• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Parking assistance system of a motor vehicle for parking the vehicle from a traffic lane to a free parking space and the exit of said parking space to the driving lane. The parking assistance system comprises a module (12) for determining the acceleration of the vehicle capable of delivering an acceleration setpoint (A) as a function of the speed (V) of the vehicle and the distance (D) with an obstacle and a torque control module (14) capable of calculating a braking torque setpoint (CFF) and a motor torque setpoint (CMF) as a function of the acceleration setpoint (A), of the speed of the vehicle (V) and the slope (P) of the road.
    公开号:FR3063701A1
    申请号:FR1751873
    申请日:2017-03-08
    公开日:2018-09-14
    发明作者:Guillaume Martin；Pape Abdoulaye Sene；Sebastien Saliou
    申请人:Renault SAS；
    IPC主号:
    专利说明:

    ® FRENCH REPUBLIC
    NATIONAL INSTITUTE OF INDUSTRIAL PROPERTY © Publication number: 3,063,701 (to be used only for reproduction orders)
    ©) National registration number: 17 51873
    COURBEVOIE
    ©) Int Cl 8 : B 60 W30 / 06 (2017.01), B 60 W 10/18, 50/12, B 62 D 15/02
    A1 PATENT APPLICATION
    (22) Date of filing: 08.03.17. ©) Applicant (s): RENAULT S.A.S Joint-stock company ©) Priority: simplified - FR. (72) Inventor (s): MARTIN GUILLAUME, SENE PAPE ABDOULAYE and SALIOU SEBASTIEN. (43) Date of public availability of the request: 14.09.18 Bulletin 18/37. ©) List of documents cited in the report preliminary research: Refer to end of present booklet (© References to other national documents (73) Holder (s): RENAULT S.A.S Société par actions sim- related: folded. ©) Extension request (s): @) Agent (s): RENAULT SAS.
    154 / METHOD AND SYSTEM FOR ASSISTING THE PARKING OF A MOTOR VEHICLE.
    FR 3 063 701 - A1
    Parking aid system for a motor vehicle allowing the parking of the vehicle from a traffic lane to a free parking space and the exit from said parking space to the traffic lane.
    The parking assistance system comprises a module (12) for determining the acceleration of the vehicle capable of delivering an acceleration instruction (A) as a function of the speed (V) of the vehicle and the distance (D) with an obstacle and a torque regulation module (14) capable of calculating a braking torque setpoint (CFF) and an engine torque setpoint (CMF) as a function of the acceleration setpoint (A), of the vehicle speed (V) and the slope (P) of the road.
    V D P V

    Method and system for parking assistance of a motor vehicle
    The present invention relates to the field of aids for driving a motor vehicle, and in particular parking aids.
    More particularly, the invention relates to fully automated parking assistance methods and systems for carrying out parking maneuvers, for example of the niche type.
    Such parking assistance methods and systems allow the detection of a parking space and then take control over the electric power steering of the vehicle in order to perform the parking maneuver. The steering operation of the wheels for the parking maneuver is thus carried out entirely automatically.
    The driver remains responsible for changing gears, accelerating and braking the vehicle.
    Document WO 2014/167255 - Al (Renault) discloses a trajectory planning method for performing an automated parking maneuver of a motor vehicle. However, such a method does not take into account the longitudinal speed of the vehicle.
    Reference may also be made to document WO 2014/191209 A1 (Renault) which describes a method for delegating the parking maneuvers of the vehicle to an automated system.
    In such processes, acceleration is the sole responsibility of the driver. There is then a risk that the vehicle is traveling at excessive speed, which could cause a collision with fixed or mobile obstacles located near the vehicle. In addition, obstacle detection, braking and vehicle immobilization are also under the exclusive control of the driver.
    There is a need to improve driving assistance methods and systems in order to provide the driver with the most secure parking aid possible.
