication 4, caractérisé en ce que les premiers moyens d'intégration (1) et les seconds moyens d'intégration (4) sont constitués chacun par un intégrateur de type PID - proportionnel intégral dérivé -. 6. Implementation system of the method according to claim 4, characterized in that the first integration means (1) and the second integration means (4) are each constituted by a PID-proportional integral type integrator derived -.
PCT/FR2006/050862 2005-10-03 2006-09-11 Method and system for controlling the movement of a vehicle close to an obstacle WO2007039689A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0510079 2005-10-03
FR0510079A FR2891648B1 (en) 2005-10-03 2005-10-03 METHOD AND SYSTEM FOR CONTROLLING THE MOVEMENT OF A VEHICLE CLOSE TO AN OBSTACLE

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WO2007039689A2 true WO2007039689A2 (en) 2007-04-12
WO2007039689A3 WO2007039689A3 (en) 2007-05-24

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CN111661053A (en) * 2019-03-08 2020-09-15 大众汽车有限公司 Method for regulating creep running state, controller, drive assembly and vehicle
CN110293967A (en) * 2019-05-21 2019-10-01 重庆长安汽车股份有限公司 A kind of automobile low speed active safety executes control method and control system
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CN111016682B (en) * 2019-12-27 2023-01-31 衡阳智电客车有限责任公司 Intelligent crawling control strategy for pure electric vehicle

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WO2007039689A3 (en) 2007-05-24
FR2891648A1 (en) 2007-04-06

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