CN104670020A - Automobile constant-speed cruise control method - Google Patents
Automobile constant-speed cruise control method Download PDFInfo
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- CN104670020A CN104670020A CN201410830204.8A CN201410830204A CN104670020A CN 104670020 A CN104670020 A CN 104670020A CN 201410830204 A CN201410830204 A CN 201410830204A CN 104670020 A CN104670020 A CN 104670020A
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Abstract
The invention relates to the field of constant-speed cruise, in particular to an automatic constant-speed cruise control method. The method includes that cruise key signals are inputted into an instrument IC (integrated circuit), an engine management system (EMS) of an automobile sends cruising states of the automobile to the meter IC through a CAN bus, the instrument IC outputs cruise request signals and target automobile speed signals to the EMS through the CAN bus according to the received cruise key signals and the cruising states, and the EMS performs switching of the cruising states according to the received cruise request signals and the target automobile speed signals as well as the automobile states signals. The instrument IC is involved in the EMS in control logic for completing the cruising function, so that burden of the EMS is alleviated; the EMS sends the cruise request signals, the target automobile speed signals and the automobile state signals sent by other automobile modules according to the instrument IC, switching of the cruising states is realized, and the cruise control mode is more reasonable and perfect.
Description
Technical field
The present invention relates to automobile fixed speed cruise field, particularly relate to a kind of automobile fixed speed cruise control method.
Background technology
Automobile in the process of moving, chaufeur controls speed of operation by the aperture of Das Gaspedal, when automobile travels on comparatively smooth road, speed of a motor vehicle change does not need the change done greatly, then also just need to be stabilized in corresponding aperture size constant for the aperture of Das Gaspedal, chaufeur is ridden for a long time in Das Gaspedal, can bring sense of fatigue to chaufeur.Cruise function can help chaufeur to set the moving velocity of automobile, reduces the sense of fatigue of chaufeur, keeps the driving engine flatness that moment of torsion exports in driving procedure and stability simultaneously, also highly beneficial for reduction oil consumption.
Along with customer requires more and more higher to the cost performance of configuration of automobiles, normal domestic use manned vehicle also starts to be equipped with cruise function.Meanwhile, customer, except requiring automobile function to increase, also all the more focuses on reasonableness and the traveling comfort of man-machine interface.The control of traditional cruise function occurs in engine management system EMS inside, and instrument IC does not participate in control logic, only makes Presentation Function, and man-machine interface is more single, and in addition, the handoff functionality between each cruising condition is perfect not.Therefore, a kind of reasonably automobile fixed speed cruise control method is provided, is convenient to build comparatively perfect man-machine interface and is necessary.
Summary of the invention
The object of the present invention is to provide a kind of automobile fixed speed cruise control method.Instrument IC participates in control and the display of cruise function, and man-machine interface is more reasonable, and makes cruise function more perfect, reasonable according to the switching of the status of implementation implementation cruising condition of vehicle.
Technical scheme of the present invention is: a kind of automobile fixed speed cruise control method, input cruises push button signalling to instrument IC, the cruise control state of vehicle is sent to instrument IC by CAN by the engine management system EMS of vehicle simultaneously, described instrument IC exports cruise request signal and target vehicle speed signal by CAN to engine management system EMS according to cruise push button signalling and the cruise control state that receive, described engine management system EMS carries out the switching of cruise control state according to the cruise request signal received and target vehicle speed signal and Vehicular status signal.
