CN104718113B

CN104718113B - Using the vehicle speed control system and method for balance

Info

Publication number: CN104718113B
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: 2017-06-06
Anticipated expiration: 2033-10-15
Also published as: CN104718113A; KR20150103357A; JP6205417B2; JP2015527245A; KR20170122851A

Abstract

Method there is provided being operated for the speed control system to the vehicle with multiple wheels.The method includes receiving one or more electric signals for the information for representing related to vehicle.The method is also included having passed over obstacle come one or more in the wheel for determining vehicle based on one or more electric signals for representing the information related to vehicle or will surmount obstacles and determine therefore to need to reduce goal-setting speed of the driving torque (driving torque for being applied) applied by one or more in wheel of the PWTN subsystem to vehicle so that the speed of vehicle to be held in speed control system.One or more apply deceleration torque to offset the influence of the overspeed condition of PWTN subsystem during the method also includes automatically instructing the wheel to vehicle, in order to avoid increase the speed of vehicle.The system for additionally providing the speed for controlling vehicle, the system includes the electronic control unit for being configured to perform the above method.

Description

Using the vehicle speed control system and method for balance

Technical field

Present invention relates in general to car speed control, more particularly, to by using balance scheme to offset Method and be that engine or PWTN hypervelocity are controlled come the speed of the vehicle to that can pass through various different terrains System.

Background technology

In the known vehicle speed control system of commonly known as cruise control system, the setting speed of vehicle can be with Initially set by following manner：Vehicle is reached desired speed, then such as pressed by manipulation The user of button etc may be selected type user interface apparatus by current vehicle speed setting into setting speed.When user exists When hereafter wanting to change setting speed, identical or different user's input equipment can be manipulated to increase or reduce setting speed Degree.The change or the change of commanded setting speed of the setting speed in response to being asked, speed control system is by all One or more vehicle subsystems of PWTN subsystem and/or brake subsystem such as such as vehicle etc send instruction To take the circumstances into consideration to make vehicle speedup or deceleration, so as to reach new set speed or identical with new set speed.

However, the speed control system of routine is not without shortcoming.Although for example, using being the low speed in cross-country driving Highway or road application and specially designed speed control system can reduce user's live load and to improve vehicle steady Property aspect provide considerable advantage to the user of vehicle, but if user attempts to cross cross-country obstacle such as megalith area, then Speed may too high (generally, highway/road cruise control system has the minimum setting of 30mph or so (about 50kpm) Speed) or, vehicle motor may be extreme necessary to such obstacle is crossed torque demand during shut down suddenly.

Similarly, although be in such as cross-country driving the purposes of low speed and specially designed speed control system due to User's live load, vehicle stability are relevant with driver comfort degree and advantage can also be provided to user, but work as vehicle Substantially small amount is extremely needed from environment (for example, slope, sand, the water, mud etc.) conversion of relatively large amount of driving torque is needed Driving torque environment (for example, descending, flat surfaces, hard pavement etc.) when, vehicle may go in elevated torque demand Shi Jingli PWTNs or racing of the engine, so that setting speed of the car speed beyond speed control system.For example, Vehicle is surmounted obstacles during such as megalith area using the speed control system with specific setting speed, is just depending on such as vehicle Climbing megalith, still along one or more megaliths top travel, still along megalith to descending, it would be desirable to change Become the amount of driving torque to keep the setting speed.Although relatively large amount of moment of torsion may will be needed huge rise to vehicle Shi Shang, but the moment of torsion of the amount of much less will be needed when vehicle reaches megalith top, and therefore must suitably reduce driving Moment of torsion is held in setting speed with by speed.However, the response changed to torque demand due to explosive motor it is delayed (i.e., Torque output lags behind torque demand), so when vehicle reaches megalith top, in fact it could happen that PWTN or engine are super Speed, so that the speed of vehicle setting speed temporarily, at least beyond speed control system is until engine or PWTN Untill driving torque being reduced into proper level.Thus, the driver or user of vehicle may feel vehicle in megalith On to jump cross megalith rather than with constant, stable speed suddenly.

