Control device for making safe a fast vehicle, in particular guided by an operator on board the vehicle or otherwise

• US 5,987,364 A
• Filed: 12/24/1996
• Issued: 11/16/1999
• Est. Priority Date: 12/27/1995
• Status: Expired due to Fees

• Current Assignee: Dassault Electronique
• Original Assignee: Dassault Electronique
• Inventors: Tissedre, Marc, Le Gusquet, Frederic, Salanson, Philippe, Saglio, Christophe
• Primary Examiner(s): Zanelli, Michael J.
• Application Number:
  US08/774,092
• Time in Patent Office: 1,057 Days
• Field of Search: 701/1, 701/2, 701/23, 701/28, 701/41, 701/301, 348/114, 348/118, 348/148, 342/71, 340/989, 340/995, 340/990
• US Class Current: 701/24
• CPC Class Codes: B60K 31/0066 responsive to vehicle path curvature
• CPC Class Codes: B60W 40/02 related to ambient conditions
• CPC Class Codes: B60W 40/10 related to vehicle motion
• CPC Class Codes: B60W 50/08 Interaction between the driver and the control system
• CPC Class Codes: B63H 2025/026 using multi-axis control levers, or the like, e.g. joysticks, wherein at least one degree of freedom is employed for steering, slowing down, or dynamic anchoring
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246

Abstract

A control device for making safe a fast vehicle comprises a servomechanism that, in response to a reference variable relating to the longitudinal speed of the vehicle, adapts in real time an actuator variable of a motor element of the vehicle until an actuator variable of a steering element corresponds to a reference variable relating to the transverse displacement of the vehicle, which makes it possible to make safe the longitudinal and transverse displacements of the vehicle, even at high longitudinal speed.

Claims

1. Device for controlling a vehicle (VH) comprising:

first sensor means (CAP1) for picking up and supplying a first signal (S1) representing the current longitudinal speed of the vehicle,

second sensor means (CAP2) for picking up and supplying a second signal (S2) representing the current transverse speed of the vehicle,

first means (ACT1) for actuating a motor element in accordance with a first selected actuator order (CACT1) to displace the vehicle longitudinally,

second means (ACT2) for actuating a steering element in accordance with a second selected actuator order (CACT2) to displace the vehicle transversely,

vehicle control means (COMV) for receiving first and second reference orders (CREF1 and CREF2) to control respectively the motor and steering elements of the vehicle and determining the first and second actuator orders (CACT1 and CACT2) according to a servomechanism which takes into account at least the supplied first and second signals (S1 and S2) and the first and second reference orders (CREF1 and CREF2), and

the servomechanism, in response to the second reference order (CREF2), repeatedly adjusts the first actuator order (CACT1), relating to the longitudinal speed of the vehicle, based on the supplied first and second signals (S1 and S2), so that the second actuator order (CACT2) eventually corresponds to the second reference order (CREF2).

2. Device according to claim 1, wherein the servomechanism for adjusting the first actuator order relating to the longitudinal speed further comprises the following stages:

a) calculate a first maximum acceptable value (MAX1) for the first reference order (CREF1) according to a first equation (L1) dependent on the supplied first and second signals (S1 and S2) and having at least one of characteristics relating to the vehicle (VH) and the environment in which it is moving,

b) compare the first maximum acceptable value (MAX1) with the first reference order (CREF1),

c) in the presence of a first reference order (CREF1) which is lower than the first maximum acceptable value calculated (MAX1), take into account the first reference order (CREF1) as first actuator order (CACT1), while in the presence of a first reference order (CREF1) which is higher than or equal to the first maximum acceptable value calculated, take into account the first value calculated (MAX1) as first actuator order,

d) calculate a second maximum acceptable value (MAX2) for the second reference order (CREF2) according to a second equation (L2) dependent on the supplied first and second signals (S1 and S2) and on the at least one of characteristics relating to the vehicle and to the environment in which it is moving,

e) compare the second maximum acceptable value calculated (MAX2) with the second reference order (CREF2),

f) in the presence of a second reference order (CREF2) which is lower than the second maximum acceptable value calculated (MAX2), take into account the second reference order (CREF2) as a second actuator order (CACT2), while in the presence of a second reference order (CREF2) which is higher than or equal to the second value calculated (MAX2), take into account the second value calculated (MAX2) as second actuator order (CACT2),

the adjusting of the first actuator order (CACT1) being carried out in accordance with stages a) to c) until the second actuator order (CACT2) corresponds as rapidly as possible to the second reference order (CREF2) in accordance with stages d) to f), while taking into account at least one of certain characteristics of the vehicle and of the environment in which it is moving.