Further, described instrument IC is as follows according to the mode of cruise push button signalling and cruise control state control cruise request signal and the output of target vehicle speed signal that receive:
The described button that cruises comprise for cruise function On/Off Cruise key, for exit cruise Cancel key, for activate after cruise function is opened cruise or slow down in the process of cruising Set/-key, for before target vehicle speed recover to enter the Resume/+ key cruising or accelerate;
Described cruise control state comprises that the faulty condition that cruises, Cruise Conditions do not meet state, the readiness that cruises, normal cruise state, cruising condition of overtaking other vehicles and exit cruising condition;
Press Cruise key, no matter which kind of cruise control state vehicle is in, now cruise function is opened or is closed, and now the cruise request signal that exports to engine management system EMS of instrument IC and target vehicle speed signal are invalid signals;
Press Cancel key, instrument IC all exports invalid cruise request signal to engine management system EMS, and the target vehicle speed signal exported is invalid targets vehicle speed signal when not entering and cruise before, the target vehicle speed signal once cruised on when it advanced into and cruises being;
When vehicle be in cruise fault or Cruise Conditions do not meet state time, press any key, instrument IC all exports invalid cruise request signal and invalid target vehicle speed signal to engine management system EMS;
When vehicle be in cruise readiness time, press Set/-key, cruise function activate, instrument IC to engine management system EMS export actv. cruise request signal and with the target vehicle speed signal equaling the current driving speed of a motor vehicle; Press Resume/+ key, if advanced into and cruised, then instrument IC exports to engine management system EMS the target vehicle speed signal that actv. cruise request signal and last time cruise, cruised if do not enter before, then instrument IC exports invalid cruise request signal and invalid targets vehicle speed signal to engine management system EMS;
When vehicle is in the state of normaling cruise, press Set/-key, then instrument IC exports actv. cruise request signal and target vehicle speed reduction signal to engine management system EMS; Press Resume/+ key, then instrument IC exports actv. cruise request signal and target vehicle speed increase signal to engine management system EMS;
When vehicle is in cruising condition of overtaking other vehicles, press Set/-key, then instrument IC to engine management system EMS export actv. cruise request signal and with the target vehicle speed signal equaling the current driving speed of a motor vehicle; Press Resume/+ key, then instrument IC exports actv. cruise request signal and target vehicle speed not varying signal to engine management system EMS.
Further, when vehicle be in normal cruise state time, target vehicle speed signal reduce, increase rate of change and step-length according to press Set/-key, Resume/+ key time length change and change.
Further, described instrument IC carries out display translation to cruising condition and target vehicle speed, simultaneously cruising condition be in fault of cruising, Cruise Conditions discontented be enough to and cruise overtake other vehicles time, chaufeur is warned.
Further, after vehicle launch, the initial condition that cruises of vehicle is the faulty condition that cruises, when the safe in operation that the described coherent signal that cruises diagnoses trouble free, nothing steps on braking or power-transfer clutch, instrument IC send invalid cruise request, cruising condition is switched to Cruise Conditions by the faulty condition that cruises and does not meet state.
Further, when vehicle be in Cruise Conditions do not meet state time:
If travel condition of vehicle meets cruise function activate calibration range, vehicle will not meet state by Cruise Conditions and will switch to the readiness that cruises;
When if cruise, coherent signal diagnosis has fault or has the safe in operation stepping on braking or power-transfer clutch, vehicle will not meet state by Cruise Conditions and will switch to the faulty condition that cruises.
Further, when vehicle be in cruise readiness time:
If instrument IC sends effective cruise request, vehicle will switch to by the readiness that cruises the state of normaling cruise;
If travel condition of vehicle does not meet cruise function activate calibration range, vehicle will switch to Cruise Conditions by the readiness that cruises and not meet state;
When if cruise, coherent signal diagnosis has fault or has the safe in operation stepping on braking or power-transfer clutch, vehicle will not meet state by Cruise Conditions and will switch to the faulty condition that cruises.
Further, when vehicle is in and normals cruise state:
The pedal if chaufeur is stepped on the throttle, when the difference of the cruise demand moment of torsion corresponding with the current virtual throttle that cruises when operator demand's moment of torsion that actual Das Gaspedal is corresponding reaches calibration value, vehicle will switch to by the state of normaling cruise cruising condition of overtaking other vehicles;
If instrument IC sends invalid cruise request, then vehicle is switched to by the state of normaling cruise and exits cruising condition;
When if cruise, coherent signal diagnosis has fault or has the safe in operation stepping on braking or power-transfer clutch, vehicle will switch to by the state of normaling cruise the faulty condition that cruises.
Further, when vehicle is in and overtakes other vehicles cruising condition:
If chaufeur unclamps Das Gaspedal, vehicle is under drag effect, and about the speed of a motor vehicle returns to target vehicle speed, vehicle switches to by the state of normaling cruise the state of normaling cruise;
If instrument IC sends invalid cruise request, then vehicle is switched to by cruising condition of overtaking other vehicles and exits cruising condition;
When if cruise, coherent signal diagnosis has fault or has the safe in operation stepping on braking or power-transfer clutch, vehicle will switch to by cruising condition of overtaking other vehicles the faulty condition that cruises.