Accordingly, it would be desirable to the speed that a kind of one or more shortcomings made in above-indicated shortcoming are minimized and/or eliminated Control system and its application method.

The content of the invention

A kind of one aspect of the present invention protected as requested, there is provided speed for the vehicle with multiple wheels The method that degree control system is operated.Methods described includes：Receive one or more electricity for the information for representing related to vehicle Signal；One or more electric signals of the information related to vehicle based on expression are come one or more in the wheel for determining vehicle Wheel has passed over obstacle or will surmount obstacles, and determines therefore to need to reduce by PWTN subsystem to car Wheel in the driving torque that is applied of one or more wheels be held in speed control system with by the speed of vehicle Goal-setting speed；And determine the applied driving torque of reduction will be needed to be held in goal-setting speed with by the speed of vehicle Degree, automatically instructs one or more wheels in the wheel to vehicle to apply deceleration torque to offset PWTN subsystem Overspeed condition influence, in order to avoid increase the speed of the vehicle.

A kind of another aspect of the present invention protected as requested, there is provided speed for the vehicle with multiple wheels Control system.The system includes electronic control unit, and the electronic control unit is configured to：Receive and represent related to vehicle Information one or more electric signals；Determine vehicle based on one or more electric signals for representing the information related to vehicle Wheel in one or more wheels have passed over obstacle or will surmount obstacles, and determine therefore reduction will be needed to pass through PWTN subsystem is to the driving torque that one or more wheels in the wheel of vehicle are applied with by the speed of vehicle It is held in the goal-setting speed of speed control system；And in response to determining to need to reduce applied driving torque to incite somebody to action The speed of vehicle is held in goal-setting speed, and one or more wheels apply torsion of slowing down in automatically instructing the wheel to vehicle Square is to offset the influence of the overspeed condition in PWTN subsystem, in order to avoid increase the speed of vehicle.

Another aspect of the present invention protected as requested, there is provided a kind of vehicle with multiple wheels, the vehicle Including system as described herein.

Another aspect of the present invention protected as requested, there is provided a kind of carrier medium, the carrier medium is loaded with use There is the vehicle of multiple wheels in control 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, there is provided can be for example Under off-highway situation operate speed control system, wherein, one or more cars from the system command PWTN to vehicle The setting speed of regulation of the moment of torsion (i.e. driving torque) with holding on the ground needed for wheel transmission, the system is operable automatically , to apply deceleration torque to one or more wheels of vehicle in response to determining vehicle for example to reach cop, from And offset PWTN hypervelocity and the setting speed is kept substantially when vehicle surmounts obstacles.

Deceleration torque can be by means of selected from brakes, motor, shifter and any other suitable devices One or more apply.Correspondingly, it is to be understood that the device for applying deceleration torque to one or more wheels can be with It is operable to, directly to apply deceleration torque or for example by PWTN to one or more wheels A part applies deceleration torque to apply deceleration torque indirectly to one or more wheels.Therefore, be operable as hair In the case of the motor vehicle driven by mixed power of the motor of motor, cross-country speed control system is operable to be passed to power by the motor Dynamic system applies deceleration torque.Other settings are also applicable.

Embodiments of the present invention tool has the advantage that：Vehicle can be kept to put down in the case of without excessive velocity variations Stability, the excessive velocity variations may result in occupant and the unexpected jerking movement of vehicle body felt when vehicle is by obstacle.

In response to for example via controller LAN (CAN) or other suitable data/address bus, photostat input or Any other suitable devices and the signal of expression vehicle attitude that is received by system, it may be determined that vehicle to be ready reaching obstacle Top is otherwise surmounting obstacles (for example from obstacle out).For example, the system is operable to for example lead to Cross and be hinged (extend or compress) with reference to vehicle attitude, vehicle attitude change, vehicle suspension and arbitrarily in other suitable parameters One or more is come at the top of detecting that one or more wheels of vehicle are reached.Additionally or alternatively, when in order to keep advancing And when needing asked moment of torsion to detect the rapid drawdown on required moment of torsion after drastically raising, may infer that arrival top.

