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FR3121410B1 - Procédé de pilotage autonome d’un actionneur d’un appareil automobile - Google Patents

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

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Publication number
FR3121410B1
FR3121410B1 FR2103505A FR2103505A FR3121410B1 FR 3121410 B1 FR3121410 B1 FR 3121410B1 FR 2103505 A FR2103505 A FR 2103505A FR 2103505 A FR2103505 A FR 2103505A FR 3121410 B1 FR3121410 B1 FR 3121410B1
Authority
FR
France
Prior art keywords
actuator
autonomously controlling
automobile device
controller
trajectory
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
FR2103505A
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English (en)
Other versions
FR3121410A1 (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
Original Assignee
Renault 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
Priority to FR2103505A priority Critical patent/FR3121410B1/fr
Application filed by Renault SAS filed Critical Renault SAS
Priority to PCT/EP2022/056097 priority patent/WO2022214268A1/fr
Priority to CN202280026942.XA priority patent/CN117120323A/zh
Priority to EP22710413.0A priority patent/EP4320026A1/fr
Priority to US18/554,102 priority patent/US20240367714A1/en
Priority to JP2023561023A priority patent/JP2024514548A/ja
Priority to KR1020237037966A priority patent/KR20230166124A/ko
Publication of FR3121410A1 publication Critical patent/FR3121410A1/fr
Application granted granted Critical
Publication of FR3121410B1 publication Critical patent/FR3121410B1/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
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L’invention concerne un procédé de pilotage autonome d’un actionneur d’un appareil (10) automobile qui est adapté à influer sur la trajectoire dudit appareil, comportant des étapes de : - acquisition de paramètres relatifs à la trajectoire de l’appareil, et de - calcul par un calculateur (13) d’une consigne de pilotage dudit actionneur en fonction desdits paramètres, au moyen d’un contrôleur associé à au moins une fonction de saturation d’une sortie du contrôleur. Selon l’invention, le contrôleur satisfait une modélisation de ladite au moins une fonction de saturation par secteur non linéaire. Figure pour l’abrégé : Fig.1A
FR2103505A 2021-04-06 2021-04-06 Procédé de pilotage autonome d’un actionneur d’un appareil automobile Active FR3121410B1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
FR2103505A FR3121410B1 (fr) 2021-04-06 2021-04-06 Procédé de pilotage autonome d’un actionneur d’un appareil automobile
CN202280026942.XA CN117120323A (zh) 2021-04-06 2022-03-09 用于自主驱动装置的致动器的方法
EP22710413.0A EP4320026A1 (fr) 2021-04-06 2022-03-09 Procédé de pilotage autonome d'un actionneur d'un appareil
US18/554,102 US20240367714A1 (en) 2021-04-06 2022-03-09 Method for autonomously driving an actuator of a device
PCT/EP2022/056097 WO2022214268A1 (fr) 2021-04-06 2022-03-09 Procédé de pilotage autonome d'un actionneur d'un appareil
JP2023561023A JP2024514548A (ja) 2021-04-06 2022-03-09 デバイスのアクチュエータを自律的に駆動するための方法
KR1020237037966A KR20230166124A (ko) 2021-04-06 2022-03-09 장치의 액츄에이터를 자율적으로 구동하기 위한 방법

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2103505 2021-04-06
FR2103505A FR3121410B1 (fr) 2021-04-06 2021-04-06 Procédé de pilotage autonome d’un actionneur d’un appareil automobile

Publications (2)

Publication Number Publication Date
FR3121410A1 FR3121410A1 (fr) 2022-10-07
FR3121410B1 true FR3121410B1 (fr) 2024-03-08

Family

ID=75746936

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2103505A Active FR3121410B1 (fr) 2021-04-06 2021-04-06 Procédé de pilotage autonome d’un actionneur d’un appareil automobile

Country Status (7)

Country Link
US (1) US20240367714A1 (fr)
EP (1) EP4320026A1 (fr)
JP (1) JP2024514548A (fr)
KR (1) KR20230166124A (fr)
CN (1) CN117120323A (fr)
FR (1) FR3121410B1 (fr)
WO (1) WO2022214268A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3143771B1 (fr) * 2022-12-20 2024-12-20 Thales Sa Procédé de mesure de la performance d'un dispositif de taux de fausse alarme constant d'un capteur, procédé et dispositfs associés
FR3143772B1 (fr) * 2022-12-20 2024-12-20 Thales Sa Procédé de détermination de seuils de détection d'un dispositif de taux de fausse alarme constant d'un capteur, dispositif et procédé associés
CN120065761B (zh) * 2025-04-29 2025-07-22 华东交通大学 线控转向系统的容错控制方法

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2816211B1 (fr) * 2012-02-16 2018-04-04 Nissan Motor Co., Ltd Dispositif de commande d'amortissement de vibrations pour une carrosserie de véhicule
DE102012214827B4 (de) * 2012-08-21 2023-05-11 Robert Bosch Gmbh Verfahren zum Betreiben eines Fahrzeugs, Steuer- und/oder Regelvorrichtung zum Durchführen eines derartigen Verfahrens sowie Fahrzeug mit einer derartigen Steuer- und/oder Regelvorrichtung
WO2016162902A1 (fr) * 2015-04-09 2016-10-13 日産自動車株式会社 Dispositif d'assistance de maintien de voie
JP6512440B2 (ja) * 2015-06-15 2019-05-15 株式会社ジェイテクト 操舵支援装置
US9915948B2 (en) * 2016-07-14 2018-03-13 Mitsubishi Electric Research Laboratories, Inc. System and method for controlling motion of vehicle
WO2019163589A1 (fr) * 2018-02-20 2019-08-29 日本電産株式会社 Dispositif de commande de moteur, et système de direction assistée électrique
CN108693769A (zh) * 2018-04-04 2018-10-23 上海华测导航技术股份有限公司 一种基于电动方向盘的农业机械自动驾驶控制方法
FR3093687B1 (fr) * 2019-03-13 2022-07-29 Renault Sas Procédé de pilotage autonome d’une mobilité d’un appareil
FR3099450B1 (fr) 2019-08-01 2022-06-03 Renault Sas Procédé de pilotage autonome d’un actionneur d’un appareil automobile
FR3104107B1 (fr) * 2019-12-06 2022-08-05 Renault Sas Procédé de pilotage d’un véhicule automobile
DE102021201141A1 (de) * 2021-02-08 2022-08-11 Continental Automotive Gmbh Regelungseinrichtung und Verfahren zur Lenkwinkelregelung eines Fahrzeugs
FR3119906B1 (fr) * 2021-02-12 2024-01-19 Renault Sas Procédé de vérification de l’authenticité d’une commande d’un actionneur
US20250136124A1 (en) * 2021-09-20 2025-05-01 Ampere S.A.S. Method for autonomously controlling an actuator of a device
CN118387095B (zh) * 2024-06-27 2024-10-18 北京集度科技有限公司 车辆横向控制方法及相关装置

Also Published As

Publication number Publication date
EP4320026A1 (fr) 2024-02-14
FR3121410A1 (fr) 2022-10-07
US20240367714A1 (en) 2024-11-07
WO2022214268A1 (fr) 2022-10-13
CN117120323A (zh) 2023-11-24
JP2024514548A (ja) 2024-04-02
KR20230166124A (ko) 2023-12-06

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