3. Device according to claim 2 wherein the stage c) of the servomechanism further provides, in the presence of a first reference order (CREF1) which is higher than or equal to the first maximum acceptable value calculated (MAX1), starting the servomechanism to adjust the first actuator order by initialization of the value of the preceding first actuator order (OLDCACT1) according to the first actuator order just determined (OLDCACT1=CACT1), when the servomechanism is not adjusting the first actuator order.

4. Device according to claim 3 wherein the stage b) of the servomechanism further comprises the following stages:

b1) determine a constant value representing a predetermined hysteresis value of the servomechanism (HYST1),

b2) compare the first maximum acceptable value calculated and corrected according to the predetermined hysteresis value (MAX1-HYST1) with the first reference order (CREF1), and stage c) of the servomechanism further comprises the following stage;

c1) in the presence of a first reference order (CREF1) which is lower than the first maximum acceptable value calculated and corrected (MAX1-HYST1), the first reference order (CREF1) is taken as the first actuator order (CACT1) and the servomechanism is stopped from adjusting the first actuator order, while in the presence of a first reference order (CREF1) which is higher than or equal to the first maximum acceptable value calculated and corrected (MAX 1-HYST1), a minimum value chosen from a group formed by the first maximum acceptable value calculated (MAX1), the first reference order (CREF1) and the preceding first actuator order (OLDCACT1) is taken as a first actuator order, and the value of the preceding first actuator order is initialized to that of the first current actuator order (OLDCACT1=CACT1), when the servomechanism is adjusting the first actuator order.

5. Device according to claim 2 wherein the characteristics relating to the vehicle (VH) are selected from the group formed by geometric, morphological, dynamic and attitude characteristics of the vehicle (VH), and the preceding first and second reference orders (CREF1 and CREF2).

6. Device according to claim 1 wherein the first sensor means (CAP1) comprise at least one instrument selected from the group formed by an encoder on a transmission shaft and wheel and a tachometer.

7. Device according to claim 1 wherein the second sensor means (CAP2) comprise at least one instrument selected from the group formed by a wheel angle encoder, and a wheel angle potentiometer.

8. Device according to claim 1 wherein the first actuator means (ACT1) comprise at least one element selected from the group formed by a link for controlling a brake (ACT3), accelerator (ACT5), gearbox (ACT4), power divider, and a mechanical transmission chain of the vehicle.

9. Device according to claim 1 wherein the second actuating means (ACT2) comprise a link for controlling the vehicle steering.

10. Device according to claim 1 wherein the vehicle control means (COMV) comprise an on-board computer.

11. Device according to claim 1 wherein the actuator means (ACT1, ACT2) together with the motor and steering elements of the vehicle form active means of the vehicle capable of delivering respectively a signal (RCACT) representing at least one of the position and current state of the active means, and said device further comprising means for receiving signals transmitted by the active means of the vehicle.