Further, when vehicle is in and exits cruising condition:
If when the demand torque that virtual throttle pedal is corresponding is less than demand torque corresponding to actual Das Gaspedal, vehicle will switch to by exiting cruising condition the readiness that cruises;
If instrument IC sends effective cruise request, then vehicle switches to by exiting cruising condition the state of normaling cruise;
When if cruise, coherent signal diagnosis has fault or has the safe in operation stepping on braking or power-transfer clutch, vehicle will switch to by exiting cruising condition the faulty condition that cruises.
The invention has the beneficial effects as follows: the control button that cruises is linked into instrument IC by the mode of rigid line, the signal of cruise control state is sent to instrument IC by CAN, instrument IC sends cruise request signal and target vehicle speed signal by the mode of CAN to engine management system EMS, participate in engine management system EMS to complete in the middle of the control logic of cruise function, alleviate the control burden of engine management system EMS.And other Vehicular status signals sent to relevant module of cruising of cruise request signal, target vehicle speed signal and vehicle that engine management system EMS sends according to instrument IC, realize the switching of cruising condition, make the master mode of cruising more rationally with perfect.The instrument IC display-object speed of a motor vehicle and cruising condition, man-machine interface is more reasonable, and cruising condition for cruise fault and overtake other vehicles and cruise time chaufeur is warned, ensured the safety travelled.
Accompanying drawing explanation
Fig. 1 is instrument IC connection structure functional block diagram of the present invention;
Fig. 2 is engine management system EMS control principle drawing of the present invention;
Fig. 3 is that cruise control state switch logic of the present invention judges schematic diagram;
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.In addition, if below in described each embodiment of the present invention involved technical characteristic do not form conflict each other and just can mutually combine.
Cruise control module of the present invention is integrated in engine management system EMS, and cruise function realizes jointly primarily of chaufeur key-press input, instrument IC and engine management system EMS.As shown in Figure 1, instrument IC of the present invention is controlled button by rigid line and is connected with cruising, and is connected with engine management system EMS by CAN.Instrument IC participates in engine management system EMS and completes in the middle of the control logic of cruise function, and it not only can carry out the output of cruise request signal and target vehicle speed signal according to the cruise control state signal of cruise push button signalling and the engine management system EMS transmission of input.Can also show cruising condition and target vehicle speed, and cruising condition be in cruise fault and overtake other vehicles and cruise time chaufeur is warned, remind driver safety drive.
In the present invention, cruise control button comprise control cruise On/Off signal input Cruise (cruise On/Off key), control cruise exit signal input Cancel (cruise ESC Escape), control settings/restriction signal input Set/-(key/deceleration key is set), control recovery/Acceleration Signal input Resume/+ (resetkey/accelerator key).And cruising condition of the present invention comprises fault of cruising, Cruise Conditions does not meet, preparation of cruising, normal cruise, overtake other vehicles to cruise and exit and cruise.Instrument IC can export corresponding cruise request signal and target vehicle speed signal according to cruise push button signalling and cruising condition signal of the difference of input, and the present embodiment lists one group of way of output, shown in table specific as follows:
No matter which kind of cruising condition vehicle is in, press unlatching or closedown that Cruise key both can control cruise function.Namely when cruise function is not opened, then open cruise function, but cruise function people is in unactivated state, therefore instrument IC exports invalid cruise request signal and invalid target vehicle speed signal (namely 255) to engine management system EMS; When cruise function opens, then directly close cruise function (normal cruise or overtake other vehicles if be now in cruising condition, then directly exit and cruise, and close cruise function).
No matter which kind of cruising condition vehicle is in, press Cancel key, then exit and cruise, therefore instrument IC exports invalid cruise request signal to engine management system EMS.Cruised if do not enter before, then exported invalid target vehicle speed signal, if advanced into and cruised, then export the last target vehicle speed signal cruised, enter the readiness that cruises, wait for that cruise function activates.
When vehicle be in cruise fault or Cruise Conditions do not meet state time, no matter it is all invalid to press what button, now, instrument IC exports invalid cruise request signal and invalid target vehicle speed signal to engine management system EMS;
When vehicle be in cruise readiness time, press Set/-key both the cruise function opened to be activated, enter the state of normaling cruise, now then instrument IC to engine management system EMS export actv. cruise request signal and with the target vehicle speed signal equaling the current driving speed of a motor vehicle.And press Resume/+ key, cruise if do not enter before, then this button is invalid, and now then instrument IC exports invalid cruise request signal and invalid targets vehicle speed signal to engine management system EMS; If advanced into and cruised, then this case is effective, and now instrument IC exports to engine management system EMS the target vehicle speed signal that actv. cruise request signal and last time cruise.
