METHOD FOR DRIVING A MOTOR VEHICLE BY A ROBOT DRIVING SYSTEM

Abstract

The invention relates to a driving robot (2) and a method for driving a motor vehicle (1) by such a driving robot (2) selectively controlling a brake pedal (13) and an accelerator pedal (12) of the motor vehicle (1) via a brake actuator (23) and an accelerator actuator (22), respectively. According to the invention, the driving robot (2) steers the motor vehicle (1) placed on a roller bench (31) in order to autonomously follow a speed setpoint (CONS_VIT) after having previously detected zones of stability of the speed setpoint (CONS_VIT) in which the speed setpoint (CONS_VIT) remains sufficiently stable. In these zones of stability of the speed setpoint (CONS_VIT), the brake pedal (13) is no longer used by the driving robot (2) to slow down the motor vehicle (1).However, outside these stability zones, the driving robot (2) does indeed use the brake pedal (13) and the accelerator pedal (12) to control the speed of the motor vehicle (1). Figure 1.

Description

Title of the invention: METHOD FOR DRIVING A MOTOR VEHICLE BY A DRIVING ROBOT

[0001] The invention relates generally to driving by a driving robot of a motor vehicle mounted on test means. More particularly, the invention relates to a method of driving by a driving robot of a vehicle mounted on test means, such as a roller test bench, and to a driving robot implementing the driving method.

[0002] Automobile manufacturers must respond to ecological challenges, in particular by reducing the consumption of motor vehicles and the polluting emissions of motor vehicles with a thermal engine. In general, the methodologies and testing resources must be adapted for optimized developments and fine-tuning of new generations of motor vehicles, as well as to meet new regulatory obligations such as those imposed by approval test procedures providing in particular for the measurement of fuel consumption, electric autonomy and CO2 and pollutant emissions.

[0003] Numerous test cycles are carried out in the laboratory, in particular on a roller test bench, during the development, fine-tuning, validation and approval phases of a motor vehicle.

[0004] Driving robots are usually used for test cycles. Driving robots must be autonomous and non-intrusive to maintain the motor vehicle in operating conditions close to real conditions. These driving robots are required, in particular, to ensure high precision in tracking speed setpoints, good repeatability for test correlation and so-called "human" driving quality. The detection of abnormal conditions and the management of an emergency stop of the vehicle is also an expected skill of driving robots to guarantee a safe test environment.

[0005] Thus, driving robots are known comprising actuators capable of mechanically controlling at least the brake pedal and the accelerator pedal, and possibly the gearshift lever. A known drawback of these driving robots lies in the appearance of an oscillation of the speed of the motor vehicle obtained by said driving robot, around the speed setpoint under certain conditions, and in particular when the variation of the speed setpoint is small.

[0006] The object of the present invention is to propose a new method of driving by driving robot in order to respond at least in large part to the problems precedents and further lead to other benefits.

[0007] Another aim of the invention is to improve the response of the driving robots and to limit oscillations around the speed setpoint.

[0008] Another aim of the invention is to improve the quality of the response of the driving robot in all circumstances.

[0009] Another aim of the invention is to enable the driving robot to adapt to any speed setpoint profile, by improving its autonomy with a view to reducing the times taken to configure and prepare the driving robot for the test carried out.

[0010] According to a first aspect of the invention, at least one of the aforementioned objectives is achieved with a method of driving by a driving robot of a motor vehicle mounted on test means, said driving method ensuring the monitoring of a speed setpoint by means of an acceleration control and a deceleration control, said deceleration control being carried out by means of a brake actuator mechanically coupled to a brake pedal of said motor vehicle and said acceleration control being carried out by means of an acceleration actuator mechanically coupled to an accelerator pedal of said motor vehicle.

[0011] In the driving method according to the invention, if the speed setpoint remains within a speed setpoint interval for a duration greater than a reference duration, then the deceleration control is inoperative during said reference duration.

[0012] In the context of the present invention, the driving robot is an automaton configured to control a powertrain of the motor vehicle to which it is coupled. The powertrain comprises a thermal engine and / or an electric motor of the motor vehicle, a transmission chain comprising in particular, where appropriate, a gearbox and a clutch. More particularly, the invention is here limited to driving robots comprising an acceleration actuator coupled to the accelerator pedal of the motor vehicle, and a brake actuator coupled to the brake pedal of the motor vehicle. Thus, in the context of the present invention, the driving robot simulates the control of the powertrain by a human driver, by reproducing a mechanical action on the accelerator or brake pedals to control the powertrain.