    The object of the present invention is therefore to provide a parking assistance system and method capable of taking into account the dispersion of the actuators, in particular braking systems, while ensuring the maintenance of the vehicle on a sloping road without influence the precision of the regulation.
    The subject of the invention is a parking aid system for a motor vehicle allowing the parking of the vehicle from a traffic lane to a free parking space and the exit from said parking space to the traffic lane, said vehicle. automobile comprising an obstacle detection system, a parking space detection system, an electric power steering controllable in steering angle, a torque-controlled engine and braking system, an automatic gearbox or a system known as " shift by wire ”, at least one odometric sensor, an accelerometer, a visual and sound interface and a means of activating an automatic pilot function.
    The parking assistance system includes a module for determining or calculating the acceleration of the vehicle capable of delivering an acceleration instruction as a function of a vehicle speed instruction and the distance to an obstacle and a regulation module torque capable of calculating a braking torque setpoint and an engine torque setpoint as a function of the acceleration setpoint, the vehicle speed and the slope of the road.
    The system makes it possible to regulate the movement of the vehicle at low speed. It has a low speed speed estimator and an acceleration estimator for this.
    Such a parking aid system makes it easier for the driver to park by taking control not only of the side actuators, such as the electric power steering, but also of the longitudinal actuators, such as the engine, the gearbox. and the vehicle's braking system, while leaving the possibility for the driver to act on the parking maneuver at any time.
    According to one embodiment, the system comprises four operating states:
    - an initial state corresponding to the search for a parking space by the parking space detection system,
    a first state corresponding to a waiting phase for the start of the maneuver in which the acceleration determination module calculates a negative acceleration instruction in order to ensure that the vehicle remains stationary, taking account of the road,
    a second state corresponding to an acceleration cancellation phase in which the acceleration determination module calculates a first acceleration setpoint according to a rapid decay ramp and a second acceleration setpoint according to a decay ramp slow,
    a third state in which the acceleration determination module calculates an acceleration setpoint as a function of an anticipation filter and of an integral proportional regulator, and
    - a fourth state corresponding to the braking activation phase, in which the acceleration determination module calculates an acceleration setpoint as a function of a gain and a braking ramp.
    Thus, at each state of the parking maneuver, the acceleration determination module calculates an acceleration setpoint.
    Advantageously, the torque regulation module comprises an initial torque calculation module as a function of the acceleration setpoint calculated by the acceleration determination module at each state of the parking maneuver.
    For example, the initial torque calculation module includes a converter from the value of the acceleration setpoint to the wheel torque setpoint as a function of the vehicle speed and the estimated road slope using the information provided. by the vehicle accelerometer.
    The initial torque calculation module can also further comprise a saturator delivering at output a positive component corresponding to the initial setpoint of engine torque and a subtractor capable of subtracting from the setpoint of torque at the wheel, the positive component for obtaining the setpoint initial braking torque.
    Advantageously, the torque regulation module comprises a deceleration regulation module activated only during the phases of interruption of the parking maneuver, such as the presence of obstacles on the path, the cancellation of the maneuver by the driver or failure of actuators other than the braking system. Said deceleration regulation module is capable of sending bypass orders and calculating a braking torque setpoint when an interruption is detected.
    For example, the torque regulation module includes a module for calculating a final torque setpoint capable of arbitrating between the various torque setpoints it receives at the input in order to deliver a final engine torque setpoint to the wheel and a final setpoint for braking torque at the wheel.
    According to a second aspect, the invention relates to a method of assisting in the parking of a motor vehicle allowing the parking of the vehicle from a traffic lane to a free parking space and the exit from said parking space to the traffic lane , said motor vehicle comprising an obstacle detection system, a parking space detection system, an electric power steering steerable in steering angle, a torque-controlled engine and braking system, an automatic gearbox or a system called “shift by wire”, at least one odometer sensor, an accelerometer, a visual and sound interface and a means of activating an automatic pilot function.