Optionally, the system is operable to：When detect reach at the top of before with vehicle climbing obstacle at least A part and detect when vehicle to be ready surmounting obstacles to one or more wheels apply deceleration torque.Additionally, the system can Operate into and to be ready reaching amount of the top to adjust applied deceleration torque according to determination vehicle, so as to be kept substantially setting speed Degree.This feature tool has the advantage that：The stationarity of vehicle can be further improved in some cases, and reason is PWTN Resist and worked by the damping force of decelerative force applying, reduce the fluctuation of the car speed when surmounting obstacles.Additionally, the damping force Act on to mitigate the extension (sliding) of undesirable wheel, and the damping force improves the vehicle traction in difficult landform.

It is to be understood that some embodiments of the present invention are provided to cross-country speed control system being travelled on vehicle Landform information and on vehicle attitude, wheel articulation, wheel velocity, gear selection, Tire Friction, rolling resistance and TR (landform response) pattern.In some embodiments, if user just using cross-country speed control such as road cheat or Travelled on the obstacle of step etc, then cross-country speed control system can provide enough moments of torsion to cross the obstacle and dispose (for example) motor vehicle braking system with system detectio to vehicle reach cop and to moment of torsion the need for (with keep setting Speed) appropriate restraint is provided when reducing.The system deployment decelerative force prevents vehicle to offset PWTN hypervelocity Exceed setting speed and held stationary and control unintentionally.

It is to be understood that because explosive motor (ICE) (such as comes to accelerator pedal or other accelerator input signals From the signal of speed control system) change response lag, thus just put on the moment of torsion of the wheel of vehicle rate of change and Speech, the deceleration torque applied by (such as) motor vehicle braking system generally responds rapider than PWTN.That is, due to The physical property of ICE, torque output tends to lagging behind torque demand.Especially, in torque demand in the case of the step-down high, hair The rotation momentum of motivation is by torque output holding virtual height untill engine has the time to slow down.Unless driver passes through clutch Device or similar device and disengaged with wheel and be connected, otherwise in vehicle arrival cop, the response lag of engine in itself may be used Overspeed of vehicle can be shown as, i.e. car speed is increased to higher than expectation car speed.This can be perceived as vehicle on obstacle Unexpected jerking movement, makes vehicle be travelled too quickly towards follow-up obstacle and/or trailing wheel is contacted with obstacle fierceness.Using according to the present invention The cross-country speed control system of implementation method overcome or at least alleviate these features.

As it is indicated above, can be provided on vehicle attitude and wheel velocity, shelves to cross-country speed control system The information of one or more of position selection, Tire Friction, rolling resistance, wheel articulation and TR patterns.In this way, if User using cross-country speed control come with slow speed such as 3mph (about 5kph) cross-country run, then when vehicle such as step Or on the obstacle in road hole etc when travelling, cross-country speed control system can determine car by referring to the rate of change of required moment of torsion When cop is almost reached, and dispose appropriate deceleration torque to overcome hair by means of (such as) brakes Motivation exceeds the speed limit.In this way, cross-country speed control system according to the embodiment of the present invention can predict may due to hair Motivation exceeds the speed limit and causes the vehicle uncomfortably moment of torsion the asked reduction of unexpected jerking movement forward, and takes measures with right at its Vehicle stability offsets racing of the engine before having a negative impact.It will consequently be understood that, vehicle can be by torque demand Suddenly the instruction that increase is construed to that corresponding moment of torsion may be needed to reduce suddenly to keep advancing.Therefore, speed control system Using brakes so that PWTN is resisted the effect of brakes and worked.Once vehicle reaches top, then can increase The amount of big brake force is reducing the risk that user feels that body movement is unexpected jerking movement.

It is to be understood that cross-country speed control system according to the embodiment of the present invention can be temporary transient under extreme conditions Ground makes vehicle stop (or almost stopping), must such as reach the megalith area of the multiple objects at the top of it with vehicle to cross Etc landform.In this case, the arrival top event at any road wheel in road wheel can be in response to To apply deceleration torque (for example, the operation for passing through brakes), otherwise it may result in overspeed condition.