[0013] In the context of the present invention, the speed setpoint corresponds to the order given to the driving robot with the aim of reaching a determined speed value, the speed setpoint. In the context of the present invention, the speed setpoint represents the speed value to be reached by the driving robot using the acceleration or deceleration commands, at a time t. In the context of the present invention, a speed setpoint profile is also considered to be the set of speed setpoints to be reached successively by the driving robot. driving during a given test.

[0014] In the context of the present invention, the acceleration command is the order determined by the driving robot or transmitted to the driving robot in order to reach the speed setpoint. The acceleration command is transmitted by a corresponding action on the acceleration actuator in order to ultimately act on said acceleration pedal to control the powertrain and actually reach the expected speed setpoint. In the context of the present invention, the acceleration actuator is preferably of the type of a cylinder, a free end of the piston of which is coupled to the acceleration pedal in order to exert a force contributing to simulating the effect of the foot of the driver of the motor vehicle on said acceleration pedal.

[0015] In the context of the present invention, the deceleration command is the order determined by the driving robot or transmitted to the driving robot in order to reach the speed setpoint. The deceleration command is transmitted by a corresponding action on the brake actuator in order to ultimately act on said brake pedal to control the powertrain and actually reach the expected speed setpoint. In the context of the present invention, the brake actuator is preferably of the type of a cylinder, a free end of the piston of which is coupled to the brake pedal in order to exert a force contributing to simulating the effect of the foot of the driver of the motor vehicle on said brake pedal.

[0016] In the context of the present invention, the speed setpoint interval corresponds to a range of values ​​that can be taken by the speed setpoint over a certain duration. In other words, the speed setpoint interval corresponds to the possible variations of the speed setpoint over a certain duration. The speed setpoint interval makes it possible to define a minimum speed setpoint limit and a maximum speed setpoint limit within which limits it is sought to verify the presence of the speed setpoint along the speed setpoint profile.

[0017] In the context of the present invention, the reference duration corresponds to a time depth along which the condition of presence of the speed setpoint within the speed setpoint interval is verified. The reference duration thus makes it possible to define a “tube” within which the speed setpoint remains constant or substantially constant, so that it is then possible to render the deceleration command inoperative. Consequently, the brake pedal is therefore not mobilized by the driving robot as long as the speed command is still present in the tube, that is to say as long as it is equal or substantially equal to a previous value during the established reference duration. Consequently, to decelerate, the driving robot simply releases the accelerator pedal, reducing the value of the acceleration control, so as to more faithfully reproduce the behavior of a driver who would release the foot from the accelerator to take advantage of the engine brake for example.

[0018] Thus, the driving method according to the first aspect of the invention makes it possible to improve the response of the driving robot and to limit oscillations around the speed setpoint. Indeed, the fact of no longer applying pressure to the brake pedal when the variation in speed setpoint is minimal - a condition determined by the inclusion in the tube defined previously for example - makes it possible to reduce the oscillation of the robot's response. Consequently, the driving method according to the first aspect of the invention makes it possible to improve the quality of the response of the driving robot and to obtain better test results for motor vehicles coupled to said driving robot.

[0019] The driving method according to the first aspect of the invention advantageously comprises at least one of the improvements below, the technical characteristics forming these improvements being able to be taken alone or in combination:

[0020] - according to a first variant embodiment, the brake actuator is made inactive during the reference duration as long as the speed setpoint remains within the speed setpoint interval during said reference duration, the deceleration command then being carried out by simply releasing the acceleration actuator. In this first embodiment variant, the brake pedal is not mobilized as long as the speed setpoint is in the tube, that is to say as long as it remains invariant or substantially invariant. The brake pedal is not used due to the deactivation of the brake actuator. In this first embodiment variant, if the deceleration command is still calculated and transmitted to the brake control actuator, on the other hand, said brake control actuator is no longer operational, for example by no longer being electrically powered;

