CN104718113A

CN104718113A - Vehicle speed control system and method employing torque balancing

Info

Publication number: CN104718113A
Application number: CN201380049489.5A
Authority: CN
Inventors: 詹姆斯·凯利; 丹尼尔·沃利斯克罗夫特; 安德鲁·费尔格雷夫
Original assignee: Land Rover UK Ltd
Current assignee: Jaguar Land Rover Ltd
Priority date: 2013-10-15
Filing date: 2013-10-15
Publication date: 2015-06-17
Anticipated expiration: 2033-10-15
Also published as: JP2015527245A; CN104718113B; JP6205417B2; KR20150103357A; KR20170122851A

Abstract

A method for operating a speed control system of a vehicle having a plurality of wheels is provided. The method comprises receiving one or more electrical signals representative of vehicle-related information. The method further comprises determining, based on the one or more electrical signals representative of vehicle-related information, that one or more of the wheels of the vehicle have overcome an obstacle or are about to overcome an obstacle and that therefore a reduction in an applied drive torque to one or more of the wheels of the vehicle by a powertrain subsystem (applied drive torque) will be required to maintain the speed of the vehicle at a target set-speed of the speed control system. The method still further comprises automatically commanding the application of a retarding torque to one or more of the wheels of the vehicle to counteract the effect of an overrun condition in the powertrain subsystem from increasing the speed of the vehicle. A system for controlling the speed of a vehicle comprising an electronic control unit configured to perform the above- described methodology is also provided.

Description

Adopt vehicle speed control system and the method for equilibrium of torques

Technical field

Present invention relates in general to car speed control, more specifically, relating to by adopting equilibrium of torques scheme to exceed the speed limit the method and system controlled the speed of the vehicle that can pass through various different terrain to offset driving engine or Power Train.

Background technology

In the known vehicle speed control system being commonly called CCS cruise control system, the setting speed of vehicle initially can be set by following manner: manually make vehicle reach desired speed, and current vehicle speed setting can be become setting speed by selective type user interface apparatus by the user then by handling such as such as button and so on.When after this user when wanting to change setting speed, identical or different user's input equipment can be handled and increase or reduce setting speed.In response to the change of the change of asked setting speed or the setting speed of institute's instruction, speed control system sends instruction by one or more vehicle subsystems of the Power Train subsystem and/or brake subsystem and so on to such as such as vehicle and takes the circumstances into consideration to make vehicle speedup or deceleration, thus reaches new settings speed or identical with new settings speed.

But conventional speed control system is not immaculate.Such as, although use as when cross-country driving, the highway of low speed or road application and specially designed speed control system can reduce user's workload and the user improved to vehicle in vehicle stability provide appreciiable advantage, if but user attempts to cross cross-country obstacle as megalith district, then otherwise the speed of a motor vehicle may too high (usually, highway/road CCS cruise control system has the minimum setting speed of about 30mph (about 50kpm)), vehicle motor may be shut down suddenly during crossing the necessary extreme torque demand of such obstacle.

Similarly, although for when such as cross-country driving the purposes of low speed and specially designed speed control system due to user's workload, vehicle stability is relevant with chaufeur comfort level and can also provide advantage to user, but when vehicle is from needing the environment of relatively a large amount of driving torques (such as, slope, husky, water, mud etc.) be converted to the environment of the driving torque needing small amount substantially (such as, descending, flat surfaces, hard pavement etc.) time, vehicle may at the torque demand past tense experience Power Train raised or racing of the engine, thus make car speed exceed the setting speed of speed control system.Such as, vehicle use there is specific setting speed speed control system clear an obstacle as megalith district time, depend on that such as vehicle is climbing megalith or travelling along the top of one or more megalith or along megalith to descending, will the amount changing driving torque needed to keep this setting speed.Although may vehicle be made to rise on megalith the relatively a large amount of moment of torsion of needs, will the moment of torsion of the amount of much less be needed when vehicle arrives megalith top, and therefore suitably must reduce driving torque so that the speed of a motor vehicle is held in setting speed.But, due to explosive motor to the response that torque demand changes delayed (namely, moment of torsion lag output is in torque demand), so when vehicle arrives megalith top, Power Train or racing of the engine may be there is, thus enable the speed of vehicle at least temporarily exceed the setting speed of speed control system until driving torque is reduced to proper level by driving engine or Power Train.Thus, the chaufeur of vehicle or user may feel that vehicle jumps suddenly instead of crosses megalith with constant, pulsation-free speed on megalith.

Therefore, a kind of speed control system and the using method thereof that make one or more minimize shorts in above-indicated shortcoming and/or elimination is needed.

Summary of the invention

The one aspect of the present invention protected as requested, provides a kind of method for operating the speed control system of the vehicle with multiple wheel.Described method comprises: the one or more electric signal receiving the information representing relevant to vehicle; Based on representing that one or more electric signal of the information relevant to vehicle determine one or more wheels in the wheel of vehicle clear an obstacle or by clear an obstacle, and determine therefore will to need to be decreased through driving torque that Power Train subsystem applies to the one or more wheels in the wheel of vehicle the speed of vehicle to be held in the goal-setting speed of speed control system; And determine that driving torque needs reduction applied is to be held in goal-setting speed by the speed of vehicle, automatically instruction applies deceleration torque to offset the impact of the overspeed condition of Power Train subsystem, in order to avoid make the speed of described vehicle increase to the one or more wheels in the wheel of vehicle.

The another aspect of the present invention protected as requested, provides a kind of speed control system of the vehicle for having multiple wheel.Described system comprises electronic control unit, and described electronic control unit is configured to: the one or more electric signal receiving the information representing relevant to vehicle; Based on representing that one or more electric signal of the information relevant to vehicle determine one or more wheels in the wheel of vehicle clear an obstacle or by clear an obstacle, and determine therefore will to need to be decreased through driving torque that Power Train subsystem applies to the one or more wheels in the wheel of vehicle the speed of vehicle to be held in the goal-setting speed of speed control system; And in response to determining that driving torque needs reduction applied is to be held in goal-setting speed by the speed of vehicle, automatically instruction one or more wheel in the wheel of vehicle applies deceleration torque to offset the impact of the overspeed condition in Power Train subsystem, in order to avoid make the speed of vehicle increase.

The another aspect of the present invention protected as requested, provide a kind of vehicle with multiple wheel, described vehicle comprises system described herein.

The another aspect of the present invention protected as requested, provides a kind of carrier medium, and described carrier medium is loaded with vehicle for controlling to have multiple wheel to perform the computer-readable code of the method for invention as described herein.

One or more examples of one or more aspects according to the present invention as described hereinbefore, provide the speed control system that can operate under such as highway situation, wherein, this system directive Power Train transmits required torque (i.e. driving torque) to remain on the setting speed of ground regulation to one or more wheels of vehicle, this system is operable automatically, in order in response to determining that vehicle such as arrives cop, one or more wheels to vehicle apply deceleration torques, thus offset Power Train hypervelocity and substantially keep described setting speed when vehicle clear an obstacle.

Deceleration torque can apply by means of being selected from brake system, motor, gearshift and one or more arbitrarily in other suitable devices.Correspondingly, should be understood that, can be exercisable for applying the device of deceleration torque to one or more wheel, in order to directly to apply deceleration torque to one or more wheel or such as to apply deceleration torque by applying deceleration torque to a part for Power Train indirectly to one or more wheel.Therefore, when having the motor vehicle driven by mixed power of the motor being operable as electrical generator, cross-country speed control system can operate into and apply deceleration torque by this motor to Power Train.Other settings are also applicable.

Embodiments of the present invention have following advantage: can when keeping vehicle stability without when excessive velocity variations, and this excessive velocity variations may cause occupant at vehicle by feeling vehicle body unexpected jerking movement during obstacle.

In response to such as via controller local area network (CAN) or other suitable data buss, photostat input or arbitrarily other suitable devices and by system acceptance to the signal of expression vehicle attitude, can determine that vehicle to be ready arriving cop or otherwise clear an obstacle (such as from obstacle out).Such as, described system can operate precedent as arrived tops by referring to one or more in vehicle attitude, vehicle attitude change, hinged (the extending or compression) of vehicle suspension and other suitable parameters any to the one or more wheels detecting vehicle.Additionally or alternatively, when need to keep advancing asked moment of torsion sharply raise after detect about required torque rapid drawdown time, can infer and arrive top.

Optionally, this system can operate into: when detecting that vehicle applies deceleration torque to one or more wheel when being about to clear an obstacle at least partially along with vehicle climbing obstacle before top detecting to arrive.In addition, this system can operate into according to determining that vehicle to be ready arriving the amount that top regulates applied deceleration torque, thus substantially keeps setting speed.This feature has following advantage: the stationarity that can improve vehicle in some cases further, and reason is that Power Train is resisted the dumping force that applied by deceleration force and works, and reduces the fluctuation of the car speed when clear an obstacle.In addition, this dumping force does the expansion (slippage) in order to alleviate less desirable wheel, and this dumping force improves the vehicle traction in difficult landform.

It being understood that some embodiments of the present invention provide to cross-country speed control system the landform travelled about vehicle information and about vehicle attitude, wheel articulation, wheel velocity, gear selection, Tire Friction, rolling resistance and TR (landform response) pattern.In some embodiments, if user is just using cross-country speeds control to travel on the obstacle in hole, such as road or step and so on, then cross-country speed control system can provide enough moment of torsion to cross this obstacle and to dispose (such as) motor vehicle braking system to provide suitable restraint at systems axiol-ogy to when reducing the needs (to keep setting speed) of moment of torsion along with vehicle arrival cop.This system disposes deceleration force to offset Power Train hypervelocity, prevents vehicle from exceeding setting speed unintentionally and held stationary and control.

Should be understood that, because explosive motor (ICE) is to the response lag of the change of accelerator pedal or other accelerator incoming signals (such as from the signal of speed control system), thus, with regard to putting on the rate of change of the moment of torsion of the wheel of vehicle, the deceleration torque applied by (such as) motor vehicle braking system responds rapider than Power Train usually.That is, due to the physical property of ICE, moment of torsion exports and is tending towards lagging behind torque demand.Especially, when torque demand is from high step-down, moment of torsion exports and keeps virtual height until driving engine slows down if having time by the rotation momentum of driving engine.Unless actuator is thrown off with wheel by power-transfer clutch or allied equipment and is connected, otherwise when vehicle arrives cop, the response lag of driving engine itself may show as overspeed of vehicle, that is, car speed is increased to higher than expectation car speed.This can be perceived as vehicle unexpected jerking movement on obstacle, vehicle is travelled too quickly towards follow-up obstacle and/or trailing wheel is contacted with obstacle fierceness.Cross-country speed control system is according to the embodiment of the present invention utilized to overcome or at least alleviate these features.

As already pointed out, can provide about one or more the information in vehicle attitude and wheel velocity, gear selection, Tire Friction, rolling resistance, wheel articulation and TR pattern to cross-country speed control system.In this way, if user uses cross-country speeds control to come with slow speed as 3mph (about 5kph) land locomotion, then when vehicle such as step or road hole and so on obstacle on travel time, by referring to the rate of change of required torque, cross-country speed control system can determine when vehicle almost arrives cop, and dispose suitable deceleration torque to overcome racing of the engine by means of (such as) brake system.In this way, cross-country speed control system according to the embodiment of the present invention can predict may cause due to racing of the engine vehicle uncomfortably forward suddenly the moment of torsion of asking of jerking movement reduce, and take measures to offset racing of the engine before it has a negative impact to vehicle stability.Therefore, it being understood that vehicle can by the unexpected increase of torque demand to keep advancing the instruction being interpreted as needing corresponding moment of torsion to reduce suddenly.Therefore, speed control system brake application system, makes Power Train resist the effect of brake system and work.Once vehicle arrives top, then to reduce user, the amount that can increase braking force feels that body movement is the risk of unexpected jerking movement.

