WO2020099768A1 - Module et procede de commande d'automobile, comprenant une evaluation de vitesse des roues arriere par les roues avant seulement - Google Patents

Module et procede de commande d'automobile, comprenant une evaluation de vitesse des roues arriere par les roues avant seulement Download PDF

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Publication number
WO2020099768A1
WO2020099768A1 PCT/FR2019/052674 FR2019052674W WO2020099768A1 WO 2020099768 A1 WO2020099768 A1 WO 2020099768A1 FR 2019052674 W FR2019052674 W FR 2019052674W WO 2020099768 A1 WO2020099768 A1 WO 2020099768A1
Authority
WO
WIPO (PCT)
Prior art keywords
speed
rear wheel
evaluation
automobile
wheel
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.)
Ceased
Application number
PCT/FR2019/052674
Other languages
English (en)
French (fr)
Inventor
Lennart WITTE
Alex PATRÃO CARQUEIJÒ
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.)
Hitachi Astemo France SAS
Original Assignee
Foundation Brakes France 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 Foundation Brakes France SAS filed Critical Foundation Brakes France SAS
Priority to US17/291,453 priority Critical patent/US11926329B2/en
Priority to CN201980074326.XA priority patent/CN112997127B/zh
Priority to EP19818238.8A priority patent/EP3853683B1/fr
Priority to JP2021524454A priority patent/JP7668211B2/ja
Publication of WO2020099768A1 publication Critical patent/WO2020099768A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • 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
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected 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
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18172—Preventing, or responsive to skidding of wheels
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • 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
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B60T2250/04—Vehicle reference speed; Vehicle body speed
    • 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
    • B60W2520/26—Wheel slip
    • 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
    • B60W2520/28—Wheel speed

