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1. WO2021079003 - METHOD FOR CONTROLLING A VEHICLE DRIVING IN PRECARIOUS GRIP CONDITIONS

Publication Number WO/2021/079003
Publication Date 29.04.2021
International Application No. PCT/EP2020/080077
International Filing Date 26.10.2020
IPC
B60W 40/12 2012.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
40Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit
12related to parameters of the vehicle itself
B60W 50/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
50Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
CPC
B60W 2050/0034
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
50Details 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
0001Details of the control system
0019Control system elements or transfer functions
0028Mathematical models, e.g. for simulation
0031Mathematical model of the vehicle
0034Multiple-track, 2D vehicle model, e.g. four-wheel model
B60W 2300/185
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
2300Indexing codes relating to the type of vehicle
18Four-wheel drive vehicles
185Off-road vehicles
B60W 2520/10
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
2520Input parameters relating to overall vehicle dynamics
10Longitudinal speed
B60W 2520/12
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
2520Input parameters relating to overall vehicle dynamics
12Lateral speed
B60W 2552/40
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
2552Input parameters relating to infrastructure
40Coefficient of friction
B60W 2710/207
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
2710Output or target parameters relating to a particular sub-units
20Steering systems
207Steering angle of wheels
Applicants
  • SAFRAN ELECTRONICS & DEFENSE [FR]/[FR]
  • ARMINES - ASSOCIATION POUR LA RECHERCHE ET LE DEVELOPPEMENT DES METHODES ET PROCESSUS INDUSTRIELS [FR]/[FR]
Inventors
  • LI, Laëtitia
  • QUADRAT, Arnaud
  • BRIGITTE, D'andrea-novel
Agents
  • LAVIALLE, Bruno
  • DECORCHEMONT, Audrey
  • LAVAUD, Thomas
  • PROUVEZ, Julien
Priority Data
FR191201525.10.2019FR
Publication Language French (FR)
Filing Language French (FR)
Designated States
Title
(EN) METHOD FOR CONTROLLING A VEHICLE DRIVING IN PRECARIOUS GRIP CONDITIONS
(FR) PROCEDE DE COMMANDE D'UN VEHICULE ROULANT EN CONDITION D'ADHERENCE PRECAIRE
Abstract
(EN)
Method for controlling a vehicle having wheels fitted with tyres resting on a surface, using a control law for keeping the vehicle on a desired course as a function of a lateral force of the tyres, the control law comprising a first part based on a linear tyre behaviour model and a second, correction part subtracted from the first part to account for the nonlinear effects in the behaviour of the tyres.
(FR)
Procédé de commande d'un véhicule ayant des roues pourvues de pneumatiques reposant sur une surface, à partir d'une loi de commande pour maintenir le véhicule sur une trajectoire souhaitée en fonction d'une force latérale des pneumatiques, la loi de commande comprenant une première partie basée sur un modèle de comportement linéaire des pneumatiques et une deuxième partie de correction soustraite à la première partie pour prendre en compte des effets non linéaires du comportement des pneumatiques.
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