[0021] - according to a second embodiment, the brake actuator is not used during the reference duration as long as the speed setpoint remains within the speed setpoint interval during said reference duration, the deceleration command then being carried out by simply releasing the acceleration actuator. In this second embodiment variant, the brake pedal is not mobilized as long as the speed setpoint is in the tube, that is to say as long as it remains invariant or substantially invariant. The brake pedal is not used due to the deactivation of the brake actuator. In this second embodiment variant, if the deceleration command is still calculated, it is no longer transmitted to the brake control actuator, so that said brake control actuator no longer responds to said deceleration command;

[0022] - the speed setpoint interval is centered around the speed setpoint. In in other words, with respect to a value X of the speed setpoint at a given instant, the centered speed setpoint interval is of the type of an interval [Xd; X+d] where d represents half the width of the speed setpoint interval. Alternatively, the speed setpoint interval is off-center. In this case, the speed setpoint interval is preferentially off-center on the side of speeds lower than the speed setpoint. In other words, the off-center speed setpoint interval is then of the type of an interval [X; X+d] where X is a value of the speed setpoint at a given instant and d then represents a width of the speed setpoint interval;

[0023] - the speed setpoint interval has a width between 1 km / h and 6 km / h. Preferably, the speed setpoint interval has a width equal to 2 km / h. This advantageous configuration makes it possible to define a tube width sufficient to allow the driving robot to properly follow the speed setpoint without using the brake actuator. Indeed, if the width of the speed setpoint interval is too large, then simply releasing the accelerator pedal - without using the brake pedal - will not allow the driving robot to follow the speed setpoint during deceleration. Conversely, if the width of the speed setpoint interval is too small, then the driving robot will use the brake pedal too frequently even for small variations in the speed setpoint, leading to the oscillations that we are trying to avoid here;

[0024] - the reference duration is greater than 100 ms. In other words, it is necessary that the speed setpoint is included within the speed setpoint interval for at least 100 ms so that the deceleration command remains inoperative for the entire duration during which said speed setpoint is included in the speed setpoint interval, i.e. during the reference duration. This advantageous configuration makes it possible to define a “length” of the tube that is sufficiently long to allow the speed controlled by the driving robot to be stabilized at the speed setpoint level without acting on the brake pedal. Conversely, a reference duration that is too short leads to defining a tube length that is too short, leading to inefficiency of the driving robot and overactive use of the brake pedal by said driving robot, causing the known oscillations whose attenuation is sought here;

[0025] - preferably, the reference duration is between 100 ms and 3 s. In in other words, it is necessary that the speed setpoint be within the speed setpoint interval for a reference duration of between 100 ms and 3 s so that the deceleration command remains inoperative for the entire duration during which said speed setpoint is within the speed setpoint interval. speed setpoint, i.e. during the reference duration. This advantageous configuration makes it possible to define an optimal “length” of the tube to allow the speed controlled by the driving robot to be stabilized at the speed setpoint without acting on the brake pedal. According to a preferred embodiment of the invention, the reference duration is between 1 s and 3 s, preferably equal to 2 s, corresponding to an optimum for obtaining a non-oscillating response from the driving robot;

[0026] - the driving method is only active for motor vehicle speeds above above 7 km / h. Below 7 km / h, the inoperability of the deceleration control is not active, which means that the deceleration control remains active for motor vehicle speeds below 7 km / h, even if the speed setting remains sufficiently stable;

[0027] - the driving method comprises a step of analyzing a profile of instructions in speed, the analysis step being prior to the control of the acceleration control and the deceleration control in order to follow the speed setpoint, the analysis step making it possible to determine at least one zone of the speed setpoint profile - called the speed stability zone - in which the speed setpoint remains within the speed setpoint interval for a duration greater than the reference duration. The analysis step is a preliminary step which then makes it possible to configure the driving robot according to the determined speed stability zones;

[0028] - the driving method comprises a step of locating each at least one speed stability zone detected, the deceleration command being rendered inoperative throughout the at least one speed stability zone. This advantageous configuration makes it possible to simplify the configuration of the driving robot, the latter now autonomously recognizing the speed stability zones and making it possible, in these speed stability zones, to no longer use the brake pedal and thus to obtain better results in monitoring the speed setpoint along the speed setpoint profile.

[0029] According to a second aspect of the invention, there is provided a robot for driving a motor vehicle mounted on test means, the driving robot comprising a control computer, a brake actuator and an acceleration actuator, the control computer comprising a memory storing program instructions for implementing the driving method according to the first aspect of the invention or according to any of its improvements.

[0030] In the context of the present invention, the control computer comprises a microcontroller and / or a printed circuit and / or a microprocessor.

