Process for assisting downhill driving and associated device

• US 7,801,656 B2
• Filed: 04/04/2005
• Issued: 09/21/2010
• Est. Priority Date: 04/05/2004
• Status: Active Grant

• Current Assignee: BWI Company Limited SA (Shougang Corporation)
• Original Assignee: BWI Company Limited SA (Shougang Corporation)
• Inventors: Alvarez, Belen, Groult, Xavier Marie
• Primary Examiner(s): Black; Thomas G
• Assistant Examiner(s): Li; Ce
• Application Number:
  US10/592,577
• Publication Number:
  US 20080051968A1
• Time in Patent Office: 1,996 Days
• Field of Search: 701/70, 701/74, 701/79, 701/93, 701/96, 303/191, 303/192, 180/170, 477/182
• US Class Current: 701/70
• CPC Class Codes: B60T 2201/04 Hill descent control
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60T 8/245 Longitudinal vehicle inclination

Abstract

The invention relates to a driving assistance method which is intended for use on a slope. According to the invention, the vehicle comprises an accelerometer which can measure a longitudinal acceleration of the vehicle as measured longitudinal acceleration. The inventive method comprises the following steps consisting in: determining the instantaneous value of the slope (p) on which the vehicle is positioned, by calculating an instantaneous longitudinal acceleration from the measurements taken by wheel speed sensors, and, subsequently, comparing the instantaneous longitudinal acceleration with the longitudinal acceleration measured by the accelerometer; determining (156) a theoretical brake torque (Γ_th) as a function of the slope such that the vehicle reaches a desired speed (V_o); correcting (162) the theoretical brake torque value in order to obtain a target brake torque (Γ<SB>C</SB>); and emitting (163) a signal corresponding to the target brake torque in the direction of the brake regulation system.

Claims

1. Process for assisting driving of a vehicle engaged on a slope, the said vehicle including:

a braking system uncoupled from the operation of a brake pedal by the driver of the vehicle and able to apply a braking torque to at least one wheel of the said vehicle;

at least one wheel velocity sensor (5) able to measure an instantaneous velocity of a wheel of the said vehicle;

the process including the steps consisting of;

determining the instantaneous value of the slope on which the said vehicle is located;

testing the initial simultaneous existence of initial conditions including at least one entry condition; and

, once the said initial conditions are all verified and while at least one exit condition (175-178;

375-377, 380) is not verified, performing successive iterations of a main loop (100, 300) for determination of a target braking torque (Γ

_c) consisting of;

defining a desirable velocity (V₀) having to be attained by the vehicle;

determining the said target braking torque (Γ

_c) as a function of a difference (Δ

V) between the instantaneous value of the said desirable velocity (V₀) and the instantaneous value of a calculated velocity (V_c), calculated from measurements performed by the said at least one wheel sensor (5); and

,

transmitting (163, 363) a signal corresponding to the value of the said target braking torque (Γ

_c) to a braking control system forming part of the braking system;

characterised by the fact that the said initial conditions include an entry condition verified when the vehicle is stationary (52, 252) and by the fact that from the moment at which the said initial conditions are all verified and until an exit condition from the initial procedure is verified, the said target braking torque is determined by an initial procedure of progressive release of the brakes (260, 261) comprising the step consisting of temporally reducing the said target braking torque from an initial stationary value, the said exit condition from the initial procedure depending on a comparison between the said target braking torque (Γ

_c) and a theoretical braking torque (Γ

_th, S₀) which is a function of the value of the slope (p) characterized by the fact that the said initial procedure comprises the steps consisting of;

reducing the said target braking torque (Γ

_c) until the said calculated velocity (V_c) is greater than a predetermined threshold velocity,

increasing the said target braking torque (Γ

_c) until the said exit condition from the initial procedure is verified, the said exit condition from the initial procedure being verified when the said target braking torque (Γ

_c) is greater than the said theoretical braking torque (S_o).

2. Process as described in claim 1, characterised by the fact that the said theoretical braking torque (S₀) is substantially equal to the torque to be applied to the said at least one wheel of the vehicle to keep the velocity of the vehicle constant.

3. Process as described in claim 1, characterised by the fact that the step of reduction of the target braking torque is firstly performed at a first rate of temporal variation (τ

₁) until the said target braking torque is less than the said theoretical braking torque (S₀), and then at a second rate of temporal variation (τ

₂) until the said calculated velocity (V_c) is greater than a predetermined velocity threshold, the said first rate of temporal variation being greater than the said second rate of temporal variation.