Should be understood that, cross-country speed control system according to the embodiment of the present invention can under extreme conditions temporarily make vehicle stop (or almost stopping), such as has to cross the landform that vehicle must reach the megalith district of multiple objects at its top and so on.Under these circumstances, the arrival top event at any road wheel place in road wheel can be in response to apply deceleration torque (such as, the operation by brake system), otherwise it may cause overspeed condition.

In some embodiments, cross-country speed control system can operate into control or otherwise affect the selection of gear and/or " high/low " transmitting ratio, to guarantee that vehicle is being suitable for avoiding engine off and is travelling with low-speed off-road under keeping the gear of suitably advancing.

In some embodiments, when predicting one or more wheel slip when applying engine torque, deceleration torque can be applied to balance required engine torque to described one or more wheel.

In some embodiments, cross-country speed control system can operate into control or otherwise affect car speed, to allow to regulate one or more system configuration if having time.Such as, allow to change if having time ride-height or tire pressure or other suitable parameters arbitrarily, to guarantee that vehicle travels with the configuration being suitable for current landform.Therefore, when vehicle runs into relatively coarse landform, speed control system can make vehicle stop or underspeeding, to make it possible to carry out ride-height adjustment and/or tire pressure adjustment.In some embodiments, speed control system can reduce car speed instead of vehicle is stopped, to reduce vehicle to lose tractive force and to become the risk do not moved.

Should be understood that, embodiments of the present invention can be can control or otherwise affect the slow operation of falling control (HDC) system in the abrupt slope of vehicle to work together with HDC, thus optimization vehicle stability, even if also like this during clear an obstacle in downward grades.In some embodiments, vehicle can be configured to: wherein, and when the gradient that vehicle is travelling is greater than specified value, HDC braking instruction can surmount or otherwise have precedence over cross-country rate control instruction.

Embodiments of the present invention can also operate into carries out prestrain when asking relatively unexpected moment of torsion to increase to brake system.After the unexpected increase of moment of torsion, normally request reduces Power Train or driving torque and optionally applies brake torque/deceleration torque.It is useful for providing brake torque/deceleration torque keeping in vehicle stability---particularly when arriving cop---relatively rapidly.

In some embodiments, cross-country speed control system can operate by instruction Power Train wittingly together with the device for applying deceleration torque, to balance and to make it to balance each other to its torsional interaction on vehicle, particularly it is made to balance each other about any time hysteresis behaviour be associated with the equipment operated.

In some embodiments, if user is using cross-country speeds control to travel on the obstacle in such as hole, road or step and so on, then cross-country speed control system will provide enough moment of torsion with clear an obstacle, and compared with dropping signal, apply different gains or filter value to raises signal, wherein said signal response is in from Power Train and/or the torque demand for device such as brake system from deceleration torque to one or more wheel that apply.The compensating for variations of this gain is limited by the physics of the system of signal control, and cross-country speed control system be configured to make to the control of the device (such as brake system) for applying deceleration torque with the control of Power Train is balanced each other, thus held stationary and improve vehicle performance.

Embodiments of the present invention have following advantage: they can reduce the work capacity of user in manual drive greatly, and by avoiding making vehicle make the minimise wear of vehicle with the situation of unnecessary high speed contact obstacle.The system proposed for monitor on one's own initiative in order to the necessary torque demand of clear an obstacle and by one's own initiative to the constraint of vehicle application machine or dumping force with alleviate arrive hypervelocity after top or otherwise clear an obstacle manage known control lag, during such as land locomotion, drastically increase the stationarity of vehicle.As mentioned above, can by motor vehicle braking system, motor, gearshift or arbitrarily other suitable devices apply dumping force.

Accompanying drawing explanation

By means of only the mode of example, one or more embodiment of the present invention is described now with reference to the following drawings, in the accompanying drawings:

Fig. 1 is the schematic block diagram of vehicle;

Fig. 2 is another block diagram of the vehicle shown in Fig. 1;

Fig. 3 is the figure of the bearing circle used together with the vehicle of all vehicles as depicted in figs. 1 and 2 and so on;

Fig. 4 is the schematic block diagram of the operation of the example of the speed control system of the vehicle that all vehicles as depicted in figs. 1 and 2 and so on are shown;

Fig. 5 is the diagram of circuit of the method controlled for the speed of the vehicle to all vehicles as depicted in figs. 1 and 2 and so on; And

Fig. 6 is the curve of time dependent Power Train driving torque and deceleration torque or brake torque in the process of a part for exemplary stroke in the vehicle of all vehicles as depicted in figs. 1 and 2 and so on.

Detailed description of the invention

Method and system described herein may be used for the speed controlling vehicle.In one embodiment, this method and system acceptance represent the information relevant to vehicle one or more electric signal, then use received one or more electric signal and/or the information that represented by described one or more electric signal is clear an obstacles or therefore need to be decreased through driving torque that Power Train subsystem applies to one or more wheels of vehicle so that the speed of vehicle is remained on specific goal-setting speed by clear an obstacle and determining whether to the one or more wheels in the wheel judging vehicle.If determine to need to reduce the driving torque applied, then this method and system automatically instruction can apply deceleration torque to offset the effect of the overspeed condition in Power Train subsystem in order to avoid make the speed of vehicle increase to the one or more wheels in the wheel of vehicle.By doing like this, the degree that native system and method prevent or at least limit car speed to exceed setting speed when can operate in order to cross obstacle (such as, arrive the top of megalith, out, from high-drag environment be transitioned into low resistance environment etc. from hole) relevant to landform at such as vehicle.

Reference to providing the software code for performing function or the effect of specifying of output in response to one or more input is understood to include to the reference of the block of such as function block and so on herein.This code can be the form of software program or the function called by host computer program, or can be form the part of code flow and the program of non-individual or the code of function.The reference of function block is carried out for ease of the mode of the operation that control system is according to the embodiment of the present invention described.

See figures.1.and.2, show some parts in the parts of the vehicle 10 that this method and system can therewith use.Although below description provides under the background of the particular vehicle 10 illustrated in fig. 1 and 2, will be appreciated that this vehicle is only example, and certainly can instead use other vehicles.Such as, in various embodiments, method and system described herein can with have automatic transmission with hydraulic torque converter, hand-operated transmission or toric transmission any type vehicle together with use, lift several possibility, comprise conventional truck, hybrid electric vehicle (HEV), extended-range electric vehicle (EREV), battery electric vehicle (BEV), passenger vehicle, SUV (sport utility vehicle) (SUV), transboundary car (cross-over vehicle) and truck.According to an embodiment, vehicle 10 comprises multiple subsystem 12, multiple vehicle sensors 14 and control unit for vehicle 16 (VCU 16) generally, does not illustrate in this article in addition in addition or the miscellaneous part of the arbitrary number that otherwise describes, system and/or device.

The subsystem 12 of vehicle 10 can be configured to perform or control the various function relevant to vehicle and operation, and as shown in Figure 2, the subsystem 12 of vehicle 10 can comprise the subsystem of arbitrary number, such as: only lift several possibility, and such as Power Train subsystem 12 ₁, chassis control or ADMINISTRATION SUBSYSTEM 12 ₂, brake subsystem 12 ₃, transmission system subsystem 12 ₄and turn to subsystem 12 ₅.

As known in the art, Power Train subsystem 12 ₁be configured to produce the power for propelled vehicles or moment of torsion.The amount of the moment of torsion produced by Power Train subsystem can also be conditioned the speed (such as, in order to make the speed of vehicle 10 increase, increasing moment of torsion and exporting) controlling vehicle.Because different Power Train subsystems has different max. output torque abilities, the amount of moment of torsion that therefore Power Train subsystem can export depends on particular type or the design of this subsystem.But, in one embodiment, the Power Train subsystem 12 of vehicle 10 ₁maximum fan-out capability can be about 600Nm.As known in the art, Power Train output torque can use following described vehicle sensors 14 (such as, engine torque sensor, driveline torque sensor etc.) in one or more vehicle sensors or other suitable sensing device measure, and can by except Power Train subsystem 12 ₁outside the one or more parts such as comprising one or more the vehicle 10 be not limited in following described parts, module or subsystem, module or subsystem for various object.It will be understood by those of skill in the art that, Power Train subsystem 12 ₁can arrange according to the different embodiments of arbitrary number, can be connected in the difference configuration of arbitrary number and the different parts that can comprise arbitrary number such as output torque sensor, control unit and/or other suitable parts arbitrarily as known in the art.Such as, in embodiments, Power Train subsystem 12 ₁one or more motors that one or more motor is such as operable as electrical generator can also be comprised, described one or more motor is configured to apply deceleration torques to one or more wheels of the part of Power Train subsystem and/or vehicle, slows down in use brake subsystem (such as friction braking) or do not use brake subsystem (such as friction braking) to make vehicle.Therefore, the invention is not restricted to any one specific Power Train subsystem.

Chassis management subsystem 12 ₂can be configured to perform or can be configured to contribute to performing many critical functions, give some instances, comprise slow the falling in the stabilitrak (SCS), the abrupt slope that control (DSC) and so on to such as traction control (TC), such as dynamic stability and control (HDC) and the relevant function of course changing control.For this reason, as known in the art, chassis management subsystem 12 ₂also be configured to use various aspects or the operating parameter of such as monitoring and/or control vehicle from one or more reading received, signal or the information sensor 14 that is described herein or that identify and/or other vehicle subsystems 12.Such as, subsystem 12 ₂can be configured to receive and the reading of the pressure correlation of the tire of vehicle or other information from the tire pressure sensor be such as associated with each tire.Therefore, chassis management subsystem 12 ₂tire pressure can be monitored, and if if to be necessary and vehicle is so configured, then chassis management subsystem 12 ₂vehicle-mounted air compressor is automatically used to regulate pressure or make chassis management subsystem 12 ₂vehicle-mounted air compressor is used to regulate pressure.Similarly, chassis management system 12 ₂one or more air suspension sensors that can also be configured to from being such as laid in vehicle periphery receive the reading relevant to the ride-height of vehicle or information.In this case, chassis management subsystem 12 ₂can the ride-height of monitor vehicle, and if if to be necessary and vehicle is so configured, then chassis management subsystem 12 ₂vehicle-mounted air compressor (suspension compresses machine) is automatically used to regulate ride-height or make chassis management subsystem 12 ₂vehicle-mounted air compressor (suspension compresses machine) is used to regulate ride-height.Chassis management subsystem 12 ₂the attitude of monitor vehicle can also be configured to.More specifically, subsystem 12 ₂reading or information can be received to assess vehicle (especially from one or more sensor 14 of described herein or mark and/or subsystem 12 (such as gyrosensor, vehicle acceleration sensor etc.), and/or vehicle body) pitching, inclination, yaw, laterally accelerate, vibration (such as amplitude and frequency), and assess the overall attitude of vehicle thus.In each case, as mentioned above, by chassis management subsystem 12 ₂information that is that receive or that determine can be used alone by it, or alternatively, can share with other subsystems 12 of vehicle 10 or parts (such as VCU 16), other subsystems 12 described or parts can use this information for the object of arbitrary number.Although provide only chassis management subsystem 12 ₂the vehicle operating parameter that can monitor and/or control and/or several examples of aspect, but will be appreciated that subsystem 12 ₂can be configured to control with the same or analogous mode of mode as above and/or the arbitrary number of monitor vehicle 10 other or other parameter/aspect.Therefore, the invention is not restricted to the control to any specific parameter/aspect and/or monitoring.In addition, it will also be understood that, chassis management subsystem 12 ₂can provide according to the different embodiments of arbitrary number, and the different parts of arbitrary number can be comprised, such as sensor, control unit and/or other suitable parts arbitrarily as known in the art.Therefore, the invention is not restricted to any one specific chassis management subsystem.