When vehicle is in the state of normaling cruise, press Set/-key, then instrument IC exports actv. cruise request signal and target vehicle speed reduction signal to engine management system EMS; Press Resume/+ key, then instrument IC exports actv. cruise request signal and target vehicle speed increase signal to engine management system EMS.The speed that target vehicle speed reduces, increase and step-length decide change according to the time length of pressing Set/-or Resume/+ key.
When vehicle is in cruising condition of overtaking other vehicles, when chaufeur unclamp Das Gaspedal want recovery to normal cruise time, Resume/+ key is invalid, namely press Resume/+ key instrument IC and do not respond this instruction, now IC exports actv. cruise request signal and target vehicle speed not varying signal to engine management system EMS, and namely the speed of a motor vehicle of vehicle can return to the speed of a motor vehicle of normaling cruise before cruising of overtaking other vehicles and continues to travel.And now press Set/-key, then instrument IC to engine management system EMS export actv. cruise request signal and with the target vehicle speed signal equaling the current driving speed of a motor vehicle.Namely vehicle can to unclamp Set/-key time vehicle current vehicle speed enter the state of normaling cruise for target vehicle speed.
As shown in Figure 2, the vehicle that receives of engine management system EMS other to the Vehicular status signal that relevant module of cruising sends be: some internal signals that the gear signal that the actual vehicle speed signal that ESC (vehicle body stabilizing control system) sends, TCU (Automatic Transmission control unit) send, EPB (electronic brake system) exit signal and EMS for cruising of sending of security consideration are as brake pedal, acceleration pedal, pedal of clutch, engine running condition, current driver's demand torque and coherent signal effective marker position etc. of cruising.Engine management system EMS is after the cruise request receiving these coherent signals and instrument IC transmission and target vehicle speed signal, the relatively target vehicle speed of vehicle actual vehicle speed and button request of cruising, by the mode of PID, calculate operator demand's moment of torsion, thus the size of regulable control virtual throttle pedal, the throttle gate of driving engine carrys out start according to the virtual throttle pedal in engine management system EMS, control and regulation driving engine exports effective tosional moment, and vehicle is travelled according to the cruise target speed of a motor vehicle, and thus release the actual Das Gaspedal of chaufeur underfooting.Meanwhile, complete in the process of cruise function, export various cruising condition to IC by CAN.
Engine management system EMS also can carry out Logic judgment according to each signal received, and controls the switching of cruising condition, as shown in Figure 3:
After engine starting, cruise control state can rest on the faulty condition that cruises (EMS_CruiseCtrlSts=0), when the coherent signal (speed of a motor vehicle of cruising, power-transfer clutch, brake pedal, acceleration pedal, cruise button etc.) diagnosis trouble free (Rvv_OBD==1), without stepping on the safe in operatioies (Securite_Ope unequal to 1) such as braking or power-transfer clutch, time button request of cruising invalid (Rvv_Switch unequal to 1) that instrument sends, cruise control state is switched to Cruise Conditions and does not meet state (EMS_CruiseCtrlSts=1) (described Cruise Conditions does not meet state and refers to that travel condition of vehicle activates calibration range as speed gear does not meet cruise function), state is not met at Cruise Conditions, when travel condition of vehicle is as speed gear etc., meet cruise function and activate calibration range (Rvv_Veh_Conditon==1), the readiness that cruises (EMS_CruiseCtrlSts=2) (described in cruise readiness refer to that travel condition of vehicle activates calibration range such as speed gear meets cruise function) will be entered, wait for that button request effective instruction (namely pressing Set/-key) of cruising activates and enter and cruise, equally, cruising readiness or cruise in process, travel condition of vehicle does not meet cruise function setting range (Rvv_Veh_Conditon unequal to 1), will come back to Cruise Conditions and not meet state, when effective (Rvv_Switch==1) (namely the pressing Set/-key) of button request of cruising, enter the state of normaling cruise (EMS_CruiseCtrlSts=3) (vehicle cruises with target velocity), in the process of normaling cruise, if chaufeur accelerator pedal, when operator demand's moment of torsion that actual Das Gaspedal is corresponding be greater than the corresponding cruise demand moment of torsion of the current virtual throttle that cruises to a certain extent time, i.e. Torque_Req>=Torque_Rvv+Torque_delta1, driving engine is by operator demand's moment of torsion corresponding for the actual Das Gaspedal of response, vehicle acceleration, cruises and enters cruising condition of overtaking other vehicles (EMS_CruiseCtrlSts=4), after chaufeur unclamps Das Gaspedal (Torque_Drive<=Torque_Rvv+Torque_delta2), the speed of a motor vehicle slowly will drop to target cruise (Actual_spd<=Target_spd+delta_spd) left and right in drag effect, to reenter the state of normaling cruise (if now press Set/-key, then vehicle can to unclamp Set/-key time vehicle current vehicle speed enter the state of normaling cruise for target vehicle speed), under normaling cruise or overtaking other vehicles the cruising condition of cruising, chaufeur pushes button to exit and cruises, and button request of namely cruising invalid (Rvv_Switch unequal to 1), then will enter and exit cruise (EMS_CruiseCtrlSts=5), when the demand torque decline that virtual throttle pedal is corresponding is transitioned into below demand torque corresponding to actual Das Gaspedal, vehicle reenters the readiness that cruises (EMS_CruiseCtrlSts=2), and vehicle will respond actual Das Gaspedal again.Wherein, no matter which kind of cruising condition vehicle is in, when any coherent signal diagnosis of cruising is broken down (Rvv_OBD unequal to 1) or safe in operation activation (Securite_Ope==1), cruising condition all can be switched to the faulty condition that cruises.
The above, be only the specific embodiment of the present invention, it should be pointed out that any those of ordinary skill in the art are in the technical scope disclosed by the present invention, the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.
Claims (10)
1. an automobile fixed speed cruise control method, it is characterized in that: press the button that cruises and send the push button signalling that cruises to instrument IC by the mode of rigid line, the cruise control state of vehicle is sent to instrument IC by CAN by the engine management system EMS of vehicle simultaneously, described instrument IC exports cruise request signal and target vehicle speed signal by CAN to engine management system EMS according to cruise push button signalling and the cruise control state that receive, described engine management system EMS carries out the switching of cruise control state according to the cruise request signal received and target vehicle speed signal and Vehicular status signal.
2. a kind of automobile fixed speed cruise control method as claimed in claim 1, is characterized in that: the mode that described instrument IC exports according to the cruise push button signalling and cruising condition control cruise request signal and target vehicle speed signal that receive is as follows:
The described button that cruises comprise for cruise function On/Off Cruise key, for exit cruise Cancel key, for activate after cruise function is opened cruise or slow down in the process of cruising Set/-key, for before target vehicle speed recover to enter the Resume/+ key cruising or accelerate;
Described cruise control state comprises that the faulty condition that cruises, Cruise Conditions do not meet state, the readiness that cruises, normal cruise state, cruising condition of overtaking other vehicles and exit cruising condition;
Press Cruise key, no matter which kind of cruise control state vehicle is in, now cruise function is opened or is closed, and now the cruise request signal that exports to engine management system EMS of instrument IC and target vehicle speed signal are invalid signals;
Press Cancel key, instrument IC all exports invalid cruise request signal to engine management system EMS, and the target vehicle speed signal exported is invalid targets vehicle speed signal when not entering and cruise before, the target vehicle speed signal once cruised on when it advanced into and cruises being;
When vehicle be in cruise fault or Cruise Conditions do not meet state time, press any key, instrument IC all exports invalid cruise request signal and invalid target vehicle speed signal to engine management system EMS;
When vehicle be in cruise readiness time, press Set/-key, cruise function activate, instrument IC to engine management system EMS export actv. cruise request signal and with the target vehicle speed signal equaling the current driving speed of a motor vehicle; Press Resume/+ key, if advanced into and cruised, then instrument IC exports to engine management system EMS the target vehicle speed signal that actv. cruise request signal and last time cruise, cruised if do not enter before, then instrument IC exports invalid cruise request signal and invalid targets vehicle speed signal to engine management system EMS;
When vehicle is in the state of normaling cruise, press Set/-key, then instrument IC exports actv. cruise request signal and target vehicle speed reduction signal to engine management system EMS; Press Resume/+ key, then instrument IC exports actv. cruise request signal and target vehicle speed increase signal to engine management system EMS;
When vehicle is in cruising condition of overtaking other vehicles, press Set/-key, then instrument IC to engine management system EMS export actv. cruise request signal and with the target vehicle speed signal equaling the current driving speed of a motor vehicle; Press Resume/+ key, then instrument IC exports actv. cruise request signal and target vehicle speed not varying signal to engine management system EMS.