    In the method, an acceleration setpoint is calculated as a function of the vehicle speed and the distance with an obstacle and a braking torque setpoint and an engine torque setpoint are calculated as a function of the acceleration setpoint, vehicle speed and road slope.
    For example, to calculate a braking torque setpoint and an engine torque setpoint, an initial engine torque setpoint and an initial braking torque setpoint are calculated as a function of the acceleration setpoint and the slope of the road, we check if there is an interruption of the parking maneuver, and we calculate a final setpoint of engine torque and a final setpoint of braking torque and function of the initial torque setpoints and the detection of the interruption.
    Other objects, characteristics and advantages of the invention will appear on reading the following description, given solely by way of non-limiting example, and made with reference to the appended drawings in which:
    - Figure 1 schematically shows a parking assistance system of a motor vehicle according to the invention;
    - Figure 2 illustrates the states of the parking aid system according to Figure 1;
    - Figure 3 illustrates in detail the torque control module of the parking aid system of Figure 1; and
    - Figure 4 illustrates the steps of a parking assistance method according to the invention implemented by the parking assistance system.
    In Figure 1, there is shown very schematically a system 10 for driving assistance and in particular the parking of a motor vehicle (not shown). The motor vehicle comprises the following elements which are not shown in the figures for clarity: an obstacle detection system located near the vehicle, for example at a distance of less than 2 m, a parking space detection system , an electric power steering steerable in steering angle, a motor and a braking system both steerable in torque, an automatic gearbox or a system called "shift by wire", at least one odometric sensor, an accelerometer, a visual and audible interface as well as a means of activating an automatic pilot or “dead man” function.
    The system 10 makes it possible to regulate the movement of the vehicle at low speed. It has for this a low speed speed estimator and an acceleration estimator (not shown).
    The system 10 comprises a module 12 for calculating or determining the acceleration of the vehicle capable of delivering an acceleration instruction A as a function of the speed V of the vehicle and the distance D with an obstacle and a module 14 of torque regulation able to calculate a braking torque setpoint Cff and an engine torque setpoint Cmf as a function of the acceleration setpoint A, the vehicle speed V and the slope P of the road.
    The acceleration determination module 12 calculates, at each state E of the parking aid system 10, an acceleration instruction A which will be transmitted to the torque regulation module 14 in order to continuously adapt the control of the actuators depending on the stage of the parking maneuver and the environment near the vehicle.
    The states are shown in Figure 2.
    The initial state E0 of the parking assistance system corresponds to the search phase for a parking space. In this state E0, the parking aid system 10 is not active, that is to say that no control is carried out on the actuators. The driver of the vehicle remains fully responsible for his vehicle. To activate the parking aid system 10, the driver must press an activation means (not shown) of an automatic piloting or “dead man” function present on the dashboard of the vehicle, select the type parking maneuver, such as for example a slot, as well as the side of the vehicle from which the driver wishes to park the vehicle. The vehicle's machine interface (not shown) then prompts the driver to advance until a parking space is detected and then to stop the vehicle.
    Once the parking space has been validated by the driver, the parking aid system 10 goes to state El, corresponding to a phase of waiting for the start of the maneuver. During this waiting phase El, the acceleration determination module 12 calculates a negative acceleration setpoint according to the following equation:
    A E i (k) = C (Eq. 1)
    With:
    Aei, the acceleration setpoint calculated in the El state, expressed in m / s 2 ;
    k, the sampling instant; and
    C, a constant, expressed in m / s 2 , corresponding to the acceleration target calculated by the acceleration determination module to ensure that the vehicle remains stationary, taking into account the road and the vehicle, for example the slope of the road and the uncertainty on the mass of the vehicle.