As shown in Figure 1, transmission system subsystem 12 ₄many multi-ratio transmission or change speed gear box 200 can be comprised, this many multi-ratio transmission or change speed gear box 200 and Power Train subsystem 12 ₁propulsive mechanism (such as Power Train subsystem 12 ₁driving engine or electro-motor, it is identified as Reference numeral 202 in FIG) output shaft mechanically connect.Change-speed box 200 is arranged in order to by front diff 204 and a pair front propeller shaft 206 ₁, 206 ₂drive the front-wheel of vehicle 10.In the embodiment shown, transmission system subsystem 12 ₄also comprise accessory drives pastern and divide 208, this accessory drives pastern divides 208 to be arranged in order to by attachment driving shaft or transmission shaft 210, rear diff 212 and a pair rear propeller shaft 214 ₁, 214 ₂drive the trailing wheel of vehicle 10.In various embodiments, transmission system subsystem 12 ₄can be arranged to only to drive front-wheel or trailing wheel or can be selectable two-wheel drive/4Wdvehicle.In the embodiment of such as Fig. 1 illustrated embodiment and so on, change-speed box 200 can be connected to accessory drives pastern in a removable manner by part-time case or power distribution unit 216 and divide 208, thus allows selectable two-wheel drive or four wheel drive operation.In some cases, and as known in the art, allocation units 216 can be configured to can by transmission system subsystem 12 ₄self and/or carry out by the miscellaneous part of the vehicle 10 of such as such as VCU16 and so on high scope (HI) transmitting ratio that regulates or low scope (LO) transmitting ratio operates.It will be understood by those of skill in the art that, transmission system subsystem 12 ₄the different parts of arbitrary number can be comprised, such as sensor (such as HI/LO transmitting ratio sensor, transmission ratio sensor), control unit and/or other suitable parts arbitrarily as known in the art in can providing, can be connected to the difference of arbitrary number to configure according to the different embodiments of arbitrary number.Therefore, the invention is not restricted to any one specific transmission system subsystem.

Except those subsystems described above, vehicle 10 can also comprise such as such as brake subsystem 12 ₃with turn to subsystem 12 ₅and so on other or other subsystem of arbitrary number.With regard to object of the present invention, each in subsystem 12 described above and the function of correspondence thereof are all conventional in the art.Therefore, detailed description will do not provided; And the 26S Proteasome Structure and Function of each subsystem 12 identified will be easy to clear for a person skilled in the art.

In one embodiment, the control at least to a certain degree of one or more the be subject to VCU 16 in subsystem 12.In this embodiment, those subsystems 12 are electrically coupled to VCU 16 and are configured for and communicate with VCU 16, to provide the feedback relevant to the operational parameter of vehicle or operating parameter and the instruction received from VCU 16 or instruction to VCU 16.With Power Train subsystem 12 ₁for example, Power Train subsystem 12 ₁can be configured to collect and this Power Train subsystem 12 ₁various types of information that such as such as moment of torsion exports, some operating parameter of driving engine or motor speed etc. and so on is relevant, and subsequently by this communicating information to VCU 16.This information can be collected from one or more such as following vehicle sensors 14.Power Train subsystem 12 ₁can also from VCU 16 receive instruction with when the change of such as condition represents such change (when such as, asking the change of car speed at the brake pedal (pedal 18 in Fig. 1) via vehicle 10 or accelerator pedal (pedal 20 in Fig. 1)) regulate some operating parameter.Although more than describe in particular with reference to Power Train subsystem 12 ₁but, will be appreciated that same principle is also applicable to be configured to each other subsystems 12 like this with VCU 16 exchange messages/instruction.

Each subsystem 12 can comprise special electronic control unit (ECU), this electronic control unit (ECU) is configured to receive and performs the instruction or instruction that are provided by VCU 16, and/or is configured to perform independent of VCU 16 or control some function.Alternatively, two or more subsystems 12 can share single ECU, or one or more subsystem 12 self directly can be controlled by VCU 16.Carry out in the embodiment communicated at subsystem 12 with VCU 16 and/or other subsystems 12, can via the connection suitable arbitrarily of such as such as controller local area network (CAN) bus, System Management Bus (SMBus), proprietary communication link and so on or by as known in the art some other arrange and promote such communication.

Will be appreciated that foregoing teachings only represents some possibility arranged in relevant possibility to the particular subsystem that may be included of vehicle 10 and those subsystems and VCU 16.Therefore, it will also be understood that, the embodiment of the vehicle 10 that comprise other or other subsystem and subsystem/VCU are arranged still is in the spirit and scope of the present invention.

Vehicle sensors 14 can comprise the different sensors, parts, equipment, module, system etc. of arbitrary number.In one embodiment, some or all of sensors in sensor 14 can provide the information or input that can be used by this method to subsystem 12 and/or VCU 16, and therefore can (such as, be electrically coupled to via cable or wirelessly) some other suitable equipment of VCU 16, one or more subsystem 12 or vehicle 10, and be configured to communicate with some other suitable equipment of VCU 16, one or more subsystem 12 or vehicle 10.Sensor 14 can be configured to monitoring, sensing, detects, measures or otherwise determine to vehicle 10 and operate and configure relevant various parameters, and sensor 14 can comprise such as but not limited to any one in the following stated sensor or many persons: vehicle-wheel speed sensor; Environment temperature sensor; Atmospheric-pressure sensor; Tire pressure sensor; In order to detect the gyrosensor of the yaw of vehicle, inclination and pitching; Vehicle speed sensor; Longitudinal acceleration sensor; Engine torque sensor; Driveline torque sensor; Throttle sensor; Steering angle sensor; Bearing circle speed sensor; Slope Transducer; Such as, lateral acceleration sensor on stabilitrak (SCS); Brake pedal position sensor; Brake-pedal load sensor; Accelerator pedal position sensor; Air suspension sensor (namely travelling height sensor); Wheel position sensors; Wheel articulation sensor; Body vibrations sensor; Water-detection sensors (the close degree of depth two kinds of situations with paddling for paddling); Part-time case HI-LO transmitting ratio sensor; Air inlet path sensor; Automotive occupant sensor; And longitudinal direction, transverse direction and vertical motion sensor, in addition other sensors as known in the art.

Other sensor any of the sensor more than identified and the information that this method can be provided to use can be implemented as hardware, software, firmware or their some combinations.Sensor 14 can direct sensing or measure such state: sensor 14 is arranged for this state, or sensor 14 can assess these states based on the information indirect provided by other sensors, parts, equipment, module, system etc.In addition, these sensors directly can be attached to the one or more vehicle subsystems 12 in VCU 16 and/or vehicle subsystem 12; These sensors can be attached to the one or more vehicle subsystems 12 in VCU 16 and/or vehicle subsystem 12 indirectly via other electronic machines, Vehicle communications bus, network etc.; Or these sensors can connect according to other settings more as known in the art.Some or all of sensors in these sensors can integrally be combined in one or more vehicle subsystems in the above vehicle subsystem 12 identified 12, can be individual components or other can arrange and provide according to some.Finally, any sensor reading in the various sensor readings used in this method can be provided by some miscellaneous parts, module, equipment, subsystem etc. of vehicle 10 instead of directly be provided by the sensor element of reality.Such as, VCU 16 can receive some information from the ECU of subsystem 12 instead of directly receive information from sensor 14.Should be understood that, because vehicle 10 is not limited to any specific sensor or sensor setting, thus aforementioned circumstances some possibilities only in expressing possibility property; And embodiment suitable arbitrarily can be used.

VCU 16 can comprise ECU suitable arbitrarily, and can comprise the electronic processing equipment of any type, storage equipment, I/O (I/O) equipment and/or other known elements, and performs and various control and/or the relevant function that communicates.In one embodiment, VCU16 comprises electronic storage device 22, electronic storage device 22 can store various information, sensor reading (such as, the sensor reading such as generated by vehicle sensors 14), look-up table or other data structures (such as, the look-up table such as used in the execution of following method or other data structures), algorithm (algorithm such as, implemented in the following methods) etc.In embodiments, storage equipment 22 comprises and being loaded with for controlling vehicle to perform the carrier medium of the computer-readable code of following method.Storage equipment 22 can also store the correlated characteristic relevant with subsystem 12 to vehicle 10 and background information.VCU 16 can also comprise electronic processing equipment 24 (such as microprocessor, microcontroller, special IC (ASIC) etc.), this electronic processing equipment 24 performs the instruction for software, firmware, program, algorithm, script, application etc. stored in storage device 22, and can control method described herein.As mentioned above, VCU16 can be connected to other vehicle arrangements, module, subsystem and parts (such as sensor) electronically via suitable vehicle communication, and can when needed or as required with other vehicle arrangements described, module, subsystem and parts (such as sensor) interaction.Except the function that can be performed by VCU 16 that other places describe in this article, in one embodiment, VCU 16 can also be responsible for the various functions described above about subsystem 12, especially when those subsystems are not configured to do so yet.Certainly, these some being only in the possible setting of VCU 16, function and performance are arranged, function and performance, because can also use other embodiments.According to particular implementation, VCU 16 can be independently vehicle electric module, VCU 16 can be combined or to be included in other vehicle electric module (such as, in one or more in above identified subsystem 12), or VCU 16 can arrange in addition in a manner known in the art and configure.Therefore, VCU 16 is not limited to any one particular implementation or setting.

Except parts described above and system, in one embodiment, vehicle 10 can also comprise one or more vehicle speed control system.Such as and continue with reference to Fig. 2, in one embodiment, (LSP) control system 28 that vehicle 10 can also comprise CCS cruise control system 26 and low speed is advanced, this CCS cruise control system 26 is also referred to as " highway " or " road " CCS cruise control system, and LSP control system 28 also can be referred to as " highway " or " cross-country " and to advance control system.

Highway CCS cruise control system 26---it can comprise the as known in the art conventional CCS cruise control system of arbitrary number---can operate into " setting speed " that make car speed automatically remain on the expectation set by user.This system is restricted usually in its use, and reason is that vehicle must travel to make this system be exercisable more than certain minimum threshold velocity (such as, 30mph (approximate 50kph)).Therefore, these systems are particularly suitable at highway driving or at least wherein there is not a large amount of starting repeatedly and stopping and using in allowing vehicle with the driving of relatively high speeds.As known in the art, highway CCS cruise control system 26 can comprise and be configured to perform and the special ECU of function of implementation system or independently ECU, or alternatively, the function of CCS cruise control system 26 can be integrated in other subsystem 12 (the such as Power Train subsystem 12 of vehicle 10 ₁) or such as VCU 16 (as shown in Figure 2) in.