3. a kind of automobile fixed speed cruise control method as claimed in claim 2, it is characterized in that: when vehicle be in normal cruise state time, target vehicle speed signal reduce, increase rate of change and step-length according to press Set/-key, Resume/+ key time length change and change.
4. a kind of automobile fixed speed cruise control method as claimed in claim 2, it is characterized in that: described instrument IC carries out display translation to cruise control state and target vehicle speed, simultaneously cruise control state be in the faulty condition that cruises, Cruise Conditions discontented be enough to and cruise overtake other vehicles state time, chaufeur is warned.
5. a kind of automobile fixed speed cruise control method as claimed in claim 2, it is characterized in that: after vehicle launch, the initial condition that cruises of vehicle is the faulty condition that cruises, when the safe in operation that the coherent signal that cruises diagnoses trouble free, nothing steps on braking or power-transfer clutch, instrument IC send invalid cruise request, cruise control state is switched to Cruise Conditions by the faulty condition that cruises and does not meet state.
6. a kind of automobile fixed speed cruise control method as claimed in claim 2, is characterized in that, when vehicle be in Cruise Conditions do not meet state time:
If travel condition of vehicle meets cruise function activate calibration range, vehicle will not meet state by Cruise Conditions and will switch to the readiness that cruises;
When if cruise, coherent signal diagnosis has fault or has the safe in operation stepping on braking or power-transfer clutch, vehicle will not meet state by Cruise Conditions and will switch to the faulty condition that cruises.
7. a kind of automobile fixed speed cruise control method as claimed in claim 2, is characterized in that, when vehicle be in cruise readiness time:
If instrument IC sends effective cruise request, vehicle will switch to by the readiness that cruises the state of normaling cruise;
If travel condition of vehicle does not meet cruise function activate calibration range, vehicle will switch to Cruise Conditions by the readiness that cruises and not meet state;
When if cruise, coherent signal diagnosis has fault or has the safe in operation stepping on braking or power-transfer clutch, vehicle will not meet state by Cruise Conditions and will switch to the faulty condition that cruises.
8. a kind of automobile fixed speed cruise control method as claimed in claim 2, is characterized in that, when vehicle is in and normals cruise state:
The pedal if chaufeur is stepped on the throttle, when operator demand's moment of torsion that actual Das Gaspedal is corresponding is greater than the difference calibration value of cruise demand moment of torsion corresponding to the current virtual throttle that cruises, vehicle will switch to by the state of normaling cruise cruising condition of overtaking other vehicles;
If instrument IC sends invalid cruise request, then vehicle is switched to by the state of normaling cruise and exits cruising condition;
When if cruise, coherent signal diagnosis has fault or has the safe in operation stepping on braking or power-transfer clutch, vehicle will switch to by the state of normaling cruise the faulty condition that cruises.
9. a kind of automobile fixed speed cruise control method as claimed in claim 2, is characterized in that, when vehicle is in and overtakes other vehicles cruising condition:
If chaufeur unclamps Das Gaspedal, vehicle switches to by the state of normaling cruise the state of normaling cruise;
If instrument IC sends invalid cruise request, then vehicle is switched to by cruising condition of overtaking other vehicles and exits cruising condition;
When if cruise, coherent signal diagnosis has fault or has the safe in operation stepping on braking or power-transfer clutch, vehicle will switch to by cruising condition of overtaking other vehicles the faulty condition that cruises.
10. a kind of automobile fixed speed cruise control method as claimed in claim 2, is characterized in that, when vehicle is in and exits cruising condition:
If when the demand torque that virtual throttle pedal is corresponding is less than demand torque corresponding to actual Das Gaspedal, vehicle will switch to by exiting cruising condition the readiness that cruises;
If instrument IC sends effective cruise request, then vehicle switches to by exiting cruising condition the state of normaling cruise;
When if cruise, coherent signal diagnosis has fault or has the safe in operation stepping on braking or power-transfer clutch, vehicle will switch to by exiting cruising condition the faulty condition that cruises.
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