In some embodiments, cross-country speed control system can operate into control or otherwise influence gear And/or the selection of " high/low " gearratio, to ensure that vehicle is being suitable to avoid engine misses and is keeping the appropriate gear advanced Under with low-speed off-road travel.

In some embodiments, the situation of one or more wheel slips when engine torque is applied is being predicted Under, can apply deceleration torque to balance required engine torque to one or more of wheels.

In some embodiments, cross-country speed control system can operate into control or otherwise influence vehicle speed Degree, to allow to have time to adjust one or more system configurations.For example, it is allowed to have time to change ride-height or wheel tire pressure Power or any other suitable parameters, to ensure that vehicle is suitable for the configuration traveling of current landform.Therefore, run into relatively in vehicle In the case of rougher landform, speed control system can stop vehicle or reduce speed, so that every trade can be entered Sail height regulation and/or tire pressure adjustment.In some embodiments, speed control system can reduce car speed without It is to stop vehicle, the risk do not moved is become to reduce vehicle to lose tractive force.

It is to be understood that embodiments of the present invention can be the abrupt slope that can control or otherwise influence vehicle delaying The operation of drop control (HDC) system works with together with HDC, so that optimize vehicle stability, even if being crossed in downward grades It is also such during obstacle.In some embodiments, vehicle can be configured to：Wherein, the gradient for being travelled in vehicle is more than In the case of setting, HDC braking instructions can surmount or otherwise prior to cross-country rate control instruction.

Embodiments of the present invention can also be operated into be entered when asking relatively unexpected moment of torsion to increase to brakes Row is preloaded.Typically request reduces PWTN or driving torque and optionally applies system after the unexpected increase of moment of torsion Dynamic torque/deceleration torque.Relatively rapidly provide braking torque/deceleration torque keep vehicle stability in terms of --- especially It is when cop is reached --- it is useful.

In some embodiments, cross-country speed control system can intentionally instruct PWTN and for applying to subtract The device of fast moment of torsion is operated together, is balanced with the moment of torsion effect to it on vehicle and it is balanced each other, particularly It is set to balance each other on any time hysteresis characteristic being associated with the equipment for operating.

In some embodiments, if user is currently in use cross-country speed control with such as road hole or step etc Obstacle on travel, then cross-country speed control system will provide enough moment of torsion to surmount obstacles, and compared with dropping signal, Apply different gain or a filter values to liter high RST, wherein the signal in response to from PWTN and/or for One or more wheels apply the torque demand of the device such as brakes of deceleration torque.The compensating for variations of this gain by The physical limit of the system of signal control, and cross-country speed control system is configured to make the dress to for applying deceleration torque The control and the control to PWTN for putting (such as brakes) balance each other, so as to held stationary and improve vehicle Energy.

Embodiments of the present invention tool has the advantage that：They can substantially reduce work of the user in manual drive Measure, and the abrasion for making vehicle by avoiding that vehicle may be made with the situation of unnecessary speed contact obstacle high is minimized. The system for being proposed be used for monitor on one's own initiative in order to surmount obstacles necessary torque demand and by one's own initiative to vehicle should With mechanical constraint or damping force being relieved to up to the hypervelocity after top or otherwise surmount obstacles known to manage Control postpones, and the stationarity of vehicle is drastically increased during such as cross-country run.As set forth above, it is possible to be braked by vehicle System, motor, shifter or any other suitable devices apply damping force.

Brief description of the drawings

One or more implementation methods of the invention only are described by way of example now with reference to the following drawings, In accompanying drawing：

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 steering wheel being used together with the vehicle of all vehicles as depicted in figs. 1 and 2 etc；

Fig. 4 is the operation of the example of the speed control system of the vehicle for showing all vehicles as depicted in figs. 1 and 2 etc Schematic block diagram；

Fig. 5 is the flow of the method being controlled for the speed of the vehicle to all vehicles as depicted in figs. 1 and 2 etc Figure；And

Fig. 6 be in the vehicle of all vehicles as depicted in figs. 1 and 2 etc during a part for exemplary stroke The PWTN driving torque and deceleration torque or the curve of braking torque for changing over time.