[0031] Advantageously, the brake actuator and / or the acceleration actuator is an electrically controlled cylinder actuator.

[0032] According to a third aspect of the invention, there is proposed an assembly comprising a motor vehicle mounted on test means and a driving robot in accordance with the second aspect of the invention, the driving robot being installed in the motor vehicle, said motor vehicle comprising an engine control computer comprising means for interfacing with the control computer of the driving robot.

[0033] Various embodiments of the invention are provided, integrating according to all of their possible combinations the different optional characteristics set out here.

[0034] Other characteristics and advantages of the invention will become apparent from the following description on the one hand, and from several exemplary embodiments given for informational and non-limiting purposes with reference to the appended schematic drawings on the other hand, in which:

[0035] [Fig-1] illustrates a schematic view of an assembly according to the invention and comprising a driving robot according to the first aspect of the invention;

[0036] [Fig.2] illustrates a general diagram of a test carried out by the driving robot on the motor vehicle;

[0037] [Fig.3] illustrates a detail view of a part of the test illustrated in [Fig.2] and circled in dotted lines.

[0038] Of course, the features, variants and different embodiments of the invention may be combined with each other, in various combinations, provided that they are not incompatible or mutually exclusive. In particular, variants of the invention may be imagined comprising only a selection of features described below in isolation from the other features described, if this selection of features is sufficient to confer a technical advantage or to differentiate the invention from the prior art.

[0039] In particular, all the variants and all the embodiments described can be combined with each other if nothing prevents this combination from a technical point of view.

[0040] In the figures, the elements common to several figures retain the same reference.

[0041] With reference to [Fig.l], the invention relates to a driving robot 2 of a motor vehicle 1 mounted on test means 3, the driving robot 2 comprising a control computer 21, a brake actuator 23 and an acceleration actuator 22, the control computer 21 comprising a memory storing program instructions for implementing a driving method.

[0042] The driving robot 2 is installed in the motor vehicle 1. The motor vehicle 1 comprises:

[0043] - a powertrain group 11 comprising at least one engine, for example thermal type; and

[0044] - an engine control computer of the powertrain 11, the computer motor control comprising means for interfacing with the control computer 21 of the driving robot 2.

[0045] The control computer 21 is configured to selectively control the brake actuator 23 and the acceleration actuator 22 by means of a deceleration command C_DEC and an acceleration command C_ACC respectively, as a function of a speed measurement MES_VIT measured at a roller test bench 31 of the test means 3. Thus, with regard to the speed measurement MES_VIT carried out, and as a function of a speed setpoint CONS_VIT, the driving robot 2, and more particularly the control computer 21, defines the acceleration command C_ACC or the deceleration command C_DEC which is applied respectively to the acceleration pedal or to the brake pedal 13, thus forming a command generated COM_RBT by the driving robot 2.

[0046] In other words, the driving robot 2 makes it possible to control the brake actuator 23 and the acceleration actuator 22 as a function of the speed measurement MES_VIT measured at a roller test bench 31 of the test means 3 and the desired speed setpoint CONS_VIT.

[0047] More generally, during such tests, a speed setpoint profile PROF_VIT is established. This speed setpoint profile PROF_VIT, an example of which is illustrated in [Fig.2], [Fig.3] illustrating a detail of an area of ​​the speed setpoint profile PROF_VIT surrounded by dotted lines, comprises a driving scenario for the motor vehicle 1 placed on the test means 3s. In other words, the speed setpoint profile PROF_VIT comprises a succession of speeds that the driving robot 2 must succeed in maintaining, through the generated command COM_RBT.

[0048] The speed setpoint CONS_VIT is framed by a minimum limit INT_MIN and a maximum limit INT_MAX, corresponding respectively to the minimum and maximum speed errors tolerated during the test. The driving robot 2 must thus succeed in obtaining a measured speed which is equal to the expected speed setpoint CONS_VIT, otherwise always between the minimum limit INT_MIN and the maximum limit INT_MAX.

[0049] As mentioned above, known 2s driving robots generally have the disadvantage of being too reactive when the speed setpoint CONS_VIT is relatively stable. In such a situation, in the presence of a relatively stable speed setpoint CONS_VIT, the driving robot 2 successively and briefly generates a braking command then an acceleration command C_ACC, leading to an oscillating behavior of the measured speed around the speed setpoint expected CONS_VIT speed.