    In the case of parking by slot, the driver must engage reverse gear. When reverse gear is engaged and the driver transmits the order to start the parking maneuver to the parking assistance system, the latter goes to state E2, corresponding to a phase of acceleration cancellation ( initially defined to keep the vehicle stationary) in which the acceleration determination module calculates a first acceleration setpoint according to a rapid decay ramp and a second acceleration setpoint according to a slow decay ramp, according to the following equations:
    AeAJï) = Αε / k - V) .KTe.K F if AeAJï -1) <5 (Eq. 2)
    Αε + Ε) = Αε2 (+ - ). K.Te.Ks (Eq. 3)
    With:
    Aei, the acceleration setpoint calculated in state E2, expressed in m / s 2 ;
    K, the gain of the discrete integrator;
    Te, the sampling period;
    Kf, the gain of the fast ramp;
    Ks, the gain of the fast ramp; and
    S, the deceleration ramp change threshold value.
    At the end of the complete cancellation of the acceleration setpoint or when the parking aid system detects a movement of the vehicle, it goes to state E3.
    To detect movement of the vehicle, the parking assistance system includes a motion detection module based on "top wheels" using an internal parking assistance system estimator. The term "top wheels" refers to the output of an encoder located at the wheel of the vehicle and which increments every X degrees of rotation of the wheel. The X value depends on the vehicle and the size of the wheel. This encoder is part of the vehicle's odometry and it exists on each wheel. With each rotation of X degrees, we have one more “top”.
    During states E1 and E2, the vehicle is stationary. During state E3, the acceleration determination module 12 calculates an acceleration setpoint Ae3 according to the following equation:
    Αε + Ε) = Kpid.Apid (E). + Kff.Aff (/ () (Eq. 4)
    With Aff (E) = (Eq. 5)
    With:
    Ae ,, the acceleration setpoint calculated in state E3, expressed in m / s 2 ;
    Kpid, the weight gain of the proportional integral derivative regulator;
    Apid, the derivative integral proportional acceleration setpoint, expressed in m / s 2 ;
    Kff, the gain in weighting of the feed forward filter;
    Aff, the “feed forward” filter acceleration setpoint, expressed in m / s 2 ; and
    V req , the speed reference of the parking assistance system corresponding to a threshold value not to be exceeded, expressed in m / s.
    On detection of an obstacle or on the driver's desire to regain control of his vehicle or in the event of a malfunction of one of the lateral or longitudinal actuators of the vehicle, the parking assistance system switches to state El.
    At the end of the movement, and without interruptions from state E3, the parking aid system goes to state E4 corresponding to the braking activation phase, in which the acceleration determination module calculates a acceleration setpoint Ae4 according to the following equation:
    Aeh (Jî) = AeAJî - ï) .K.Te.Ksb (Eq. 6)
    With:
    Aeî., The acceleration setpoint calculated in state E4, expressed in m / s 2 ;
    Ksb, the gain of the braking ramp.
    Once the vehicle has stopped and the braking ramp has been completed, the parking assistance system switches to state El which corresponds to the waiting phase for the next movement. During this state, the vehicle is kept stationary by applying a negative acceleration instruction Aei.
    All these acceleration setpoints Aeo, Aei, Ae2, Ae3 and Ae4 are then synthesized into a single acceleration setpoint A. This latter is determined using the following logic based on the states E x of the system 10:
    A (k) = Αεο (Κ). if E (State of the system) = Eo ; Or
    A (k) = Aei (1ï if E (System state) = Ei ; Or
    A (k) = AE2 (k if E (System state) = E2 ; Or ίο
    A (k) = Ae3 (J ( if E (System state) = E3 ; Or
    A (k) = AeAIï). if E (State of the system) = E4 ;
    This single acceleration setpoint A is then transmitted to the torque regulation module 14 in order to calculate the torque setpoints necessary for controlling the actuators (engine and brake) of the vehicle.
    The torque regulation module 14 comprises an initial torque calculation module 16 Cmi, Cfi as a function of the acceleration setpoint A calculated by the acceleration regulation module 12.
    The initial torque calculation module 16 comprises a converter 18 of the value of the acceleration setpoint A into the torque setpoint at the wheel Cr as a function of the speed of the vehicle V and the slope of the road P estimated using the information provided by the vehicle accelerometer (not shown) at the start of the maneuver when the vehicle is stationary. Depending on the slope of the road P, the force applied to the vehicle due to this slope is determined, then the corresponding torque Cp to be added to the torque setting at the wheel.
