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Method and device for automatically controlling a vehicle

A vehicle, automatic setting technology, applied in the field of motor vehicles, vehicles equipped with the device, which can solve problems such as cost and durability shortcomings

Active Publication Date: 2016-06-29
RENAULT SA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the complexity of the described devices may lead to certain disadvantages in terms of cost and durability

Method used

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  • Method and device for automatically controlling a vehicle
  • Method and device for automatically controlling a vehicle
  • Method and device for automatically controlling a vehicle

Examples

Experimental program
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Embodiment Construction

[0026] figure 1 Means 40 are shown for providing the vehicle 7 with setpoints to be able to automatically control the trajectory of the vehicle. These setpoints are for the steering angle δ assigned to the wheels of the vehicle 7 * , braking torque Cf * and acceleration torque Ca * .

[0027] The steering angle makes it possible to change the direction of the vehicle, but by itself is not always sufficient to keep the vehicle on or return the vehicle to the trajectory to be followed. Judiciously applied acceleration and deceleration can sometimes be useful.

[0028] For example, a positive acceleration torque Ca * The set point may cause a vehicle equipped with an internal combustion engine to accelerate by increasing its engine speed. Positive braking torque Cf * The set point can decelerate the vehicle by applying proportional pressure on multiple dissipative brakes, which is generally related to the zero acceleration torque Ca from being subject to * The set point is...

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Abstract

The method for automatically controlling a vehicle comprises an initial step (100) in which a reference local path and a potential speed (v) of the vehicle are given. A step (120, 121, 140) of calculating a stirring angle automatic setpoint (delta car) makes it possible to calculate a lateral acceleration (aykin) proportional to the square of the potential speed (v) of the vehicle, making the vehicle describe an arc of a circle comprising a point of intersection with the reference local path at a distance (Id) from the vehicle. A step (181) consists in generating a speed setpoint (vr) set to a value equal to that of the potential speed (v) when the lateral acceleration (aykin) has a value lower than a maximum permissible lateral acceleration value (ay max) and an adjustment step (167) consists in decreasing the value of the potential speed (v) when the lateral acceleration (aykin) has a value higher than or equal to the maximum permissible lateral acceleration value (ay max) so as to calculate a reduced lateral acceleration (aykin) by repeating said calculation step (120, 121, 140).

Description

technical field [0001] The invention relates to a method and a device for automatic control of a vehicle, in particular a motor vehicle. The invention also relates to a vehicle equipped with this device. Background technique [0002] Research on automatically controlling ground vehicles is considerable because the resulting vehicle autonomy allows the vehicle's user to relieve some or all of the often tedious task of driving to free them up for other activities. [0003] For example, document US2008 / 0208461 describes a system for regulating the route of a construction machine by generating a trajectory to be followed by the construction machine based on a so-called "pure tracking" algorithm, which causes the vehicle to follow a certain target in front of the vehicle. A circular arc that intersects this trajectory at distance . The systems described in the above documents are more suitable for construction sites than for roads without taking into account the expected comfor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/09B60W30/095B60W30/02
CPCB60W30/09B60W30/02B60W30/095B60W2520/10B60W2520/125B60W2710/20B60W2710/207B60W2720/10B60W2720/125G05D1/0088
Inventor N·米诺尤 埃纳凯
Owner RENAULT SA
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