[0050] The invention aims here to solve this technical problem specific to driving robots 2 comprising both the brake actuator 23 and the acceleration actuator 22, in order to better simulate human behavior when driving the motor vehicle 1. Thus, the invention according to its first aspect addresses a method of driving by a driving robot 2 of a motor vehicle 1 mounted on test means 3, said driving method ensuring the monitoring of a speed setpoint CONS_VIT by means of an acceleration command C_ACC and a deceleration command C_DEC, said deceleration command C_DEC being carried out by means of a brake actuator 23 mechanically coupled to a brake pedal 13 of said motor vehicle 1 and said acceleration command C_ACC being carried out by means of an acceleration actuator 22 mechanically coupled to an acceleration pedal of said motor vehicle 1.

[0051] Thus, during the course of the test, when the speed setpoint CONS_VIT expected by the driving robot 2 enters a stability zone, then the deceleration command C_DEC of the driving robot 2 is deactivated. A “tube” function TUB is then activated on the driving robot 2 and the vehicle. As long as the “tube” function TUB is activated, then the deceleration command C_DEC of the driving robot 2 is deactivated. In this case, the deceleration of the motor vehicle 1, expected to follow the speed setpoint CONS_VIT and remain between the minimum limit INT_MIN and the maximum limit INT_MAX, is ensured by friction linked to a road law of the motor vehicle 1 and / or by an engine brake.

[0052] This advantageous configuration thus makes it possible to eliminate the repetitions of acceleration command C_ACC and deceleration command C_DEC which previously led to the oscillations observed in such stability zones of the speed setpoint profile PROF_VIT. Consequently, the driving method according to the invention makes it possible to improve the monitoring of the speed setpoint CONS_VIT during the test, makes it possible to better represent the behavior of human driving and also makes it possible to reduce the energy consumed during the test.

[0053] In order to enable the detection of stability zones and the activation of the “tube” function TUB of the driving robot 2, the driving method comprises a step of analyzing the speed setpoint profile PROF_VIT, the analysis step being prior to the control of the acceleration command C_ACC and the deceleration command C_DEC in order to follow the speed setpoint CONS_VIT. The analysis step makes it possible to determine at least one zone of the speed setpoint profile PROF_VIT - called the speed stability zone - in which the speed setpoint CONS_VIT is sufficiently stable, so as to be able to activate the “tube” function TUB there. The driving method comprises a step of identifying each zone of speed stability detected on the PROF_VIT speed setpoint profile, the C_DEC deceleration command being rendered inoperative during the speed stability zone.

[0054] In other words, the driving method analyzes the speed setpoint profile PROF_VIT conducted for the upcoming test of the motor vehicle 1. This analysis makes it possible to detect ranges during which the speed setpoint CONS_VIT remains sufficiently stable - that is to say during which the speed setpoint CONS_VIT does not vary by more than 2 km / h for example - for a minimum duration - preferably equal to 2 seconds. All of these ranges are stored by the control computer 21 in order to control the driving robot 2 during the test.

[0055] [Fig.2] illustrates such a preliminary analysis leading to the identification of the set ranges - the speed stability zones - during which the speed setpoint CONS_VIT is stable or substantially stable and during which the “tube” function TUB of the driving robot 2 is activated.

[0056] To do this, during the analysis step, the control computer 21 scans all the speed setpoint values ​​CONS_VIT of the speed setpoint profile PROF_VIT, for example when loading it. During this scan, the control computer 21 defines a speed stability zone during which the “tube” function TUB is activated as long as the subsequent values ​​of the speed setpoint CONS_VIT remain within the speed setpoint interval CONS_VIT calculated for one of the speed setpoints CONS_VIT.

[0057] Then, during the course of the test, the driving robot 2 renders the deceleration command C_DEC inoperative - and therefore the use of the brake pedal 13 of the motor vehicle 1 - each time the following conditions are cumulatively verified:

[0058] - the “tube” function TUB must be activated, i.e. the speed instruction CONS_VIT must be in a stability zone;

[0059] - the measured speed of the motor vehicle 1 must be greater than 7 km / h;

[0060] A difference between the measured speed of the motor vehicle 1 and the setpoint of CONS_VIT speed must be greater than or equal to -2 km / h.