    The torque setpoint at the wheel Cr is written according to the following equation:
    Cr = Cp. + A.mR (Eq. 7)
    With:
    Cr, the torque setpoint at the wheel, expressed in N.m;
    Cp, the torque corresponding to the force applied to the vehicle due to the slope of the road, expressed in N.m;
    m, the mass of the vehicle, expressed in kg; and
    R, the radius of the wheel, expressed in m.
    The module 16 for calculating the initial engine torque setpoint Cmi and the initial torque setpoint Cfi to the braking system further comprises a saturator 20 delivering as output a positive component Cmi corresponding to the initial torque setpoint for the engine and a subtractor 22 capable of subtracting from the torque setpoint at the wheel Cr, the engine torque component Cmi previously determined in order to obtain the initial torque setpoint for the braking system using a second saturator 24.
    The torque regulation module 14 further comprises a deceleration regulation module 26 activated only during the phases of interruptions of the parking maneuver, such as the presence of obstacles on the trajectory, the cancellation of the maneuver by the driver or failure of actuators other than the brake system.
    The deceleration regulation module 26 sends bypass orders and calculates a braking torque setpoint Cf as a function of an estimated value of the vehicle acceleration Aesî obtained by deriving the vehicle speed. This module 26 is based on an integral proportional regulator with filtered derivative.
    The torque regulation module 14 further comprises a module 28 for calculating a final torque setpoint capable of arbitrating between the various torque setpoints it receives at the input in order to deliver a final engine torque setpoint Cmf at the wheel and a final setpoint for braking torque Cff at the wheel according to the following equations:
    C MF (k) = CMl (k) if no bypass (Eq. 8) Otherwise Ci + afk) = 0 (Eq. 9) C FF (k) = Cn (k) if no bypass (Eq. 10) Otherwise, CFF (k) = C F(Eq. H)
    With:
    Cmf, the final setpoint of engine torque at the wheel, expressed in N.m;
    Cff, the final setpoint for braking torque at the wheel, expressed in N.m; and
    Cf, the braking torque setting at the wheel calculated by the module 26, expressed in N.m.
    Thus, braking torque instructions are obtained in states Ei, E2 and E4 of the parking assistance system and engine torque and / or braking instructions are obtained according to the environment in state E3 of the system parking assistance.
    FIG. 4 represents a flowchart for implementing a method 30 for parking the assistance of a motor vehicle.
    The method 30 allows the vehicle to be parked from a traffic lane to a free parking space, as well as the exit from said parking space to the traffic lane.
    The method 30 comprises a step 31 of determining the state E of the parking aid system, that is to say one of the states E0 to E4 previously defined.
    During the initial state E0, the method comprises a step 32 of finding a parking space.
    Once the parking space has been validated by the driver, the method comprises a step 33 corresponding to the state El waiting for the start of the maneuver.
    When the conditions to initiate the maneuver are met, that is, in the case of parking by slot, when the reverse gear is engaged by the driver and the driver transmits the order to start the parking maneuver, the method includes a step 34 corresponding to the acceleration cancellation state E2 in which the acceleration determination module calculates a first acceleration setpoint according to a decrease ramp in the parking assistance system.
    At the end of the complete cancellation of the acceleration instruction or when the parking aid system 10 detects a movement of the vehicle, the method goes to step 35 corresponding to state E3.
    At the end of the movement, and without interruptions of the state E3, the method goes to step 36 corresponding to the state E4 of activation of the braking, in which the acceleration determination module calculates a setpoint of acceleration Ae4.
    The method 30 further comprises a step 37 of calculating an acceleration setpoint A at each state E determined according to one of the equations Eq.l to Eq.6 and a step 38 of transmitting the acceleration setpoint A to module 14 for calculating a torque setpoint.