12. The device according to claim 11 wherein

the vehicle control means (COMV) determines, at a selected rate, the first and second actuator orders (CACTI and CACT2) in response to the first and second reference orders (CREF1 and CREF2) calculated at least in part from operator orders (COP) from an operator via a remote station (ST) and the device further comprising:

photographing means (PV) for recording images of an environment (IMG) in which the vehicle (VH) is moving, and

vehicle data transmission/reception means cooperating with the remote station (ST) for transmitting the images recorded to the remote station, as well as the data transmitted by the active means and sensors of the vehicle and for receiving the operator orders (COP) from the operator via the remote station, the remote station (ST) comprising;

station data transmission/receiving means cooperating with the vehicle (VH) for receiving the images (IMG) transmitted by the vehicle as well as the data transmitted by the active means and sensors of the vehicle, and for transmitting the operator orders (COP) to the vehicle,

visual display means (VISU) for displaying the images thus received,

selection and validation means (SEL) for selecting and validating at least some operator orders relating to the movement of the vehicle with the aid of the images displayed, and data originating from the active means and sensors of the vehicle, and

station control means (COMS) for manipulating the display means, the selection and validation means, and the station data transmission/receiving means of the station.

13. The device according to claim 12 further comprising:

locating means (CAP4) of the vehicle capable of picking up and sending data (S4) relating to the location of the vehicle, and the remote station further comprising;

means for generating on the image displayed data relating to a current position of the vehicle in accordance with the data relating to the location of the vehicle and determining at least some of the operator orders.

14. The device according to claim 13 wherein the vehicle control means determines a certain operator order of a certain mobility mode associated with a validity distance corresponding to the spatial validity of the operator order, and in the absence of at least one new operator order after passing through the validity distance, the vehicle control means (COMV) halts the vehicle until at least one new operator order is received.

15. The device according to claim 12 wherein the selection and validation means (SEL) are capable of selecting a predetermined mobility mode (MOD) of the vehicle, selected from the group formed by mobility mode by points of passage (MOD1), mobility mode by segment (MOD2), mobility mode by turning control (MOD3) and mobility mode by speed turning control (MOD4).

16. The device according to claim 15 wherein each mobility mode (MOD) is exclusive from each other.

17. The device according to claim 16 wherein the handle control (JOY):

is able to designate in the image displayed a plurality of points of passage forming an operator trajectory (TJOP), the vehicle having to go and stop at the last point on the operator trajectory,

and to validate an entirety or part of the operator trajectory (TJOP) thus designated, and

the vehicle control means (COMV) determines at a selected rate the different first and second reference orders (CREF1 and CREF2) as a function of the operator trajectory (TJOP) thus validated and of a current position of the vehicle, when the selected mobility mode of the vehicle is the mobility mode by points of passage (MOD1), in association with the validation of an operator order relating to a longitudinal cruising speed.

18. The device according to claim 17 further comprising means for a swerve-type autonomous behavior of the vehicle with a view to avoiding an obstacle if necessary.

19. The device according to claim 18 wherein the means for the swerve-type autonomous behavior being implemented automatically and the device further comprising:

detection means for detecting an obstacle on the operator trajectory (TJOP) of the vehicle,

deviation means for effecting a deviation from the operator trajectory of the vehicle so as to avoid the obstacle thus detected, while taking into account an operator margin, the deviation being carried out at a longitudinal speed compatible with at least one of the characteristics of the vehicle and of the environment in which it is moving,

for maintaining the deviation until the obstacle has been passed, and

for returning to the operator trajectory (TJOP) of the vehicle.

20. The device according to claim 18 wherein the means for the swerve-type autonomous behavior being implemented in response to an order from the operator and the device further comprising:

means for determining an operator deviation relative to the operator trajectory (TJOP), in response to a selected event by the operator, and

for determining at a selected rate the different first and second reference orders, taking into account the operator deviation from the current position of the vehicle relative to the operator trajectory (TJOP).

21. The device according to claim 15 wherein the selection and validation means (SEL) comprise a keyboard (CLA) for selecting the mobility mode (MOD) of the vehicle.

22. The device according to claim 15 wherein the selection and validation means (SEL) comprise a handle control (JOY) for selecting and validating certain operator orders and a lever (MAN) associated with the selection and validation of the operator orders relating to a longitudinal cruising speed of the vehicle.

23. The device according to claim 22 wherein the handle control (JOY) comprises means for designating on the image displayed an operator segment (SGOP) of variable length, having initial (EX1) and final (EX2) mobile extremities, the initial mobile extremity (EX1) being connected to a fixed point (PF) of the image corresponding to a fixed point chosen on the vehicle and the final extremity (EX2) defining a point in the environment where the vehicle must go and stop, when the selected mobility mode of the vehicle is the mobility mode by segment (MOD2).