[0061] [Fig.3] illustrates the interest and usefulness of the driving method according to the invention: the deceleration command C_DEC is not activated in the stability zone, when the “tube” function TUB is activated.

[0062] In summary, the invention relates to a driving robot 2 and a method for driving a motor vehicle 1 by such a driving robot 2 selectively controlling a brake pedal 13 and an accelerator pedal 12 of the motor vehicle 1 by means of a brake actuator 23 and an actuator respectively acceleration 22. According to the invention, the driving robot 2 drives the motor vehicle 1 placed on a roller bench 31 in order to autonomously follow a speed setpoint CONS_VIT by having previously detected zones of stability of the speed setpoint CONS_VIT in which the speed setpoint CONS_VIT remains sufficiently stable. In these zones of stability of the speed setpoint CONS_VIT, the brake pedal 13 is no longer used by the driving robot 2 to slow down the motor vehicle 1. On the other hand, outside these stability zones, the driving robot 2 does use the brake pedal 13 and the accelerator pedal 12 to control the speed of the motor vehicle 1.

[0063] Of course, the invention is not limited to the examples which have just been described and numerous adjustments can be made to these examples without departing from the scope of the invention. In particular, the different characteristics, forms, variants and embodiments of the invention can be associated with each other in various combinations insofar as they are not incompatible or mutually exclusive. In particular, all the variants and embodiments described above can be combined with each other.

Claims

Claims

1. Method for driving by a driving robot (2) a motor vehicle (1) mounted on test means (3), said driving method ensuring the monitoring of a speed setpoint (CONS_VIT) by means of an acceleration command (C_ACC) and a deceleration command (C_DEC), said deceleration command (C_DEC) being carried out by means of a brake actuator (23) mechanically coupled to a brake pedal (13) of said motor vehicle (1) and said acceleration command (C_ACC) being carried out by means of an acceleration actuator (22) mechanically coupled to an accelerator pedal of said motor vehicle (1), characterized in that, if the speed setpoint (CONS_VIT) remains within a speed setpoint interval (INT_VIT) for a duration greater than a reference duration, then the deceleration command (C_DEC) is inoperative during said reference duration.

2. Driving method according to claim 1, in which the brake actuator (23) is made inactive during the reference duration as long as the speed setpoint (CONS_VIT) remains within the speed setpoint interval (INT_VIT) during said reference duration, the deceleration command (C_DEC) then being carried out by simply releasing the acceleration actuator (22).

3. Driving method according to claim 1, in which the brake actuator (23) is not used during the reference duration as long as the speed setpoint (CONS_VIT) remains within the speed setpoint interval (INT_VIT) during said reference duration, the deceleration command (C_DEC) then being carried out by simply releasing the acceleration actuator (22).

4. Driving method according to any one of the preceding claims, in which the speed setpoint interval (INT_VIT) is centered around the speed setpoint (CONS_VIT).

5. Driving method according to any one of the preceding claims, in which the speed setpoint interval (INT_VIT) has a width of between 1 km / h and 6 km / h.

6. A driving method according to any preceding claim, wherein the reference duration is greater than 100 ms.

7. A driving method according to any preceding claim, wherein the driving method comprises a step analysis of a speed setpoint profile (PROF_VIT), the analysis step being prior to the control of the acceleration command (C_ACC) and the deceleration command (C_DEC) in order to follow the speed setpoint (CONS_VIT), the analysis step making it possible to determine at least one zone of the speed setpoint profile (PROF_VIT) - called the speed stability zone - in which the speed setpoint (CONS_VIT) remains within the speed setpoint interval (INT_VIT) for a duration greater than the reference duration.

8. Driving method according to the preceding claim, in which the driving method comprises a step of identifying each at least one detected speed stability zone, the deceleration command (C_DEC) being made inoperative throughout the at least one speed stability zone.

9. Driving robot (2) of a motor vehicle (1) mounted on test means (3), the driving robot (2) comprising a control computer (21), a brake actuator (23) and an acceleration actuator (22), the control computer (21) comprising a memory storing program instructions for implementing the driving method according to any one of the preceding claims.

10. Assembly comprising a motor vehicle (1) mounted on test means (3) and a driving robot (2) according to the preceding claim, the driving robot (2) being installed in the motor vehicle (1), said motor vehicle (1) comprising an engine control computer comprising means for interfacing with the control computer (21) of the driving robot (2).

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