    The method 30 comprises a step 39 of calculating an initial setpoint of engine torque Cmi and an initial setpoint of braking torque Cfi as a function of the acceleration setpoint and the slope P of the road.
    The method 30 includes a step 40 of verifying an interruption, such as for example the presence of obstacles in the path, the cancellation of the maneuver by the driver or the failure of the actuators. If an interruption is detected, the detection step transmits a positive bypass value and calculates a braking torque setpoint using the integral proportional regulator with filtered derivative, according to an estimated value of vehicle acceleration obtained by derivation vehicle speed.
    The method comprises a step 41 of calculating a final torque setpoint capable of arbitrating between the different torque setpoints it receives at the input in order to deliver a final setpoint of engine torque Cmf to the wheel and a final setpoint braking torque Cff to the wheel according to equations Eq. 8 to Eq. 11.
    Thanks to the parking aid system and method according to the invention, it is possible to control the longitudinal movement of the vehicle in an assisted parking maneuver while taking into account the slope of the road in order to maintain the vehicle during the static phases of the maneuver.
    权利要求:
    Claims (9)
    [1" id="c-fr-0001]
    1. Motor vehicle parking assistance system allowing the parking of the vehicle from a traffic lane to a free parking space and the exit from said parking space to the traffic lane, said motor vehicle comprising a obstacle detection, a parking space detection system, electric power steering steerable in steering angle, a motor and braking system steerable in torque, an automatic gearbox or a so-called "shift by wire" system, at least one odometric sensor, an accelerometer, and a means for activating an automatic piloting function, characterized in that the parking assistance system comprises a module (12) for determining the acceleration of the vehicle capable of issue an acceleration instruction (A) as a function of the vehicle speed (V) and the distance (D) with an obstacle and a module (14) for torque regulation capable of calculating a braking torque setpoint (Cff) and an engine torque setpoint (Cmf) as a function of the acceleration setpoint (A), the vehicle speed (V) and the slope (P) of the road.
    [2" id="c-fr-0002]
    2. System according to claim 1, comprising four operating states, an initial state (E0) corresponding to the phase of search for a parking space by the parking space detection system, a first state (El) corresponding to a waiting phase for the start of the maneuver in which the acceleration determination module (12) calculates a negative acceleration instruction in order to ensure that the vehicle remains stationary, taking the road into account, a second state (E2) corresponding to an acceleration cancellation phase in which the acceleration determination module (12) calculates a first acceleration setpoint according to a rapid decay ramp and a second acceleration setpoint according to a slow decay ramp, a third state (E3) in which the acceleration determination module (12) calculates an acceleration setpoint as a function an anticipation filter and an integral proportional regulator, and a fourth state (E4) corresponding to the braking activation phase, in which the acceleration determination module (12) calculates an acceleration setpoint as a function of a gain from a braking ramp.
    [3" id="c-fr-0003]
    3. The system as claimed in claim 2, in which the torque regulation module (14) comprises a module (16) for calculating the initial torque (Cmi, Cfi) as a function of the acceleration setpoint (A) calculated by the module. (12) determining the acceleration in each state (E1, E2, E3)
    [4" id="c-fr-0004]
    4. The system as claimed in claim 3, in which the module (16) for calculating the initial torque comprises a converter (18) from the value of the acceleration setpoint (A) to the wheel torque setpoint (Cr) in as a function of the vehicle speed (V) and the slope of the road (P) estimated using the information provided by the vehicle accelerometer.
    [5" id="c-fr-0005]
    5. The system as claimed in claim 4, in which the module (16) for calculating the initial torque further comprises a saturator (20) delivering a positive component (Cmi) as an output corresponding to the initial setpoint of engine torque and a subtractor (22 ) suitable for subtracting the positive torque (Cmi) from the wheel torque setpoint (Cr) to obtain the initial braking torque setpoint (Cfi).