Specific embodiment

Methods and systems described herein can be used for controlling the speed of vehicle.In one embodiment, this method One or more electric signals for the information for representing related to vehicle are received to system and then use one or more received Electric signal and/or by information that one or more of electric signals are represented come one or more wheels in the wheel for judging vehicle Have passed over obstacle or will surmount obstacles and determine whether therefore need reduce by PWTN subsystem to The driving torque that one or more wheels of vehicle apply is maintained at specific goal-setting speed with by the speed of vehicle.If It is determined that needing to reduce applied driving torque, then this method and system can automatically instruct in the wheel to vehicle Or multiple wheels apply deceleration torque to offset the effect of the overspeed condition in PWTN subsystem in order to avoid making the speed of vehicle Degree increase.By doing so it is possible, system and method can be operated into cross the obstacle (example related to landform in such as vehicle Such as, reach the top of megalith, from hole out, from high resistant force environment be transitioned into low-resistance force environment etc.) when prevent or at least limit Degree of the car speed beyond setting speed.

The reference to the block of such as functional block etc is understood to include in response to one or more inputs herein The reference of the software code for performing the function or effect specified of output is provided.The code can be by host computer program The software program or the form of function for calling, or can be the part rather than single program or function to form code flow Code.Be to the reference of functional block the operation of control system for ease of explanation according to the embodiment of the present invention mode and Carry out.

Referring to Figures 1 and 2, some in the part of the vehicle 10 that this method and system can be used therewith are shown Part.Although being provided under being described below the background of particular vehicle 10 for showing in fig. 1 and 2, it is to be understood that The vehicle is merely illustrative, and it is of course possible to other vehicles are used instead.For example, in various embodiments, institute herein The method and system of description can be with any type of vehicle one with automatic transmission, manual transmission or buncher Rise and use, for several possibilities of act, including conventional truck, hybrid electric vehicle (HEV), extended-range electric vehicle (EREV), battery electric vehicle (BEV), car, transboundary sport vehicle (SUV), car (cross-over vehicle) And truck.According to an implementation method, vehicle 10 generally comprise multiple subsystems 12, multiple vehicle sensors 14 and Control unit for vehicle 16 (VCU 16), in addition be not shown herein or it is described otherwise above it is any number of its His part, system and/or device.

The subsystem 12 of vehicle 10 may be configured to perform or control various functions and the operation related to vehicle, and As shown in Figure 2, the subsystem 12 of vehicle 10 can include any number of subsystem, such as：For only lifting several possibilities, Such as PWTN subsystem 12₁, chassis control or management subsystem 12₂, brake subsystem 12₃, power train subsystem 12₄ And turn to subsystem 12₅。

As known in the art, PWTN subsystem 12₁It is configured to produce the power for advancing vehicle Or moment of torsion.The amount of the moment of torsion produced by PWTN subsystem can also be adjusted to control vehicle speed (for example, in order to Increase the speed of vehicle 10, increase torque output).Because different PWTN subsystems has different maximum outputs Torque capability, therefore the amount of moment of torsion that PWTN subsystem can be exported depends on the particular type of the subsystem or sets Meter.However, in one embodiment, the PWTN subsystem 12 of vehicle 10₁Maximum output ability can be about 600Nm.As it is known in the art, PWTN output torque can use (the example of vehicle sensors 14 discussed below Such as, engine torque sensor, driveline torque sensor etc.) in one or more vehicle sensors or other appropriate senses Device is surveyed to measure, and can be by except PWTN subsystem 12₁Outside for example include be not limited to it is discussed below One or more parts of vehicle 10 of one or more of part, module or subsystem, module or subsystem be used for it is each Plant purpose.It will be appreciated by those skilled in the art that PWTN subsystem 12₁Can be according to any number of different real Apply mode to set, can be connected in any number of different configurations and any number of different part examples can be included Such as output torque sensor, control unit and/or any other appropriate parts as known in the art.For example, in embodiment party In formula, PWTN subsystem 12₁One of generator or many can also be for example operable as including one or more motors Individual motor, one or more of motors be configured to PWTN subsystem a part and/or vehicle one Individual or multiple wheels apply deceleration torques, so that vehicle is not using using brake subsystem (such as friction catch) or braking Slow down in the case of subsystem (such as friction catch).Therefore, the invention is not restricted to any one specific PWTN System.