Definitions

  • the invention relates to a module as well as to a method of controlling an automobile, in which the speed of the rear wheels is evaluated by the speeds of the front wheels only.
  • the speed of movement on the ground of a wheel and in particular of a rear wheel cannot be determined by a direct measurement of its speed of rotation. It also happens that the measurement fails after damage to the dedicated device. This is why it is envisaged with this invention to carry out an indirect evaluation of a speed of movement on the ground of a rear wheel of the automobile in motion, by using evaluations of the speeds of the steering wheels, typically the front wheels.
  • the rear wheel speed evaluation thus obtained can be used for various applications. One of them could be an aid to a braking decision, or on the contrary anti-lock, of the rear wheels.
  • the speed evaluation in question relates to a speed of movement of the rear wheel on the road.
  • the actual speed of the wheel will be different in case of blocking or slipping.
  • An application (not limiting) envisaged here therefore consists of a comparison of the evaluation proposed here with a measurement or another evaluation of the speed of the rear wheel, obtained otherwise and which may in particular include a measurement of the speed of rotation of the wheel. back.
  • the evaluation made according to the invention may however only be used to evaluate the speed of the rear wheel, without taking into account a blockage or slippage, if a direct measurement has become impossible, due to sensor failure or otherwise.
  • An advantage of the invention is that the evaluation of the speed of the rear wheel on the ground can be of good accuracy, even for a wheel placed inside a sharp turn, by taking account of the steering conditions. front wheels.
  • the invention may relate to only one of the rear wheels, or both, at the same time.
  • the rear wheels may or may not be driving or steering.
  • the related prior art includes FR 2386433 A1, but which describes a method where a reference speed of a vehicle is estimated by choosing either a front wheel speed measurement or a rear wheel speed measurement. There is therefore no indirect evaluation of the speed of the rear wheels by that of the front wheels, since the estimated reference speed is an overall speed of the vehicle.
  • K CO rr is a correction coefficient, and in that being a fixed threshold.
  • the invention can be dedicated to an automobile control method, characterized in that it comprises a module according to the above, applied to a decision to brake the rear wheels.
  • a possible embodiment then consists in that an evaluation of the speed of the rear wheels, made by said module, is used to give a speed rear wheel reference below which a rear wheel brake is prevented.
  • the reference speed corresponds to the evaluation of the speed of the rear wheels multiplied by a constant coefficient, less than 1.
  • FIG. 1 is a schematic view of an automobile turning
  • FIG. 3 illustrates the environment of the control module
  • FIG. 1 partially represents an automobile, and in particular its chassis 1 mounted on front left and right wheels 2G and 2D and rear left and right wheels 3G and 3D.
  • the front 2D and 2G driving wheels are shown making a steering angle A inducing a turn of radius R.
  • the rear 3D and 3G wheels are neither driving nor steering, but are provided with brakes, which are not shown in this figure, and can be used for parking, but also contribute to braking.
  • FIG. 2 illustrates certain speed curves V of the wheels as a function of the turning radius R of the automobile.
  • the speeds V are in arbitrary units. These speeds are ground travel speeds; the linear speeds of the wheels, proportional to their rotational speeds, can be different in the event of blocking, slipping, or other rolling defects.
  • V max The speed of movement of the outer front wheel
  • V min The speed of the inner front wheel, here 2G, by the layer V min .
  • V AR of the inner rear wheel here 3G
  • V ' AR the curve of the outer rear wheel
  • a first object of the invention is to be able to evaluate the speed of the rear wheels 3G and 3D, and in particular the speed (VAR) of the wheel inside a turn, by means of only information of the speeds of movement of the wheels. before V m ax and V mi n.
  • VAR speed of movement of the wheels.
  • V m ax and V mi n we use a logic module 4 incorporated in the vehicle control circuits and which has two inputs powered by the speeds V m ax and V min, which can be supplied by rotation sensors 5 and 6 of the axes of these 2D and 2G wheels. , or any other means.
  • V min and V max are always the evaluations or measurements of speed of the front wheels and V m0 is their average.
  • Kcorr is a correction coefficient whose value is advantageously that of the function represented in FIG. 4, equal to 1 ⁇ 1.15, to 0.6 for > 1.4, and linear
  • V e AR thus obtained is also represented in FIG. 2; we see that it is very close to the VAR value, with the exception of the extreme deflections of the 2D and 2G front wheels.
  • Module 4 can include other inputs for receiving additional parameters, but there is no provision for information relating to direct measurements on the 3D and 3G rear wheels.
  • V eAR at the output of module 4 can be used for various applications.
  • a particularly interesting process is nevertheless the decision to control braking or, on the contrary, anti-lock the 3D and 3G rear wheels, depending on the situation.
  • V s When a direct and reliable speed measurement of the 3D and 3G rear wheels is not available, it is usual to define a threshold speed V s equal, for example, to 0.8 V m o y . It is in fact considered that the speeds VAR and V'AR of the rear wheels 3D and 3G must not stray too far from the speed V m0 y and in particular go too far below it, which would mean that these wheels are locked. back. But in reality VAR is below the threshold speed V s in tight turns, which means that the modules of traditional decisions wrongly diagnose a blockage of the inner wheel, here 3G, and order its anti-lock if the braking of the vehicle is requested.
  • the VeAR evaluation of the speed of the inner rear wheel obtained by the module 4 is used to define a new decision threshold V's, deduced from VeAR by the same constant correction coefficient as above.
  • a new decision threshold V ' s is therefore obtained which deviates more and more clearly from V s for tighter turns, and which remains below the normal VAR speed of the inner wheel 3G, except possibly for the tightest hold-ups.
  • Anti-lock will therefore be imposed only if a decrease in the speed of the rear wheels below these new threshold values V ' s , and clearly below normal speeds VAR and V'AR is detected.
  • the control device can comprise, downstream of the module 4, a decision module 7 which receives the evaluation V eAR , calculates V ' s and compares its value with the speeds VAR and V'AR provided by other modules supplying parameters 8 of the control device. According to the result of the comparison, the control of a brake pedal 9 is applied (braking is permitted if V eAR 3 V ' s ) or not (anti-lock is required if V eAR ⁇ V' s ) at the actuator 10 of a brake 11, which can be a drum brake, also used for parking on the rear wheel 3G. A similar device also exists for the other 3D rear wheel.
  • An evaluation of the outer rear wheel (3D) could be made with an analog module and a different V eAR generation faction, but it is the inner wheel that raises the most difficulties in driving.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Regulating Braking Force (AREA)
PCT/FR2019/052674 2018-11-12 2019-11-08 Module et procede de commande d'automobile, comprenant une evaluation de vitesse des roues arriere par les roues avant seulement Ceased WO2020099768A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US17/291,453 US11926329B2 (en) 2018-11-12 2019-11-08 Motor vehicle control module and method, comprising an evaluation of rear wheel speed based on the front wheels only
CN201980074326.XA CN112997127B (zh) 2018-11-12 2019-11-08 包括仅基于前轮来评估后轮速度的机动车辆控制模块和方法
EP19818238.8A EP3853683B1 (fr) 2018-11-12 2019-11-08 Module et procede de commande d'automobile, comprenant une evaluation de vitesse des roues arriere par les roues avant seulement
JP2021524454A JP7668211B2 (ja) 2018-11-12 2019-11-08 前輪のみに基づく後輪速度評価を含む自動車の制御モジュールおよび方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1860439 2018-11-12
FR1860439A FR3088450B1 (fr) 2018-11-12 2018-11-12 Module et procede de commande d'automobile, comprenant une evaluation de vitesse des roues arriere par les roues avant seulement

Publications (1)

Publication Number Publication Date
WO2020099768A1 true WO2020099768A1 (fr) 2020-05-22

