The invention concerns a control method implemented in a vehicle (12) for controlling the driving of the vehicle using data from sensors (200) in a perception system (20), the perception system providing at least one variable determined on the basis of the data measured by at least some of the sensors. The control method implements a control loop for transmitting at least one control signal to one or more vehicle actuators depending on the determined difference between (a) an inter-vehicle distance and the inter-vehicle distance target value, and/or (b) the difference between the vehicle speed and the vehicle speed target value. The control signal is dependent on at least one pair of control parameters (Kpi, Kvi). The method comprises a step of calculating the sensor delay and a step of compensating for the sensor delay, the latter step comprising the determination of at least one pair of control parameters with an optimum value using a set of starting values for the pair of control parameters, wherein the pair of control parameters with an optimum value is selected from the starting values of the pair of control parameters that meet a set of selection conditions comprising at least one condition relating to a maximum sensitivity value, wherein the maximum sensitivity value is defined depending on the control parameters and a reference inter-vehicle separation time.
SYSTÈME ET PROCÉDÉ DE CONTRÔLE DE VÉHICULE AVEC COMPENSATION DE RETARD TEMPOREL DE CAPTEURS
VEHICLE CONTROL SYSTEM AND METHOD WITH SENSOR TIME DELAY COMPENSATION
FAHRZEUGSTEUERUNGSSYSTEM UND VERFAHREN MIT ZEITVERZÖGERUNGSKOMPENSATION DES SENSORS
31.01.2024
Patent
Elektronische Ressource
Französisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES |
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