24. The device according to claim 23 wherein:

the handle control (JOY) is capable of selecting and validating on the image displayed an operator segment of selected length and orientation (SGOP), and the vehicle data transmission/reception means transmit to the vehicle control means (COMV) the operator segment thus selected and validated (SGOP), and

the vehicle control means (COMV), calculate at a selected rate, the values of the different first and second reference orders (CREF1 and CREF2) in accordance with the operator orders thus received, and determine the first and second actuator orders (CACT1 and CACT2) in accordance with the first and second reference orders thus calculated (CREF1 and CREF2).

25. The device according to claim 24 wherein the handle control is capable of being moved by the operator along a Y axis perpendicular to an axis of longitudinal displacement of the vehicle, in order to displace the final extremity (EX2) of the operator segment (SGOP) along the Y axis, and the operator segment (SGOP) being parallel to the axis of longitudinal displacement of the vehicle.

26. The device according to claim 24 wherein the handle control is capable of being moved by the operator along a X axis perpendicular to an axis of longitudinal displacement of the vehicle, in order to displace the final extremity (EX2) of the operator segment (SGOP) along the X axis, and the operator segment (SGOP) being parallel to the axis of longitudinal displacement of the vehicle.

27. The device according to claim 24 wherein the handle control is capable of being rotated by the operator relative to a Z axis perpendicular to the axis of longitudinal displacement of the vehicle, in order to apply a curvature to the initial extremity (EX1) and final extremity (EX2) of the operator segment (SGOP) relative to the Z axis.

28. The device according to claim 24 further comprising:

means for determining an operator margin granted by the operator to the vehicle operating automatically over the operator segment (SGOP) thus validated, and the vehicle control means takes into account the operator margin.

29. The device according to claim 22 wherein the handle control is capable of being moved by the operator along a Y axis perpendicular to the axis of longitudinal displacement of the vehicle, in order to apply an operator order relating to turning speed of the vehicle in a first range of turning speed (PG1), while the handle control is capable of being rotated by the operator relative to a Z axis perpendicular to the axis of longitudinal displacement of the vehicle in order to apply an operator order relating to the turning speed in a second speed range (PG2) different from the first range (PG1), when the selected mobility mode of the vehicle is the mobility mode by turning speed control (MOD4) in association with the selection and validation of an operator order relating to the longitudinal cruising speed of the vehicle.

30. The device according to claim 22 wherein

the visual display means provide on the image displayed an axis forming a virtual horizon for the vehicle in the environment in which it is moving,

provide on the horizon a first indicator (ID1) capable of moving along said horizon and of indicating current turning (LC) of the vehicle on the horizon,

provide on the horizon a second indicator (ID2) capable of moving along the horizon and of indicating a reflection of a current position of the handle control (JOY),

provide on the horizon a third indicator (ID3) capable of moving along the horizon and of indicating the operator order relating to the turning of the vehicle, and

the handle control (JOY) is capable of selecting and validating the operator order relating to the turning by using the first and second indicators (ID1 and ID2), when the selected mobility mode of the vehicle is the mobility mode by turning control (MOD3) in association with the selection and validation of an operator order relating to the longitudinal cruising speed of the vehicle.

31. The device according to claim 30 wherein the handle control (JOY) is able to change, while the vehicle is moving, the selected mobility mode of the vehicle from the mobility mode by turning speed control (MOD4) to the mobility mode by turning control (MOD3) and vice versa.

32. The device according to claim 22 wherein the handle control (JOY) further comprises means for designating on the image displayed at least one point defining the point in the environment where the vehicle must go and stop, when the selected mobility mode of the vehicle is the mobility mode by points of passage (MOD1).

33. The device according to claim 12, wherein the transmission/reception means of the station and of the vehicle communicate with one another according to a suitable communication technology selected from the group formed by radio technology and cable technology using fibre optic or electrical cable.