In addition, as known in the art, CCS cruise control system 26 can comprise one or more user interface apparatus 30, described one or more user interface apparatus 30 can by user's (such as chaufeur) use with system 26 (such as, the ECU of system 26) interaction, and in some embodiments, user interface apparatus 30 allows system and user's interaction.Lift several possibility, such as, these equipment can allow user to enable/stop using the setting speed of system 26 and setting and/or control system.Each equipment in these equipment all can adopt the form of arbitrary number, such as---such as but not limited to---one or more in following form: button; Switch; Touch-screen; Visual display unit; Loud speaker; Warning message telltale; Keypad; Keyboard; Or other suitable equipment arbitrarily.In addition, these equipment can be positioned in compartment and relatively closely near the position (such as bearing circle, Steering gear, instrument carrier panel, center console etc.) of the arbitrary number of user.For example, referring to Fig. 3, the bearing circle (bearing circle 32 namely in Fig. 1) of vehicle 10 can be configured to multiple user interface apparatus of the CCS cruise control system 26 of the form had in button.A this equipment can be " setting speed " button 30 ₁, should " setting speed " button 30 ₁the operation of CCS cruise control system 26 and the setting speed of setting expectation can be enabled when being handled in a specific way.CCS cruise control system 26 can also comprise other user one or more can selective type interface equipment (such as, button), increases or reduce the setting speed of system to allow user.Such as, the "+" button 30 can be set ₂to allow user to increase setting speed with discrete increment (such as, 1mph (or 1kph)), and "-" button 30 is set ₃to allow user with identical or different discrete increment reduction setting speed.Alternatively, the "+" button 30 ₂"-" button 30 ₃the person that integrally can be combined in used aloned can in selective type equipment.The other user of system 26 can comprise such as by selective type interface equipment: stop using or " cancellation " button 30 of Break-Up System ₄, and make system at the temporary time-out of systemic-function or " recovery " button 30 that can be re-enabled after stopping using ₅.

Should be understood that, because vehicle 10 is not limited to the CCS cruise control system of any specific or user interface apparatus or setting, thus aforementioned circumstances only represents some possibilities in the possibility of CCS cruise control system 26 and user interface apparatus thereof; And embodiment suitable arbitrarily can be used.

LSP control system 28 provides speed control system, this speed control system such as enables to be equipped with the user of the vehicle of this system to select low-down target velocity or setting speed, and vehicle can be advanced with low-down target velocity described above or setting speed when user inputs without any need for pedal.The advance difference of controlling functions of advancing of controlling functions and CCS cruise control system 26 of this low speed is: be different from CCS cruise control system 26, vehicle does not need to travel that system is become exercisable (although system 28 can be configured to contribute to controlling from the static auto-speed to about 30mph (approximate 50kph) or higher speed, and therefore system 28 is not limited to " low speed " operation) with relatively high speed (such as 30mph (approximate 50kph)).In addition, known highway CCS cruise control system is configured to make: when user depresses brake pedal or pedal of clutch, such as, cancel road cruise controlling functions and vehicle return to need user pedal input with the manual operation mode keeping car speed.In addition, at least some CCS cruise control system, also can have the effect cancelling the controlling functions that cruises to the detection of the wheel slip event that may cause owing to losing tractive force.LSP control system 28 and this CCS cruise control system difference can also be: at least one embodiment, and LSP control system 28 speed controlling function provided thus is not cancelled or the mode of stopping using configures.In embodiments, LSP control system 28 is suitable for using in cross-country or highway are driven especially.

In one embodiment, LSP control system 28 also comprises ECU 42 (be shown as in the illustrated embodiment and for following reason and comprise VCU 16) and one or more user's input equipment 44 except potential miscellaneous part.ECU 42 can comprise arbitrary various electronic processing equipment, memory device or storage equipment, I/O (I/O) equipment and other known parts arbitrarily, and ECU 42 can perform the function of the arbitrary number of LSP control system 28, this comprises function that is described below and that implement in the method.For this reason, ECU42 such as can be configured to receive information from various source (such as vehicle sensors 14, vehicle subsystem 12, user's input equipment 44), and assessment, analyze and/or process this information to control or one or more operating aspects of monitor vehicle 10, such as: such as, one or more operating parameters of monitor vehicle; Instruction applies driving torque and/or deceleration torque to one or more wheels of vehicle and reduces described driving torque and/or deceleration torque; Detect the reduction of the driving torque required for the specific objective setting speed in order to car speed being held in LSP control system 28; Determine the type and/or feature etc. of the landform that vehicle 10 is travelling.In addition, in one embodiment, ECU 42 is configured to the one or more steps described in further detail hereinafter performing or implement this method.Should be understood that, ECU 42 can be independent electronic module, or in the other subsystem 12 that can integrally be attached to or be incorporated into vehicle 10 or such as VCU 16.For explanation and clearly object, description below will for following embodiment: in this embodiment, and the function of ECU 42 is by integrated or be incorporated in VCU16, and make as shown in Figure 2, VCU 16 comprises the ECU of LSP control system 28.Therefore, in this embodiment, VCU 16 and storage equipment thereof or the various information needed for the function comprising the function realized in the following methods that can store to perform LSP control system 28 especially by the storage equipment (such as storage equipment 22) of its access, data (setting speed such as limited in advance), sensor reading, look-up table or other data structures, algorithm, software etc.

As above-described highway CCS cruise control system 26, LSP control system 28 also comprises one or more user interface apparatus 44, this user interface apparatus 44 can by user use with system 28 interaction, and in some embodiments, described one or more user interface apparatus 44 allows system 28 and user's interaction.These equipment can allow user such as enable/stop using LSP control system 28, setting and/or control system setting speed, the setting speed selecting to expect from multiple setting speed limited in advance, carry out switching between two or more setting speeds limited in advance and with such as can in other mode described below and system 28 interaction.These user interface apparatus can also allow system 28 to provide some notice, warning, message, request etc. to user.Each equipment in these equipment can adopt the form of arbitrary number, such as---such as but be not restricted to---one or more in following form: button; Switch; Touch-screen; Visual display unit; Loud speaker; Warning message telltale; Keypad; Keyboard; Or arbitrarily other be applicable to equipment.In addition, these equipment can be positioned in compartment and relatively closely near the position (such as, bearing circle, Steering gear, instrument carrier panel etc.) of the arbitrary number of user.In one embodiment, the user interface apparatus 30 of highway CCS cruise control system 26 and the user interface apparatus 44 of LSP control system 28 are provided in vehicle 10 adjacent one another are respectively, and it is adjacent one another are on the bearing circle 32 that in one embodiment, user interface apparatus 30,44 is provided in vehicle 10.But in such as such as other embodiments described herein, highway CCS cruise control system 26 and LSP control system 28 can share the some or all of user interface apparatus in identical user interface apparatus.In such embodiment, can arrange other user's optional equipment as switch, button or arbitrarily other be applicable to equipment to switch between two speed control systems.Therefore, in the embodiment shown in Fig. 3, above about those user interface apparatus 30 described by CCS cruise control system 26 ₁-30 ₅can also be used in the operation of LSP control system 28, and therefore, when discussing under the background of system 28, user interface apparatus 44 can also be called as ₁-44 ₅.

For illustrative purposes, and except the function of LSP control system 28 described below, the description of the overall operation of an illustrated embodiment will provided LSP control system 28 now.First, the VCU 16 including the ECU of LSP control system 28 in the embodiment described in this article determines the desired speed (being called " expectation setting speed ") that vehicle will travel herein.This can be the setting speed selected via user interface apparatus 44 by user, or alternatively, and VCU16 can be configured to automatically to determine based on some conditioned disjunction factor or select to expect setting speed and without the need to the intervention of user.In either case, in response to the selection to expectation setting speed, VCU16 is configured to wheel application optionally Power Train, polling power controlling and/or the brake action and make vehicle desirably setting speed work by generally or individually realizing to vehicle, thus vehicle is reached or is held in expectation setting speed.In one embodiment, this can comprise such VCU16: described VCU16 such as generates suitable instruction and this suitable instruction is sent to suitable subsystem 12 (such as Power Train subsystem 12 ₁with brake subsystem 12 ₃) and/or directly the operation etc. of one or more parts, module, subsystem etc. of vehicle 10 is controlled.

More specifically, with reference to Fig. 4, expect that setting speed is once determining, then the vehicle speed sensor be associated with vehicle chassis or transmission system (is identified as sensor 14 in the diagram ₁) signal 46 indicating car speed is just provided to VCU16.In one embodiment, VCU16 comprises comparator 48, and this comparator 48 will expect that setting speed (representing with Reference numeral 49 in the diagram) to compare with measured speed 46 and to provide the output signal 50 representing that this compares.Output signal 50 is provided to evaluator unit 52, and this evaluator unit 52 is need to increase or reduce thus keep or reach to expect that this output signal 50 is interpreted as needing by such as Power Train subsystem 12 by setting speed according to car speed ₁apply other moment of torsion to wheel or need to reduce by such as brake subsystem 12 ₃to the moment of torsion that wheel applies, in the case of the latter, carry out according to both acceleration profile that is predetermined or regulation, acceleration/accel difference (such as, +/-(0.1g-0.2g)) or acceleration profile and acceleration/accel difference.Output 54 from evaluator unit 52 is provided to one or more subsystem 12 subsequently, is that existence manages from the positive demand to moment of torsion of evaluator unit 52 or the negative demand to moment of torsion existed from evaluator unit 52 moment of torsion applied to wheel with basis.In order to start to apply required positive-torque or negative torque to wheel, evaluator unit 52 instruction can apply other power and/or instruction to the wheel of vehicle and applies braking force to the wheel of vehicle, and any one or both in both of these case all may be used for being embodied as the change of the necessary moment of torsion of set vehicle speed reaching or keeps expectation.Synchronously apply positive-torque and negative torque to wheel and carry out instruction with the clean moment of torsion controlling to put on wheel by LSP control system 28, to keep the stability of vehicle and stationarity and adjustment to be applied to moment of torsion on each axletree, the stability of vehicle and stationarity and adjustment is particularly kept to be applied to moment of torsion on each axletree when slip event occurs at one or more wheel place.In some examples, VCU16 can also receive the signal 56 that wheel slip event has appearred in expression.In such embodiment, during wheel slip event, VCU16 continues measured car speed and expectation setting speed to compare, and the moment of torsion that continuation automatically control is applied on wheel is expected setting speed to be remained on by car speed and manages slip event.

Except function described above, in one embodiment, LSP control system 28 can also be configured to detection, sensing, derives or otherwise determine the information (such as, surface type, classification of landform, landform or roughness of surface etc.) relevant to the landform that vehicle 10 is travelling.According to an embodiment, VCU16 can be configured to perform this function and perform this function in many ways.Such mode is the mode described in the Britain published application No.GB2492748A announced on January 16th, 2013, and the full content of this application is incorporated herein by reference.More specifically, in one embodiment, and the information relevant to multiple different parameters that vehicle is associated be from multiple vehicle sensors and/or various vehicle subsystem---comprising the some or all of sensors 14 such as those sensors 14 above-described and/or subsystem 12 and/or subsystem 12---receives or obtain.Received information is evaluated subsequently and for determining one or more Terrain indexes, this Terrain indexes can represent the type of landform, and in some instances, one or more features of landform can be represented, such as classification, the roughness etc. of such as landform.

More specifically, in one embodiment, speed control system (such as, VCU16) can comprise the apparatus for evaluating in following evaluator modular form: the information (being hereafter referred to as " sensor/subsystem exports ") obtaining from one or more sensor 14 and/or subsystem 12 or receive is provided to this evaluator module.In the first order of evaluator module, each sensor/subsystem during described sensor/subsystem exports exports for deriving multiple Terrain indexes.In this first order, car speed is derived from vehicle-wheel speed sensor, from vehicle-wheel speed sensor derived wheel acceleration/accel, longitudinal force from longitudinal direction of car acceleration pick-up derived wheel, and derive from the Power Train torque signal provided by Power Train subsystem the moment of torsion that wheelslip (when wheelslip occurs) occurs, and additionally or alternatively, from by transmission system subsystem (such as, change-speed box) torque signal that provides derives the moment of torsion that wheelslip (when wheelslip occurs) occurs, and from order to detect yaw, the motion sensor of pitching and inclination derives the moment of torsion that wheelslip (when wheelslip occurs) occurs.Other calculating performed in the first order of evaluator module comprise wheel inertia moment of torsion (with the moment of torsion making the wheel acceleration or deceleration of rotation be associated), whether " continuity of advancing " (is assessed vehicle repeatedly start and stop, such as, can be the situation of vehicle when travelling on rocky terrain), air draught and lateral vehicle acceleration.