    [6" id="c-fr-0006]
    6. System according to any one of claims 3 to 5, in which the torque regulation module (14) comprises a deceleration regulation module (26) activated only during the phases of interruptions of the parking maneuver, such that the presence of obstacles in the path, the cancellation of the maneuver by the driver or the failure of actuators other than the braking system, said deceleration regulation module (26) being able to send bypass orders and to calculate a braking torque setpoint (Cf) when an interruption is detected.
    [7" id="c-fr-0007]
    7. The system as claimed in claim 6, in which the torque regulation module (14) comprises a module (28) for calculating a final torque setpoint capable of arbitrating between the different torque setpoints (Cfi, Cmi , Cf) which it receives at the input in order to deliver a final setpoint of engine torque (Cmf) to the wheel and a final setpoint of braking torque (Cff) to the wheel.
    [8" id="c-fr-0008]
    8. A method of assisting the parking of a motor vehicle allowing the parking of the vehicle from a traffic lane to a free parking space and the exit from said parking space to the traffic lane, said motor vehicle comprising a system of obstacle detection, a parking space detection system, electric power steering steerable in steering angle, a motor and braking system steerable in torque, an automatic gearbox or a so-called "shift by wire" system, at least one odometric sensor, an accelerometer, a visual and audible interface and a means of activating an automatic piloting function, characterized in that an acceleration setpoint (A) is calculated as a function of the speed (V ) of the vehicle and the distance (D) with an obstacle and a braking torque setpoint (Cff) and an engine torque setpoint (Cmf) are calculated in fon ction of the acceleration setpoint (A), the vehicle speed (V) and the slope (P) of the road.
    [9" id="c-fr-0009]
    9. The method of claim 8, wherein to calculate a braking torque setpoint (Cff) and an engine torque setpoint (Cmf), an initial engine torque setpoint (Cmi) and an initial braking torque setpoint are calculated. (Cfi) according to the acceleration setpoint (A) and the slope (P) of the road, we check if there is an interruption of the parking maneuver, and we calculate a final setpoint of engine torque ( Cmf) and a final braking torque setpoint (Cff) and function of the initial torque setpoints (Cmi, Cfi) and the detection of the interruption.
    1/2
    类似技术:
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    同族专利:
    公开号 | 公开日
    EP3592629A1|2020-01-15|
    KR102362212B1|2022-02-14|
    FR3063701B1|2019-04-05|
    JP2020514174A|2020-05-21|
    US20200023833A1|2020-01-23|
    WO2018162852A1|2018-09-13|
    KR20190126324A|2019-11-11|
    CN110267867A|2019-09-20|
    引用文献:
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    法律状态:
    2018-03-23| PLFP| Fee payment|Year of fee payment: 2 |
    2018-09-14| PLSC| Publication of the preliminary search report|Effective date: 20180914 |
    2020-03-19| PLFP| Fee payment|Year of fee payment: 4 |
    2021-03-23| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1751873A|FR3063701B1|2017-03-08|2017-03-08|METHOD AND SYSTEM FOR AIDING THE PARKING OF A MOTOR VEHICLE|
    FR1751873|2017-03-08|FR1751873A| FR3063701B1|2017-03-08|2017-03-08|METHOD AND SYSTEM FOR AIDING THE PARKING OF A MOTOR VEHICLE|
    KR1020197026312A| KR102362212B1|2017-03-08|2018-03-08|Car parking assistance method and system|
    PCT/FR2018/050531| WO2018162852A1|2017-03-08|2018-03-08|Motor vehicle parking assist method and system|
    CN201880011320.3A| CN110267867A|2017-03-08|2018-03-08|Motor vehicles parking assist method and system|
    JP2019548644A| JP2020514174A|2017-03-08|2018-03-08|Car parking support method and car parking support system|
    US16/491,291| US20200023833A1|2017-03-08|2018-03-08|Motor vehicle parking assist method and system|
    EP18712973.9A| EP3592629A1|2017-03-08|2018-03-08|Motor vehicle parking assist method and system|
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