Method for detecting the direction of travel of a motor vehicle

• US 10,427,691 B2
• Filed: 07/03/2013
• Issued: 10/01/2019
• Est. Priority Date: 07/06/2012
• Status: Active Grant

• Current Assignee: Jtekt Europe (Toyota Motor Corporation)
• Original Assignee: Jtekt Europe (Toyota Motor Corporation)
• Inventors: Cassar, Stephane, Moretti, Romain, Leydier, Luc
• Primary Examiner(s): Toatley, Jr., Gregory J
• Assistant Examiner(s): Kay, Douglas
• Application Number:
  US14/413,002
• Publication Number:
  US 20150158496A1
• Time in Patent Office: 2,281 Days
• Field of Search: 702150
• CPC Class Codes: B60W 2510/202 Steering torque
• CPC Class Codes: B60W 2520/06 Direction of travel
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 40/10 related to vehicle motion
• CPC Class Codes: B60W 40/105 Speed
• CPC Class Codes: B60W 40/109 Lateral acceleration
• CPC Class Codes: B60W 40/114 Yaw movement

Abstract

The invention concerns a method for determining the direction of longitudinal travel of a vehicle comprising a step (a) of collecting a first signal (Signal1), representative of a first driving parameter, such as the steering-wheel torque, and of which the sign of the value and/or the sign of the variations is not dependent on the direction of longitudinal travel of the vehicle, a step (b) of collecting a second signal (Signal2), representative of a second driving parameter separate from the first driving parameter, such as the yaw rate, and of which the sign of the value and/or the sign of the variations changes on the basis of the direction of longitudinal travel of the vehicle, then a step (c) of comparing signs during which the sign of the value, or of the variation, of the first signal (Signal1) is compared with the sign of the value, or of the variation, of the second signal (Signal2) in order to deduce therefrom the direction of longitudinal travel of the vehicle, depending on whether said signs are identical or, on the contrary, different.

Claims

1. A method for determining the longitudinal direction of travel of a vehicle, said method comprising:

a step (a) of collecting a first signal (Signal1) from a torque sensor, representing a first driving parameter, wherein the sign of the variations of said first signal does not depend on the longitudinal direction of travel of the vehicle, and the first parameter is a torque exerted by a driver of the vehicle on a steering wheel of the vehicle,

a step (b) of collecting a second signal (Signal2) from a stability control system sensor, representing a second driving parameter distinct from the first driving parameter, and wherein the sign of the variations of said second signal changes depending on the longitudinal direction of travel of the vehicle, wherein the second parameter is a yaw rate (ψ

′

) of the vehicle, then

a step (c) of comparing signs, said step (c) comprising;

a static comparison (c1) between the signs of respective instantaneous values of the first and second signal (Signal1), (Signal2), wherein the sign of the instantaneous value of the first signal (Signal1) is compared with the sign of the instantaneous value of the second signal (Signal2) in order to determine therefrom the longitudinal direction of travel of the vehicle, depending on whether said signs are identical or on the contrary different from each other, and

a dynamic comparison (c2) wherein the sign of the variation of the first signal (Signal1) over a predefined time period is compared with the sign of the variation of the second signal (Signal2) over the predefined time period in order to determine therefrom the longitudinal direction of travel of the vehicle, depending on whether said signs are identical or on the contrary different from each other,

a step of determining a confirmed longitudinal direction of travel based on the longitudinal direction of travel determined by the static comparison (c1) and the longitudinal direction of travel determined by the dynamic comparison (c2), and

a step of using, by an onboard computer in the vehicle, the determined confirmed longitudinal direction of travel of the vehicle to inhibit determination of an absolute angular position of a steering wheel of the vehicle.

2. The method according to claim 1, further comprising a step (d) of filtering at least one of the first signal and the second signal during which the first signal (Signal1), respectively the second signal, is compared with a predetermined acceptance threshold, then a step (e) of conditional neutralizing, comprising selecting, for applying the comparison step (c) during a current iteration (n), either the sign of the signal which is newly collected during said iteration (sign[Signal1](n)), if said signal (Signal1) is deemed reliable as higher than or equal to the acceptance threshold, or on the contrary the sign of the signal which was collected during the previous iteration (sign[Signal1](n−

1)), if said signal is deemed dubious as lower than said acceptance threshold.

3. The method according to claim 1, further comprising a verification step (f) during which the measured or estimated linear speed (V) of the vehicle is compared with a predetermined speed threshold (Vthreshold), so as to allow validating a change in the direction of travel, diagnosed during the comparison step (c), only on condition that the linear speed of the vehicle is lower than said speed threshold.

4. The method according to claim 1, wherein it forms an integral part of a method for determining the absolute angular position of the steering wheel being based on at least one model involving a dynamic driving parameter of the vehicle, and wherein said method for determining the direction of travel contributes to the detection of at least one operating situation of the vehicle, which is considered unfavorable for the reliability of said model used.

5. A motor vehicle, comprising an on-board computer arranged or programmed to implement a method according to claim 1.

6. A data medium readable by a computer and containing elements of software program code allowing the implementation of a method according to claim 1 when said medium is read by a computer.

7. The method according to claim 1, wherein the torque sensor is placed on the steering column.

8. The method according to claim 1, wherein the step of determining a confirmed longitudinal direction of travel comprises comparing the result from the static comparison (c1) with the result from the dynamic comparison (c2) and, if the results are identical, then considering that said results provide a reliable direction of travel, or, if the results are divergent, then dismissing said results.

9. The method according to claim 4, wherein the dynamic driving parameter of the vehicle is chosen from among:

the difference in speed between the wheels of a same axle system, the lateral acceleration of the vehicle, or the yaw rate.

10. The method according to claim 4, wherein said method for determining the direction of travel contributes to the detection of a situation of a reverse running in which a turning angle exceeds a predetermined threshold.

11. The method according to claim 7, wherein said method for determining the direction of travel contributes to the detection of a situation of a reverse running in which a turning angle exceeds a predetermined threshold.

12. The method according to claim 1, further comprising a step (d) of filtering at least one of the first signal and the second signal during which the first signal (Signal1), respectively the second signal, is compared with a predetermined acceptance threshold, then a step (e) of conditional neutralizing, comprising selecting, for applying the comparison step (c) during a current iteration (n), either the sign of the signal which is newly collected during said iteration (sign[Signal1](n)), if said signal (Signal1) is deemed reliable as higher than or equal to the acceptance threshold, or on the contrary the sign of the signal which was collected during the previous iteration (sign[Signal1](n−

1)), if said signal is deemed dubious as lower than said acceptance threshold.