Evaluator module also comprises the second stage, following Terrain indexes is calculated: surface scrolls resistance is (based on wheel inertia moment of torsion in the second stage, longitudinal force on vehicle, longitudinal force on air draught and wheel), steering effort on bearing circle (based on from the output of steering wheel sensor and/or Steering gear sensor and transverse acceleration), longitudinal direction of car slippage is (based on the longitudinal force on wheel, wheel acceleration, whether the action of stabilitrak (SCS) and expression there is the signal of wheelslip), side-friction (to be compared with yaw by measured transverse acceleration and yaw and predicted transverse acceleration and calculate), and ripple detects the (high frequency on expression washboard type surface, the vertical wheel excitation of low amplitude).SCS actuating signal is by from including, dynamic stability controls (DSC) function, landform controls slow some output of falling the ECU of the stabilitrak (SCS) of control (HDC) algorithm in (TC) function, anti-skid brake system (ABS) and abrupt slope derives, and represents DSC action, TC action, ABS action, reduces request to the brake regulation of each wheel and from SCS ECU to the Power Train moment of torsion of Power Train subsystem.All these all represent that slip event has occurred and SCSEDU has taken action to control slippage.Evaluator module also uses the output from vehicle-wheel speed sensor, and in four wheeler, compares and compare the vertical output being positioned at each side the output on each axletree, to determine wheel velocity change and ripple detection signal.

In one embodiment, except evaluator module, road roughness module can also be comprised and calculate terrain roughness for based on air suspension sensor (ride-height sensor or the hinged sensor of suspension) and wheel accelerometer.In such embodiment, export the Terrain indexes signal in roughness output signal type from road roughness module.

In evaluator module, the assessment of wheel straight skidding and side friction force estimation are compared mutually as authenticity examination.Then from evaluator module export wheel velocity change and ripple are exported calculating, the assessment of surface scrolls resistance, wheel straight skidding and surge detection and friction force authenticity examination, and the Terrain indexes output signal of the character representing the landform that vehicle is travelling is provided, is further processed for by VCU16.Such as, Terrain indexes may be used for: the index of the type of the landform travelled based on vehicle determines which kind of master mode in multiple vehicle subsystem master mode (as orographic model) is most suitable, and correspondingly automatically controls suitable subsystem 12 subsequently.

In another embodiment, not that LSP control system 28 performs landform sensed/detected function described above, but can suitably by other parts, module or the subsystem of vehicle 10 such as such as VCU16 (when it does not perform the function of LSP control system 28), chassis management subsystem 12 ₂or the other component configuration be applicable to becomes to perform landform sensed/detected function described above, and other such embodiments are still in the spirit and scope of the present invention.

Should be understood that, the description before the setting of LSP control system 28, function and performance is only object for example and explanation and provides, and and does not mean that and limit in itself.Therefore, have no intention LSP control system 28 to be limited to any one particular implementation or setting.

Again, the diagram in the previous description of vehicle 10 and Fig. 1 and Fig. 2 is only intended to a kind of possible vehicle set is described and is intended to be described in a conventional manner.Alternatively can also use other vehicle set and the framework of arbitrary number, comprise and the setting shown in Fig. 1 and Fig. 2 and the visibly different setting of framework and framework.

Turn to Fig. 5 now, show operation for Negotiation speed control system to control the example of the method 100 of the speed of vehicle.For the purpose of illustrating and know, by shown in Fig. 1 and Fig. 2 and vehicle 10 described above background under describing method 100.More specifically, describing method 10 under the background of (LSP) control system 28 that the low speed at vehicle 10 is advanced, for illustrative purposes, this low speed (LSP) control system 28 of advancing integrally is combined in (that is, VCU 16 comprises the ECU 42 of LSP control system 28) in VCU 16.But, will be appreciated that, the application of this method does not mean that and is only limitted to such setting, on the contrary, method 100 can be arranged by other speed control systems of arbitrary number---comprising: the LSP control system such as except LSP control system described above is (such as, integrally be not combined in the VCU of vehicle, and/or VCU does not comprise the ECU of speed control system)---and obtain application, and in some examples, method 100 can obtain application by routine " highway " CCS cruise control system of CCS cruise control system 26 such as such as described above and so on.Therefore, the present invention do not mean that the speed control system being limited to any one specific setting or type.Additionally, will be appreciated that the execution of method 100 and do not mean that any one specific order or order of being limited to step.

In embodiments, the complete method providing method 100 exceeds the goal-setting speed of speed control system with the speed such as prevented when relevant to the landform obstacle of such as megalith, step, high-drag landform and so on crossed such as by vehicle or at least substantially limit vehicle.More specifically, method 100 may be used in vehicle clear an obstacle and the speed controlling vehicle between the environment needing driving torque amount that is different or change during transition, such as substantially to keep goal-setting speed or the amount that at least makes the car speed caused due to Power Train or racing of the engine exceed setting speed minimize and therefore make it minimize the adverse effect that the stationarity of vehicle and/or comfort of passenger produce.Such as, in embodiments, when vehicles traverse megalith district or step, method 100 may be used for offsetting the Power Train or racing of the engine that occur when vehicle arrives the top of megalith or step, and therefore the speed of vehicle is remained on goal-setting speed.Similarly, method 100 can in substantially the same manner for remaining on goal-setting speed when vehicle is transitioned into low resistance landform or environment (as road surface) from high-drag landform or environment (such as, sand, mud, gravel etc.) by the speed of vehicle.

Correspondingly, with reference to Fig. 5, in embodiments, method 100 comprises the step 102 of the one or more electric signal receiving the information representing relevant to vehicle.Electric signal can be derived from the source of arbitrary number---include but not limited to any appropriate of one or more vehicle sensors 14, one or more vehicle subsystem 12, one or more storage equipment (storage equipment 22 as VCU 16) or vehicle 10 or suitable equipment or parts.In addition, electric signal can represent various information that are relevant to the operation of vehicle and vehicle, that particularly may be used for following purposes.

The information of one type that can be represented by the electric signal received in a step 102 is the information relevant to one or more operating parameters of vehicle.This can comprise---such as but not limited to---information relevant to following parameter: lift several possibility, longitudinal vehicle acceleration; Car speed; Wheel velocity; Vehicle attitude (such as, the pitching, inclination, yaw etc. of vehicle body, the change etc. of vehicle attitude); Wheel articulation; The driving torque applied; The deceleration torque applied; The driving torque asked and/or deceleration torque, the driving torque of reality and/or the rate of change of deceleration torque, driving torque and/or deceleration torque; Wheelslip; Ride-height; Tire pressure; Tire resistance; Tire Friction; Steering wheel angle; Lateral vehicle acceleration; Landform response (TR) pattern; Rolling resistance; Gear is selected; Vehicle suspension hinged (such as extending or compression); And/or affect other parameters of body movement.The information relevant to these parameters represented by received electric signal can comprise the particular value of such as operating parameter or measure or other useful informations.---include but not limited to other local those vehicle sensors 14 of describing and/or vehicle subsystems 12 herein---receives or receives from other suitable components any of vehicle 10 or equipment to represent that the electric signal of one or more operating parameters of vehicle 10 can from one or more vehicle sensors 14 and/or one or more vehicle subsystem 12.

The information of another kind of type can be the type (such as, snow, water, sand, gravel, megalith, mud, grass etc.) of the landform that vehicle is travelling, and/or one or more features (such as roughness, steepness etc.) of described landform.In embodiments, can from vehicle 10 be configured to receive this information the subsystem 12 determining such information relevant to landform.Such as, suitable vehicle subsystem 12 can be inquired about, and suitable terrain information (such as, type/classification, feature etc.) can be received from this vehicle subsystem 12.In another embodiment, this information may to be stored in the parts of at least some step or the storage equipment of equipment being configured to manner of execution 100 or can by the storage equipment of described parts or device access, therefore, this information can be received from described storage equipment.Such as, be configured in the example of at least some step of manner of execution 100 at VCU 16, this information can be stored in the storage equipment 22 of VCU16, and therefore, the treatment facility 24 of VCU 16 can receive information from storage equipment 22.

The information of another kind of type can be to determine, detecting or the type of landform that senses vehicle is being passed through and/or one or more feature of this landform and the information that needs.Such as, such as receive the one or more operating parameters representing vehicle 10 electric signal embodiment described above and so on embodiment in, these electric signal can represent the information relevant with the operating parameter of vehicle that can be used for determining the various information relevant to landform.These operating parameters can comprise such as above just for determine the feature of terrain type/classification and/or landform illustrative process described by those parameters or other correlation parameters.Received information can such as by the information relevant to landform used in mode described above with assess to determine to expect.Such as, be configured in the embodiment of at least some step of manner of execution 100 at VCU16, VCU16 can receive the electric signal of the information representing relevant to the various operability parameter of vehicle 10 or operating parameter from one or more vehicle sensors 14 and/or one or more subsystem 12.Then, VCU 16 can assess in mode such as described above and use received information to determine the information relevant to landform expected.

Although below explicitly described the information of only some type, will be appreciated that the present invention and do not meant that the information being limited to only those types.But can also obtain or receive and use the information of the information except information described above or information alternative described above in the mode identical with following mode in greater detail.Therefore, the invention is not restricted to the information of any one or more particular type.In addition, VCU16 be configured to some steps in manner of execution 100 or in embodiment in steps, VCU 16 is configured to the electric signal receiving the information representing relevant to vehicle.But in other embodiments, the parts except VCU 16 of vehicle 10 or the parts of alternative VCU 16 can be configured to receive described electric signal.

As shown in Figure 5, method 100 also comprises step 104: determine whether needs to reduce by Power Train subsystem 12 ₁the driving torque (" driving torque applied ") applied to the one or more wheels of vehicle 10 is to remain on the goal-setting speed of speed control system by the speed of vehicle.With regard to object of the present invention, the goal-setting speed speed of vehicle being remained on speed control system comprise the speed of vehicle remained on exactly goal-setting speed and the speed of vehicle is remained on higher or lower than goal-setting speed predetermined can in the scope of receiving amount, such as---such as but not limited to---remain in the scope higher than goal-setting speed 10% and to remain in the scope lower than goal-setting speed 20% or higher or lower than the predetermined speed of goal-setting speed, namely predetermined kilometer is per hour, such as 2kph.Although will be appreciated that the particular percentile value provided above and below goal-setting speed, the present invention does not also mean that and is limited to such value; But other percentums of arbitrary number alternatively can be used according to specific enforcement.In embodiments, this determination step is whole or in part based on the electric signal of the expression received the in a step 102 information relevant to vehicle.Step 104 can perform in many ways.

In one embodiment, step 104 comprises electric signal that use receives in a step 102 to judge that one or more wheels of vehicle 10 are the obstacles having crossed or be about to cross the landform that vehicle is passing through.In such embodiment, if determine that one or more wheels of vehicle have been crossed or have been about to cross the obstacle relevant to landform, then speed control system can determine that driving torque needs reduction applied is to remain on goal-setting speed by the speed of vehicle further.This judgement can use many technology to carry out.