Chassis management subsystem 12₂May be configured to perform or may be configured to contribute to execution many important Function, for giving some instances, including controls the stabilization of (DSC) etc with such as traction control (TC), such as dynamic stability Property control system (SCS), slow drop control (HDC) in abrupt slope and the related function of course changing control.Therefore, as known in the art , chassis management subsystem 12₂Be further configured to using for example from it is described herein or mark sensor 14 and/or other Reading, signal or the information that one or more of vehicle subsystem 12 is received are come each side for monitoring and/or controlling vehicle Face or operating parameter.For example, subsystem 12₂May be configured to from the tire pressure sensor being for example associated with each tire Receive the reading or other information with the pressure correlation of the tire of vehicle.Therefore, chassis management subsystem 12₂Tire can be monitored Pressure, and if necessary and if vehicle is so configured, then chassis management subsystem 12₂Automatically using vehicle-mounted Air compressor is adjusted to pressure or makes chassis management subsystem 12₂Using vehicle-mounted air compressor come to pressure It is adjusted.Similarly, chassis management system 12₂Can be configured to from can for example be laid in one of vehicle periphery or Multiple air suspension sensors receive reading or the information related to the ride-height of vehicle.In this case, chassis management Subsystem 12₂The ride-height of vehicle can be monitored, and if necessary and if vehicle is so configured, then chassis Management subsystem 12₂Automatically ride-height is adjusted or is made using vehicle-mounted air compressor (suspension compresses machine) Chassis management subsystem 12₂Ride-height is adjusted using vehicle-mounted air compressor (suspension compresses machine).Chassis management Subsystem 12₂Can be configured to monitor the attitude of vehicle.More specifically, subsystem 12₂Can be from described herein or mark One or more of sensor 14 and/or subsystem 12 (such as gyrosensor, vehicle acceleration sensor etc.) of knowledge connect Reading or information is received to assess the pitching of vehicle (especially, and/or vehicle body), inclination, yaw, laterally accelerate, vibrate (such as width Degree and frequency), and thus assess the overall attitude of vehicle.In each case, as described above, by chassis management subsystem 12₂Information receive or determination can be used alone by it, or alternatively, can be with other subsystems 12 of vehicle 10 Or part (such as VCU 16) is shared, described other subsystems 12 or part can use the letter for any number of purpose Breath.Although provide only chassis management subsystem 12₂The vehicle operating parameter that can monitor and/or control and/or aspect it is several Individual example, it is to be understood that subsystem 12₂May be configured to with the same or analogous mode of mode as described above Control and/or any number of other or other parameter/aspect of monitoring vehicle 10.Therefore, the invention is not restricted to appointing The control and/or monitoring of what specific parameter/aspect.Additionally, it will be further understood that chassis management subsystem 12₂Can basis Any number of different embodiments are provided, and can include any number of different parts, and such as sensor, control are single Any other appropriate parts first and/or as known in the art.Therefore, the invention is not restricted to any one specific bottom coil Reason subsystem.