4. Process as described in claim 1, characterised by the fact that the step of increasing the target braking torque is performed at a third rate of temporal variation (τ

₃).

5. Process as described in claim 1, characterised by the fact that when the said initial conditions are all verified, the process includes the said initial procedure of progressive release of the brakes performed in parallel with the said main loop (100), the said exit condition from the initial procedure being verified when the target braking torque (Γ

_c) determined by the said main loop is greater than the target braking torque (Γ

_c) determined by the said initial procedure.

6. Process as described in claim 1, characterised by the fact that the process includes a step consisting, at each iteration of the said main loop (100, 300), of determining the said desirable descent velocity (V₀) as a function of the determined instantaneous value of the slope (p).

7. Process as described in claim 1, the said vehicle including an accelerator pedal and an acceleration sensor (17) able to measure the degree of depression of the said accelerator pedal by the driver, characterised by the fact that, at each iteration, the said desirable velocity (V₀) is determined as a function of the instantaneous value of the degree of depression of the pedal (d), provided that the said instantaneous value of the degree of depression of the accelerator pedal is within a range limited at the lower end by a first predetermined degree of depression of the accelerator pedal (d₁) and at the upper end by a second predetermined degree of depression of the accelerator pedal (d₂).

8. Process as described in claim 7, characterised by the fact that at each iteration, the said desirable velocity (V₀) is increased by a predetermined value (Δ

V₀) relative to the desirable velocity determined at the preceding iteration, provided that the said instantaneous value of the degree of depression of the accelerator pedal is within the said range.

9. Process as described in claim 1, the said vehicle including a clutch pedal and a sensor of displacement of the clutch pedal (18), characterised by the fact that the said step consisting of determining the said desirable velocity comprises the step consisting of adding a determined value when the said sensor of displacement of the clutch pedal (18) indicates that the said clutch pedal is released.

10. Process as described in claim 1, characterised by the fact that the said theoretical braking torque (Γ

_th) is determined from a calibration table giving the value of the braking torque as a function of the slope (p).

11. Process as described in claim 1, characterised by the fact that the said initial conditions include an entry condition which consists of comparing (51, 251) an instantaneous value of the said slope (p) relative to a predetermined first threshold slope (p₁), the said entry condition being verified when the said instantaneous value of the said slope is greater than the said first threshold slope.

12. Process as described in claim 1, characterised by the fact that the said at least one exit condition consists of comparing (176, 376) an instantaneous value of the said slope (p) with a second predetermined slope (p₂), the exit condition being verified when the said instantaneous value of the slope is less than the said second predetermined slope.

13. Process as described in claim 1, characterised by the fact that the said at least one exit condition consists of comparing (175, 375) an instantaneous velocity (V_c), calculated from measurements performed by the said at least one wheel velocity sensor (5), with an upper threshold velocity (V₂), the said exit condition being verified when the said instantaneous velocity is greater than an upper threshold velocity.

14. Process as described in claim 3, characterised by the fact that the said successive iterations of the said main loop (100) comprise the steps consisting of:

determining (156) a theoretical braking torque (Γ

_th) for the vehicle to attain a desirable velocity (V₀);

correcting (162) the value of the said theoretical braking torque as a function of the said velocity difference to obtain the said target braking torque (Γ

_c) .

15. Process as described in claim 1, characterised by the fact that the said vehicle includes an accelerometer (19) able to measure a longitudinal acceleration of the body of the said vehicle as the measured longitudinal acceleration (A_m), the said instantaneous value of the slope being determined by:

calculating an instantaneous longitudinal acceleration (A_c) from wheel velocity measurements taken by the said at least one wheel velocity sensor;

determining a slope (p) by comparison of the said instantaneous longitudinal acceleration with the said longitudinal acceleration measured by the said accelerometer.

16. Programmable calculator unit (11) including a processor and at least a memory space (110), the said memory space including instruction codes of a program for assisting driving of a vehicle engaged on a slope, characterised by the fact that the said program for assisting driving implements a process for assisting driving as described in claim 1.

17. Device for assisting the driving of a vehicle engaged on a slope, including:

a braking system uncoupled from the operation by the driver of a brake pedal;

at least one wheel velocity sensor (5) able to measure the instantaneous velocity of a wheel of the said vehicle;

an accelerometer (19) able to measure a longitudinal acceleration of the body of the said vehicle as the measured longitudinal acceleration (A_m);

a programmable calculator unit (11);

characterised by the fact that the said programmable calculator unit is a calculator unit as described in claim 16.