A kind of such technology rate of change of driving torque that to relate in the electric signal that use receives in a step 102 one or more monitors asked driving torque or apply.More specifically, in embodiments, asked driving torque can be monitored, ask to reduce suddenly the driving torque applied and if to sense at applied driving torque after suddenly, sharply raising, then can determine that (or crossing) obstacle relevant to landform crossed by one or more wheels of vehicle.Will be appreciated that, for asked driving torque or the rising of driving torque applied or reduction, be considered to " sharply ", then raise or reduce increase or the reduction of at least particular percentile that can be the driving torque of previously asking or the driving torque applied respectively, such as, determine as the case may be, be the driving torque value of previously having asked during scheduled duration or the driving torque value applied up and down more than 20% increase (such as, it can such as comprise more than 30%, more than 40% or more than 50%).This duration can depend on the speed of vehicle, but can be such as be less than for five (5) seconds, be less than for three (3) seconds or be less than for two (2) seconds.Shorter duration may use instead of use together with lower speed together with higher speed.The rate of rise of asking for driving torque can be adapted to the landform that most suitable vehicle is travelling, and Just because of this, can limit or otherwise limit the maximum increase of driving torque according to conditioned disjunction operating parameter current as follows, described current conditioned disjunction operating parameter such as such as: landform scheme or pattern; Vehicle attitude; Steering angle; Or other suitable limiting factors arbitrarily, therefore, the increase of the driving torque of asking can be with the sizable Magnification be in equal proportions torque rating 20% exceeding previous Request with limited moment of torsion Magnification or more.Such as, suppose that the quality of vehicle 10 is about 2000kg (4400 pounds), theoretical running radius of tire is about 0.38m (15 inches), and vehicle 10 travelled along relatively smooth and smooth landform before the step of the high 4 inches of about 0.1m (4 inches) of climbing.To top bar with lifting vehicle and the increase of the driving torque simultaneously keeping the wheel place of the vehicle of given setting speed to need can be to advance on relatively flat and smooth surface before crossing step and the such as about 100Nm (74 pound feet) that may need is upper increases about 295 pound feet and be about 400Nm (295 pound feet) at climbing step.Therefore, when vehicle arrives step top, will very little moment of torsion being needed to come with goal-setting speed propelled vehicles, therefore, reducing needing the driving torque applied.In response to this reduction or the reduction of asking of the driving torque applied after sharply raising at applied driving torque, can determine that obstacle that vehicle crossing has been crossed or be about to cross to one or more wheels of vehicle (such as, arrive top or the surface from high-drag surface transition to low resistance), and therefore determine that applied driving torque removes non-rapid and is lowered otherwise car speed will be made to exceed setting speed.Will be appreciated that actual torque value (that is, the rising of the driving torque applied and reduction) will depend on particular vehicle, reason is that the vehicle of different size may need different torque capacities.

In another embodiment, can determine by monitoring one or more operating parameters of vehicle that be represented by the electric signal received in a step 102 the obstacle that one or more wheels of vehicle 10 had been crossed or had been about to cross vehicle and crossing, then judging that one or more wheel is clear an obstacle or by clear an obstacle based on monitored operating parameter at least in part.More specifically, such as one or more monitored operating parameter can be compared with one or more corresponding threshold value or scope, and whether reach according to the operating parameter of monitoring, to exceed or lower than given threshold value or scope, whether the one or more wheels can made about vehicle cross the judgement of the obstacle that (or crossing) vehicle is being crossed.In embodiments, these operating parameters can comprise with the attitude of vehicle (such as, pitching, yaw, inclination etc.) change of those relevant parameters or vehicle attitude, vehicle suspension hinged (that is, extend or compression) and/or other suitable parameters arbitrarily.

In a particular implementation, the operating parameter of monitoring is the longitudinal acceleration of vehicle 10.In this embodiment, step 104 comprises: the longitudinal acceleration of monitor vehicle 10, then determines that one or more wheels of vehicle to have crossed or by clear an obstacle based on described longitudinal acceleration at least in part.More specifically, in embodiments, longitudinal acceleration monitor vehicle can being carried out based on the acceleration profile of regulation and the driving torque applied at one or more wheel places of vehicle.Longitudinal acceleration and both the driving torques applied can use in a step 102 from one or more vehicle sensors 14 (be such as, vehicle-wheel speed sensor, longitudinal acceleration sensor, vehicle speed sensor etc. when longitudinal acceleration; And be torque sensor when moment of torsion), one or more vehicle subsystem 12 (such as, Power Train subsystem 12 ₁) and/or any other suitable parts of vehicle 10 information of receiving or obtaining or reading monitor.If at the given driving torque place applied, longitudinal acceleration tracking acceleration distribution graph or consistent with acceleration profile, car speed will be held in and expect setting speed or goal-setting speed, then can determine that vehicle accelerates according to expection, and therefore, it is possible to determine in the wheel of vehicle neither one wheel clear an obstacle or by clear an obstacle.But, on the contrary, if the longitudinal acceleration of vehicle exceed expect according to this distribution graph longitudinal acceleration (or at least exceed this distribution graph more than limit in advance can receiving amount or reach more than predetermined time amount), then the one or more wheels can determining vehicle clear an obstacle or by clear an obstacle.

In another embodiment, the operating parameter of monitoring is the speed of vehicle.In this embodiment, step 104 comprises the speed carrying out monitor vehicle based on setting speed, then judges that one or more wheels of vehicle are clear an obstacles or by clear an obstacle based on the speed of described vehicle at least in part.More specifically, the speed of vehicle can use in a step 102 from one or more vehicle sensors 14 (such as, vehicle-wheel speed sensor, vehicle speed sensor etc.), one or more vehicle subsystem 12 (such as, Power Train subsystem 12 ₁) and/or other suitable parts any of vehicle 10 information of receiving or obtaining or reading monitor.If the speed of vehicle is mated with the setting speed of speed control system (or at least in predetermined range of tolerable variance), then can determine vehicle with setting speed or with the speed operation enough close to setting speed, and therefore can to determine in the wheel of vehicle neither one wheel clear an obstacle or by clear an obstacle.But, on the contrary, if car speed exceed setting speed (or exceed predetermined speed at least one quantitatively and/or reach at least one timing area of a room), then the one or more wheels can determining vehicle clear an obstacle or by clear an obstacle.

Therefore, in embodiments, technology known in the art can be used monitor and assess one or more operating parameter to determine the obstacle whether one or more wheels of vehicle are crossed (or crossing) vehicle and crossed.

In other embodiment, the information relevant to the landform that vehicle is passing through can be monitored determine by using the electric signal that receive in a step 102 the obstacle crossed or be about to cross vehicle to one or more wheels of vehicle 10 and crossed, and judge that one or more wheel is clear an obstacle or by clear an obstacle based on the monitored information relevant to landform at least in part subsequently.More specifically, in embodiments, step 104 can comprise sensing or determine the change of the landform that vehicle is passing through, and in response to this, judges that one or more wheels of vehicle are clear an obstacles or by clear an obstacle.In such embodiment, the some or all of electric signal in the electric signal such as received in a step 102 can be used to sense the change relevant to landform, and the electric signal that receives in a step 102 in some examples, can be used in conjunction with described above for determining that the technology of classification of landform/type and/or relief feature senses the change relevant to landform.

Such as, use the electric signal of the mark of the specific terrain type/classification of expression received in a step 102 or the information relevant to the operating parameter of the front jocket wheel corresponding to vehicle that can be used for the type/classification of deriving landform, vehicle can be determined from the landform of a type (such as, husky) be transitioned into the landform (such as, smooth rock) of another type.Use is stored in storage equipment (such as, the storage equipment 22 of VCU 16) in look-up table terrain type/classification and setting speed and driving torque being carried out associate or other data structures, can determine in order in new landform to expect the driving torque needed for setting speed or goal-setting speed propelled vehicles, then determine based on this just whether to exceed to keep the driving torque needed for the setting speed of vehicle to make further judgement in new landform by currently applied driving torque.If the driving torque scheduled volume that currently applied driving torque exceeds the driving torque needed for new landform or at least exceeds needed for new landform, then can determine that one or more wheels of vehicle have been crossed or have been about to cross the obstacle relevant to landform.

In other embodiments, except the determination carried out based on the change of classification of landform or type or substitute the determination that the change based on classification of landform or type carries out, can also based on the special characteristic of such as landform (such as, grade, roughness of surface, deformability etc.) change determine.Such as, use the electric signal of the mark of expression relief feature received in a step 102 or the information relevant to the operating parameter of the front jocket wheel corresponding to vehicle that can be used for deriving relief feature, vehicle can be determined from there is a feature (such as, slope) landform be transitioned into the identical landform with different characteristic (such as, have a down dip, flat site etc.).Use is stored in look-up table relief feature and setting speed and driving torque being carried out associate in storage equipment (storage equipment 22 of such as VCU16) or other data structures, can determine in order in new landform to expect the driving torque needed for setting speed or goal-setting speed propelled vehicles, and determine based on this subsequently just whether to exceed to keep the driving torque needed for the setting speed of vehicle to make further judgement in new relief feature by currently applied driving torque.If the driving torque scheduled volume that currently applied driving torque exceeds the driving torque needed for new relief feature or at least exceeds needed for new relief feature, then can determine that one or more wheels of vehicle have been crossed or have been about to cross the obstacle relevant to landform.Therefore, will be appreciated that and various types of information relevant to landform can be used to perform step 104, this includes but not limited to the information relevant to landform described above.

In using in the example of the information relevant to landform in the mode just described above at step 104, step 104 can comprise: use the one or more operating parameter representing that one or more electric signal of the information relevant to vehicle carry out monitor vehicle and/or the information of being correlated with the landform that vehicle is passing through; The change of the landform that senses vehicle is being passed through is carried out at least in part based on monitored operating parameter and/or the information relevant to the landform that vehicle is passing through; And the one or more wheels determining vehicle based on the change of sensed landform at least in part clear an obstacle or by clear an obstacle, and therefore determine goal-setting speed in order to the speed of vehicle being remained on speed control system and need to reduce the driving torque applied.

Skilled person will appreciate that, although give for judging that one or more wheels of vehicle have crossed the obstacle that vehicle is being crossed or some example being about to the technology of crossing the obstacle that vehicle is being crossed, the technology except those technology described above can also be used.These technology can relate to and using except the information relevant to vehicle described above, or the information that the various types of and vehicle substituting the information relevant to vehicle described above is relevant, such as such as can assess in the execution of step 104 with use with vehicle various in addition or information that alternative operating parameter is relevant (such as, with the ride-height of such as vehicle, the transmission system of vehicle (such as, PTU or change-speed box) transmitting ratio, vehicle slip or rotation, tire pressure, the AD HOC that vehicle is operating (such as, orographic model) etc. the relevant information of relevant parameter).Therefore, the present invention being not intended to is limited to and uses any specific information.In embodiments, the function of step 104 can be performed by VCU16, and such as perform as a part for the operation of the PID controller realized in VCU16 in the mode of software especially, and in other embodiments, the function of step 104 can be performed by the other suitable parts of vehicle 10.Therefore, the invention is not restricted to by any one particular elements of vehicle 10 or equipment to perform step 104.