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ID=67185064

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/FR2019/052674 Ceased WO2020099768A1 (fr) 2018-11-12 2019-11-08 Module et procede de commande d'automobile, comprenant une evaluation de vitesse des roues arriere par les roues avant seulement

Country Status (6)

Country Link
US (1) US11926329B2 (https=)
EP (1) EP3853683B1 (https=)
JP (1) JP7668211B2 (https=)
CN (1) CN112997127B (https=)
FR (1) FR3088450B1 (https=)
WO (1) WO2020099768A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3146637A1 (fr) 2023-03-17 2024-09-20 Hitachi Astemo France Freinage dynamique sur 3 roues

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116642712A (zh) * 2023-04-18 2023-08-25 上海高仙自动化科技发展有限公司 车轮异常检测方法及装置、电子设备、存储介质

Citations (4)

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FR2327119A1 (fr) * 1972-12-14 1977-05-06 Kelsey Hayes Co Dispositif destine a eviter le derapage d'un vehicule a quatre roues
FR2386433A1 (fr) 1977-02-14 1978-11-03 Wabco Westinghouse Gmbh Procede et equipement de regulation de la pression dans les circuits de freinage de vehicules a equipements de regulation antiblocage
US5387031A (en) * 1993-03-31 1995-02-07 Toyota Jidosha Kabushiki Kaisha Anti-lock/traction control brake system wherein wheel brake pressure is controlled based on wheel speeds relative to vehicle speed
WO2015114280A1 (fr) * 2014-02-03 2015-08-06 Renault S.A.S. Procede de suivi de trajectoire d'un vehicule automobile et vehicule associe

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JPH04283665A (ja) * 1991-03-12 1992-10-08 Sumitomo Electric Ind Ltd 車輪速度補正装置
JPH06286600A (ja) * 1993-03-31 1994-10-11 Toyota Motor Corp 車両用ブレーキ圧制御装置
DE19522634A1 (de) * 1995-06-22 1997-01-02 Teves Gmbh Alfred Verfahren zur Kurvenfahrterkennung für ein Blockierschutzregelungssystem
WO2013111504A1 (ja) * 2012-01-26 2013-08-01 日産自動車株式会社 車両の制御装置
CN103886190B (zh) * 2014-03-10 2018-02-16 清华大学 一种用于四轮独立驱动电动汽车的驱动防滑控制算法
DE102015209244A1 (de) * 2015-05-20 2016-11-24 Avl Commercial Driveline & Tractor Engineering Gmbh Verfahren zur Steuerung einer Raddrehzahl wenigstens eines Rades einer antreibbaren Achse eines zweispurigen Fahrzeugs mit zwei antreibbaren Achsen und zweispuriges Fahrzeug mit wenigstens zwei antreibbaren Achsen
DE102017008949A1 (de) * 2017-09-25 2019-03-28 Lucas Automotive Gmbh Radschlupfregelung für ein Kraftfahrzeug
JP6871398B2 (ja) * 2017-09-27 2021-05-12 日立Astemo株式会社 ブレーキ装置、車両の制御装置及び電動ブレーキ制御装置
KR102484938B1 (ko) * 2018-10-24 2023-01-04 현대자동차주식회사 차량의 휠 속도 추정 장치 및 방법

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2327119A1 (fr) * 1972-12-14 1977-05-06 Kelsey Hayes Co Dispositif destine a eviter le derapage d'un vehicule a quatre roues
FR2386433A1 (fr) 1977-02-14 1978-11-03 Wabco Westinghouse Gmbh Procede et equipement de regulation de la pression dans les circuits de freinage de vehicules a equipements de regulation antiblocage
US5387031A (en) * 1993-03-31 1995-02-07 Toyota Jidosha Kabushiki Kaisha Anti-lock/traction control brake system wherein wheel brake pressure is controlled based on wheel speeds relative to vehicle speed
WO2015114280A1 (fr) * 2014-02-03 2015-08-06 Renault S.A.S. Procede de suivi de trajectoire d'un vehicule automobile et vehicule associe

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3146637A1 (fr) 2023-03-17 2024-09-20 Hitachi Astemo France Freinage dynamique sur 3 roues
WO2024194131A1 (fr) 2023-03-17 2024-09-26 Hitachi Astemo France Freinage dynamique sur 3 roues

Also Published As

Publication number Publication date
JP7668211B2 (ja) 2025-04-24
CN112997127A (zh) 2021-06-18
EP3853683A1 (fr) 2021-07-28
US11926329B2 (en) 2024-03-12
CN112997127B (zh) 2024-05-31
JP2022506843A (ja) 2022-01-17
EP3853683B1 (fr) 2023-12-27
US20220001881A1 (en) 2022-01-06
FR3088450A1 (fr) 2020-05-15
FR3088450B1 (fr) 2021-09-24

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