If neither one wheel has been crossed obstacle that vehicle crossing or has been about to cross the obstacle that vehicle crossing in the wheel determined at step 104 or vehicle detected, then in embodiments, method 100 is back to step 102 and repeats this cover method in mode described above.But, if the one or more wheels determined at step 104 or vehicle detected clear an obstacle or by clear an obstacle, then method 100 moves to step 106, and described step 106 comprises automatically instruction and applies deceleration torque to the one or more wheels in the wheel of vehicle.The deceleration torque of institute's instruction may on the adjoint impact of the speed of vehicle for offsetting any driving engine or Power Train hypervelocity and described hypervelocity; In other words, deceleration torque act as the impact of the overspeed condition of the Power Train subsystem of offsetting vehicle, in order to avoid make the speed of vehicle increase (such as, being such as equal to or less than goal-setting speed the speed of vehicle substantially to be remained).In embodiments, the applying of deceleration torque be in step 106 in conjunction with the driving torque applied of institute's instruction reduction (such as, increase the driving torque reduction applied or the ratio reduced) come, therefore, in at least some example, step 106 can comprise the applying making deceleration torque and balance each other with the reduction of the driving torque applied.Reduce the driving torque (or increasing the ratio of driving torque reduction) applied itself may be not enough to prevent from or at least significantly limit being that explosive motor exists delayed to the response of the change of speed control signal usually to exceed reason of goal-setting speed.More specifically, due to the physical property of explosive motor, moment of torsion exports and is tending towards lagging behind torque demand.Such as, when torque demand changes to low from height, moment of torsion exports and keeps virtual height until driving engine slows down to get off if having time by the spinning momentum of driving engine.Except by power-transfer clutch or other similar devices, driving engine is thrown off to be connected with wheel, otherwise the response lag of driving engine itself can show as Power Train or racing of the engine when vehicle clear an obstacle.Although it is slow that the Power Train/driving engine of vehicle responds usually, the applying of deceleration torque responds very rapid usually, therefore may be used for offsetting Power Train overspeed condition.

Step 106 can comprise instruction and apply deceleration torque from the one or more sources many sources.Such as, in embodiments, can the brake subsystem 12 of instruction vehicle 10 ₃one or more wheels to vehicle 10 apply deceleration torque.If be suitably configured, Power Train subsystem 12 ₁also indirectly deceleration torque can be applied by instruction to one or more wheels of vehicle 10 by instruction or alternatively.More specifically, at Power Train subsystem 12 ₁comprise be configured to one or more wheels of the part of Power Train subsystem and/or vehicle apply deceleration torques with when use or do not use when brake subsystem make one or more motors of car retardation---being such as operable as one or more motors of electrical generator---embodiment in, can instruction Power Train subsystem 12 ₁apply deceleration torque.In other embodiments, the parts except brake subsystem and Power Train subsystem of vehicle 10 can be used, this comprises, and abrupt slope such as but not limited to vehicle is slow falls controls (HDC) system, the transmission system of vehicle or change-speed box (such as, speed change or change transmitting ratio) etc.Therefore, will be appreciated that, the present invention is not limited to any particular source of retarding moment, but the source of arbitrary number can be used either individually or in combination to apply deceleration torque to one or more wheels of vehicle 10 or to make the one or more wheels to vehicle 10 apply deceleration torque.

The specified quantitative (and obtaining or apply the ratio of (namely increasing)) of the deceleration torque be applied in through instruction in step 106 can depend on the factor of arbitrary number.These factors can comprise the specified quantitative of the driving torque applied such as applied to wheel or measure, by reduction needed for the driving torque applied of needs measure and (namely the longitudinal acceleration of vehicle departs from the amount of the expectation acceleration/accel limited by the acceleration profile such as specified, depart from larger, then the ratio of deceleration torque and deceleration torque applying/increase is larger).Closed loop control system (embodiment of the PID controller in the software such as, in the parts performing step 106) can be used or use such as look-up table or other data structures or distribution graph to determine measuring and/or ratio of deceleration torque in other suitable modes any.

In embodiments, the automatic command applying deceleration torque in step 106 comprises the one or more wheels applying deceleration torques of automatically instruction to vehicle to offset the impact applying the overspeed condition in the Power Train subsystem of driving torque to one or more wheel, thus the speed of vehicle is remained on the goal-setting speed of speed control system.As mentioned above, this can comprise the speed of vehicle is held in exactly goal-setting speed or the speed of vehicle remained on higher or lower than goal-setting speed tolerance interval in make car speed substantially be held in goal-setting speed.

In other embodiment, the automatic command applying deceleration torque in step 106 comprises the one or more wheels applying deceleration torques of automatically instruction to vehicle, the speed of vehicle is temporarily lowered into lower than goal-setting speed scheduled volume, and return (that is, recovering) to goal-setting speed in the applying after this controlling Power Train subsystem and deceleration torque to make the speed of vehicle.This crosses extremely precipitous obstacle and user can not see the opposite side of obstacle be what may be favourable at vehicle.By making vehicle temporarily slow to speed lower than goal-setting speed, user can before advancing with goal-setting speed investigation or observation situation better.Therefore, the time span that car speed is lowered into lower than goal-setting speed can be the duration being enough to realize these objects, and therefore can be such as about several seconds to tens seconds.Additionally, the specified quantitative that car speed reduces can be the value that limits in advance (such as, the value of certain mph. (kilometer is per hour)), or can be alternatively the particular percentile (e.g., such as 10% to 50%) of goal-setting speed.Therefore, the invention is not restricted to any one particular value that any one particular value or car speed reduce or be reduced to).

Although below specifically described for instruction and some scheme applying deceleration torque, will be appreciated that the scheme can implementing arbitrary number, comprised the scheme except scheme described above.Therefore, the present invention do not mean that and be limited to any specific deceleration torque instruction and applying scheme.In embodiments, the function of step 106 can be performed by VCU 16, and such as perform as a part for the operation of the PID controller implemented in the mode of software wherein especially, and in other embodiments, the function of step 106 can be performed individually or with VCU16 in combination by the other suitable components of vehicle 10.Therefore, the invention is not restricted to by any one concrete parts of vehicle 10 or equipment to perform step 106.

After the suitable deceleration torque being applied with instruction in step 106, once determine vehicle removed or clear an obstacle (such as, arrive megalith top, go out near coal-mine, be transitioned into low resistance environment completely from high-drag environment), then the deceleration torque that will be applied by instruction in step 106 can be reduced (such as, substantially zero is reduced to), and applied driving torque can be stabilized in the value place being enough to the goal-setting speed speed of vehicle being remained on speed control system.

Except the above, method 100 can also comprise many other steps.Such as, in embodiments, before step 104 and/or step 106, method can comprise to be impelled (such as, instruction) the step (not shown) of benchmark deceleration torque or the threshold value deceleration torque limited in advance is applied to one or more wheel, the described benchmark deceleration torque that limits in advance or threshold value deceleration torque are such as used as dumping force, and power transmission ties up to be resisted this dumping force in the process of propelled vehicles and works.Specific the measuring of the deceleration torque limited in advance will depend on such as particular vehicle, and reason is that the vehicle of different size will need the different moment of torsion measured.But in embodiments, measuring of the deceleration torque limited in advance will be measuring (such as, nominal is about 3bar) of being enough to such as just to make the pad of brake subsystem to contact with dish.In embodiments, when speed control system starts, just can apply the benchmark deceleration torque limited in advance.Alternatively, can only in response to using the electric signal such as received in a step 102 and the one or more conditions detected apply the benchmark deceleration torque that limits in advance.These conditions can include but not limited to: lift several possibility, determine just at clear an obstacle (such as, megalith, step etc.); Determine that the acceleration/accel of vehicle exceeds the expectation acceleration/accel limited by the acceleration profile specified; And/or determine applied driving torque existed through request or the rising suddenly and/or sharply of reality.Apply in the embodiment of threshold value deceleration torque or benchmark deceleration torque as above, step 106 by comprise by instruction to the threshold value that this limits in advance or the institute of benchmark apply deceleration torque and regulate instruction to one or more wheels applying deceleration torques of vehicle.An advantage of such embodiment is that brake subsystem starts when performing step 106, thus makes system response more rapidly and speeds control is more accurate.In embodiments, function described above can be performed by VCU16, and in other embodiments, function described above can be performed individually or with VCU16 in combination by the parts suitable in addition of vehicle 10.Therefore, the invention is not restricted to by any one particular elements of vehicle 10 or equipment to perform this step.

Method 100 additionally or alternatively can comprise before one or both in step 104 and step 106 and to start the brake subsystem of vehicle or load (brake subsystem of instruction to vehicle starts or load).In other words, speed control system can prepare to apply deceleration torque to one or more wheels of vehicle by instruction brake subsystem.In embodiments, can in response to the situation detected to start brake subsystem.Such as, estimated rate can be exceeded to start brake subsystem in response to the increase of applied driving torque or the driving torque of asking, described estimated rate can be empirically obtain and such as can depend on vehicle type.Such as, if the increase that detects forms unexpected, sharply the rising of as above applied moment of torsion, then can predict that unexpected, sharply the reduction of asked moment of torsion or the moment of torsion that applies may be about to occur, therefore, can expect and need to apply deceleration torque and start brake subsystem.An advantage of such embodiment is: when instruction brake subsystem in step 106, brake subsystem will carry out the preparation of operation, and the response thus making system more rapidly and speeds control is more accurate.In embodiments, function described above can be performed by VCU16, and in other embodiments, function described above can be performed individually or with VCU 16 in combination by the parts suitable in addition of vehicle 10.Therefore, the invention is not restricted to by any one particular elements of vehicle 10 or equipment to perform this step.

In the example of instruction deceleration torque in step 106, in one embodiment, after instruction deceleration torque, method 100 terminates; But in other embodiment, method 100 is iteration.Be in the embodiment of iteration in method 100, method 100 is back to step 102 and repeats this cover method as described above after step 106.This iteration or continuous print process allow accurate control to the speed of vehicle.

With reference to Fig. 6, and in order to provide the better understanding to various aspects described above of the present invention, now by the non-limiting example of describing method 100 or scheme so that the application of some aspects in many aspects described above or all aspects to be described.Fig. 6 shows the curve (curve P) of driving torque amount and the curve (curve B) of deceleration torque or brake torque that are produced by Power Train subsystem and the brake subsystem of vehicle respectively when the obstacle of such as megalith or step and so on crossed by vehicle according to the embodiment of the present invention.

At time t<t ₁place, vehicle is by producing moment of torsion P ₁power transmission tie up to relatively flat landform on move.At time t=t ₁place, vehicle runs into obstacle.Speed control system detects that the speed of vehicle causes the speed of vehicle to decline because the resistance of motion presented because of obstacle increases, and automatically requires increase from the output of Power Train subsystem to keep the setting speed of vehicle.In some embodiments, speed control system temporarily reduces the maximum permissible value of setting speed owing to detecting obstacle to exist.In some cases, this speed can be less than chaufeur setting speed.

At time t=t ₂place, speed control system can determine that the increase of required Power Train driving torque P is consistent with climbing obstacle, and causes the startup of car brakeing subsystem.As mentioned above, this be in order to when to detect subsequently arrive top and make brake subsystem be that relatively fast speed is disposed ready when detecting and arrive top subsequently.At time t=t ₃place, the relatively mild actuating of speed control system instruction brake subsystem is to arrive soon after cop and start the amount of the acceleration/accel providing a small amount of resistance when the opposite side of obstacle is descending to vehicle movement and reduce vehicle body at vehicle.At time t=t ₄place, the increase of the car speed consistent with arriving top detected, and speed control system immediate instruction reduces the amount of the driving torque P produced by Power Train subsystem.Speed control system also commanding actuator brake subsystem to increase the amount of brake torque or deceleration torque B and the amount making the car speed after instruction reduces Power Train driving torque P caused by Power Train response lag increase reduces.

Once vehicle has been removed or clear an obstacle, at time t=t ₅place, brake torque or deceleration torque B are reduced to zero by speed control system instruction substantially, and Power Train driving torque P is stable at and is enough to make car speed maintain the value place of current setting speed.

Will be appreciated that based on the above, among other things, the benefit of native system and method is: when vehicles traverse such as obstacle, the speed of vehicle can be held in goal-setting speed or remain closely goal-setting speed.Due to this accurate speeds control, the smoothness of vehicle can be kept and automotive occupant comfort level can be improved.

Will be appreciated that embodiment described above is only provide by way of example and be not intended to limit the present invention, scope of the present invention is defined in appended claim.The invention is not restricted to particular implementation disclosed herein, but be only limited to the appended claims.In addition, except exactly defining the situation of term or phrase above, in describing above, the statement that comprises relates to particular implementation and should not be construed as being the restriction of the definition to the term used in scope of the present invention or claim.To those skilled in the art, other embodiments various and will become obvious to the various change of disclosed embodiment and amendment.Such as, combine because this method can comprise the step compared with step shown in this article with less, more or different steps, thus the particular combination of step is only a kind of possibility with order.All such other embodiments, change and amendment are all intended to be in the scope of claims.

As in the present specification and claims use, term " such as ", " as ", " such as ", " such as " and " as " and verb " comprises ", " having ", " comprising " and their other verb forms are all interpreted as open when being combined with one or more parts or other, this means that this is listed Xiang Buying and is considered to that get rid of other, other parts or item.In addition, term " electrical connection " or " electrically connecting " and its modification be intended to comprise wireless type electrical connection and the electrical connection (wired connection) carried out via one or more wire, cable or conductor the two.Other terms will use the reasonable sense of most broad sense to explain, need in the different context explained unless they are used in.

Claims

1., to the method that the speed control system of the vehicle with multiple wheel operates, comprising:

Receive one or more electric signal of the information representing relevant to vehicle;

One or more electric signal based on the described expression information relevant to vehicle determine one or more wheels in the described wheel of described vehicle clear an obstacle or by clear an obstacle, and determine therefore will to need to be decreased through driving torque that Power Train subsystem applies to the one or more wheels in the described wheel of described vehicle the speed of described vehicle to be held in the goal-setting speed of described speed control system; And

In response to the one or more wheels determined in the described wheel of described vehicle clear an obstacle or by clear an obstacle, automatically instruction applies deceleration torque to offset the impact of the overspeed condition of described Power Train subsystem, in order to avoid make the speed of described vehicle increase to the one or more wheels in the described wheel of described vehicle.

2. method according to claim 1, wherein, automatically instruction applies deceleration torque and comprises: automatically instruction applies deceleration torque to offset the impact of the overspeed condition of described Power Train subsystem to the one or more wheels in the described wheel of described vehicle, thus the speed of described vehicle is held in described goal-setting speed.

3. according to method according to claim 1 or claim 2, wherein, automatically instruction applies deceleration torque and comprises: automatically instruction applies deceleration torque and is temporarily reduced to lower than described goal-setting speed to make the speed of described vehicle, and controls to recover described goal-setting speed to the applying of described Power Train subsystem and described deceleration torque after this.

4. the method according to any one in claims 1 to 3, wherein, described determining step comprises:

Monitor one or more electric signal of the described expression information relevant to vehicle, ask to reduce the driving torque applied to determine to raise at applied driving torque after higher than predetermined value or ratio; And

One or more wheels that the driving torque that applies determines described vehicle clear an obstacle or by clear an obstacle is reduced at least in part based on request.

5. the method according to any one in claims 1 to 3, wherein, described determining step comprises:

Use one or more electric signal of the described expression information relevant to vehicle to monitor one or more operating parameters of described vehicle; And

The one or more wheels determining described vehicle based on one or more operating parameters of the described vehicle monitored at least in part clear an obstacle or by clear an obstacle.

6. method according to claim 5, wherein, described monitoring step comprises: use one or more electric signal of the described expression information relevant to vehicle to monitor the longitudinal acceleration of described vehicle, and in addition, wherein, described determining step comprises: the one or more wheels determining described vehicle when the described longitudinal acceleration of described vehicle exceeds predetermined acceleration profile clear an obstacle or by clear an obstacle.

7. method according to claim 5, wherein, described monitoring step comprises: use one or more electric signal of the described expression information relevant to vehicle to monitor the speed of described vehicle, and in addition, wherein, described determining step comprises: determine one or more wheels in the described wheel of described vehicle clear an obstacle or by clear an obstacle when the speed of described vehicle exceeds described goal-setting speed.

8. the method according to any one in claims 1 to 3, wherein, described determining step comprises:

Use one or more electric signal of the described expression information relevant to vehicle to monitor one or more operating parameters of described vehicle;

The change of the landform that described vehicle is passing through is sensed at least in part based on the operating parameter of the described vehicle monitored; And

The one or more wheels determining described vehicle based on the topographic change sensed at least in part clear an obstacle or by clear an obstacle.

9. the method according to any one in aforementioned claim, wherein, described instruction step comprises: automatically instruction increases the deceleration torque of the described one or more wheels applyings to described vehicle.

10. the method according to any one in aforementioned claim, wherein, described instruction step comprises: one or both automatically in the described Power Train subsystem of vehicle described in instruction and brake subsystem applies deceleration torques with the one or more wheels to described vehicle.

11. methods according to any one in aforementioned claim, wherein, described instruction step comprises: the speed change in the transmission system of automatically vehicle described in instruction and change in transmitting ratio one or both.

12. methods according to any one in aforementioned claim, wherein, before described instruction step, described method also comprises makes the described brake subsystem of described vehicle start.

13. methods according to claim 12, wherein, described brake subsystem is in response to that the increase of the driving torque detected exceeds estimated rate to start.

14. methods according to any one in aforementioned claim, wherein, detect the speed of described vehicle to be held in described goal-setting speed in response to by needing to reduce the driving torque that applies, described method also comprises the driving torque that described one or more wheel places that automatically instruction is reduced in described vehicle apply.

15. methods according to claim 14, also comprise: make to be reduced in driving torque that the one or more wheel places in the described wheel of described vehicle apply and described deceleration torque is applied to the one or more wheels in the described wheel of described vehicle balance each other, to offset the impact of the overspeed condition of described Power Train subsystem, in order to avoid make the speed of described vehicle increase.

16. 1 kinds, for the system controlled the speed of the vehicle with multiple wheel, comprising:

Electronic control unit (ECU), described electronic control unit is configured to:

One or more electric signal based on the described expression information relevant to vehicle determine one or more wheels in the described wheel of described vehicle clear an obstacle or by clear an obstacle, and determine therefore will to need to be decreased through driving torque that Power Train subsystem applies to the one or more wheels in the described wheel of described vehicle the speed of described vehicle to be held in the goal-setting speed of speed control system; And

In response to the one or more wheels determining described vehicle clear an obstacle or by clear an obstacle, automatically instruction applies deceleration torque to offset the impact of the overspeed condition of described Power Train subsystem, in order to avoid make the speed of described vehicle increase to the one or more wheels in the described wheel of described vehicle.

17. systems according to claim 16, wherein, described electronic control unit is configured to carry out automatically instruction by following manner and applies deceleration torque: automatically instruction applies deceleration torque to offset the impact of the overspeed condition of described Power Train subsystem to the one or more wheels in the described wheel of described vehicle, thus the speed of described vehicle is held in described goal-setting speed.

18. according to claim 16 or system according to claim 17, wherein, described electronic control unit is configured to carry out automatically instruction by following manner and applies deceleration torque: automatically instruction applies deceleration torque and is temporarily reduced to lower than described goal-setting speed to make the speed of described vehicle, and controls to recover described goal-setting speed to the applying of described Power Train subsystem and described deceleration torque after this.

19. according to claim 16 to the system described in any one in 18, wherein, and one or more wheels that described electronic control unit is configured to determine described vehicle by following manner clear an obstacle or by clear an obstacle:

20. according to claim 16 to the system described in any one in 18, wherein, and one or more wheels that described electronic control unit is configured to determine described vehicle by following manner clear an obstacle or by clear an obstacle:

21. systems according to claim 20, wherein, described electronic control unit is configured to: use one or more electric signal of the described expression information relevant to vehicle to monitor the longitudinal acceleration of described vehicle; And one or more wheels in the described wheel of described vehicle clear an obstacle or by clear an obstacle is determined when the described longitudinal acceleration of described vehicle exceeds predetermined acceleration profile.

22. systems according to claim 20, wherein, described electronic control unit is configured to: use one or more electric signal of the described expression information relevant to vehicle to monitor the speed of described vehicle; And one or more wheels in the described wheel of described vehicle clear an obstacle or by clear an obstacle is determined when the speed of described vehicle exceeds described goal-setting speed.

23. according to claim 16 to the system described in any one in 18, and wherein, described electronic control unit is configured to determine that one or more wheels of described vehicle are just at clear an obstacle by following manner:

One or more wheels in the described wheel of described vehicle clear an obstacle or by clear an obstacle is determined at least in part based on the topographic change sensed.

24. according to claim 16 to the system described in any one in 18, wherein, and one or more wheels that described electronic control unit is configured to determine described vehicle by following manner clear an obstacle or by clear an obstacle:

The information that the landform using one or more electric signal of the described expression information relevant to vehicle to monitor to pass through with described vehicle is relevant;

The change of the landform that described vehicle is passing through is sensed at least in part based on the information relevant to the landform that described vehicle is passing through monitored; And

25. according to claim 16 to the system described in any one in 24, wherein, described electronic control unit is configured to carry out the described one or more wheels applying deceleration torques of automatically instruction to described vehicle by following manner: automatically instruction increases the deceleration torque of the described one or more wheels applyings to described vehicle.

26. according to claim 16 to the system described in any one in 25, wherein, described electronic control unit is configured to carry out automatically instruction by following manner and applies deceleration torques to the described one or more wheels of described vehicle: one or both automatically in the described Power Train subsystem of vehicle described in instruction and brake subsystem applies deceleration torques with the described one or more wheels to described vehicle.

27. according to claim 16 to the system described in any one in 26, wherein, described electronic control unit is configured to carry out the described one or more wheels applying deceleration torques of automatically instruction to described vehicle by following manner: the automatically speed change of the transmission system of vehicle described in instruction and one or both in change transmitting ratio.

28. according to claim 16 to the system described in any one in 27, wherein, before automatically instruction applies deceleration torques to the described one or more wheels of described vehicle, described electronic control unit is also configured to make the described brake subsystem of described vehicle to start.

29. systems according to claim 28, wherein, described electronic control unit is configured to exceed estimated rate in response to the increase of the driving torque detected and starts to make the described brake subsystem of described vehicle.

30. according to claim 16 to the system described in any one in 29, wherein, detect the speed of described vehicle to be held in described goal-setting speed in response to by needing to reduce the driving torque that applies, described electronic control unit is also configured to the driving torque that described one or more wheel places that automatically instruction is reduced in described vehicle apply.

31. systems according to claim 30, wherein, described electronic control unit is also configured to: make to be reduced in driving torque that the one or more wheel places in the described wheel of described vehicle apply and apply described deceleration torque to the one or more wheels in the described wheel of described vehicle and balance each other, to offset the impact of the overspeed condition of described Power Train subsystem, in order to avoid make the speed of described vehicle increase.

32. 1 kinds of vehicles with multiple wheel, described vehicle comprises according to claim 16 to the system described in any one in 31.

33. 1 kinds of carrier medium, described carrier medium is loaded with vehicle for controlling to have multiple wheel to perform the computer-readable code of the method according to any one in claim 1 to 15.