As shown in figure 1, power train subsystem 12₄Many multi-ratio transmissions or gearbox 200, many gearratios can be included Speed changer or gearbox 200 and PWTN subsystem 12₁Propulsive mechanism (such as PWTN subsystem 12₁Start Machine or electro-motor, it is identified as reference 202 in Fig. 1) output shaft be mechanically coupled to.Speed changer 200 is arranged to It is used to by front differential mechanism 204 and a pair of front propeller shafts 206₁、206₂To drive the front-wheel of vehicle 10.In shown implementation method In, power train subsystem 12₄Also include accessory drive pastern point 208, accessory drive pastern point 208 is arranged to be used to by auxiliary Help power transmission shaft or power transmission shaft 210, rear differential mechanism 212 and a pair of inter-axle shafts 214₁、214₂To drive the trailing wheel of vehicle 10. In various implementation methods, power train subsystem 12₄Can be arranged to only to drive front-wheel or trailing wheel or can be optional Two-wheel drive/four-wheel drive vehicle.In the such as implementation method of Fig. 1 illustrated embodiments etc, speed changer 200 can lead to Cross transfer gear or power distribution unit 216 and be connected to accessory drive pastern point 208 in a removable manner, so as to allow optional The two-wheel drive selected or four-wheel drive are operated.In some cases, and as known in the art, allocation unit 216 can To be configured to can be by power train subsystem 12₄The miscellaneous part of itself and/or the vehicle 10 by such as VCU16 etc High scope (HI) gearratio or low scope (LO) gearratio being adjusted are operated.It should be appreciated by those skilled in the art that , power train subsystem 12₄Can be provided according to any number of different embodiments, can be connected to it is any number of Difference configuration in and can include any number of different parts, for example sensor (such as HI/LO gearratios sensor, become Fast device gearratio sensor etc.), control unit and/or any other appropriate parts as known in the art.Therefore, the present invention It is not limited to any one specific power train subsystem.

In addition to those described above subsystem, vehicle 10 can also include such as brake subsystem 12₃ With steering subsystem 12₅Etc any number of subsystem alternatively or additionally.For purposes of the invention, the above is retouched Each of subsystem 12 stated and its corresponding function are all in the art conventional.Therefore, will not provide detailed Description；And the 26S Proteasome Structure and Function of the subsystem 12 that each is identified will be readily apparent to 's.

In one embodiment, one or more of subsystem 12 can be subject at least a certain degree of control of VCU 16 System.In this embodiment, those subsystems 12 are electrically coupled to VCU 16 and are configured for being led to VCU 16 Letter, the feedback related to the operational parameter or operating parameter of vehicle and reception are provided from VCU's 16 with to VCU 16 Indicate or instruct.With PWTN subsystem 12₁As a example by, PWTN subsystem 12₁May be configured to collect and moved with this Power power train subsystem 12₁Such as torque output, engine or motor speed or the like some operating parameters it is related Various types of information, and the information is then conveyed to VCU 16.The information can be from for example following vehicle sensors One or more of 14 collect.PWTN subsystem 12₁Instruction can also be received with such as condition from VCU 16 Change when representing such change (for example, being stepped in the brake pedal (pedal 18 in Fig. 1) or accelerator via vehicle 10 Plate (pedal 20 in Fig. 1) and when asking the change of car speed) adjust some operating parameters.Although above description is special Ground is with reference to PWTN subsystem 12₁, it is to be understood that same principle is also applied for being configured to being handed over VCU 16 Such other subsystems 12 of each of the information of changing/instruction.

Each subsystem 12 can include special electronic control unit (ECU), and the electronic control unit (ECU) is configured Into receiving and perform the instruction or instruction that are provided by VCU 16, and/or it is configured to be performed independently of VCU 16 or controls certain A little functions.Alternatively, two or more subsystems 12 can share single ECU, or one or more subsystems 12 can be with By the direct controls of VCU 16 itself.In the implementation method that subsystem 12 is communicated with VCU 16 and/or other subsystems 12, Can be via such as controller LAN (CAN) bus, System Management Bus (SMBus), proprietary communication link etc Any appropriate connection or by it is as known in the art some other set and to promote such communication.

It will be appreciated that foregoing teachings only represent the particular subsystem and those subsystems being included with the possibility of vehicle 10 Some of the system possibility related to the setting of VCU 16 possibility.Therefore, it will be further understood that including others or in addition Subsystem and the implementation method of vehicle 10 that sets of subsystem/VCU still in the spirit and scope of the present invention.

Vehicle sensors 14 can be including any number of different sensors, part, equipment, module, system etc..At one In implementation method, some or all of sensors in sensor 14 can be provided to subsystem 12 and/or VCU 16 can be by Information or input that this method is used, and therefore VCU can be electrically coupled to (for example, via cable or wirelessly) 16th, some other appropriate equipment of one or more subsystems 12 or vehicle 10, and be configured to VCU 16, or The some other appropriate equipment of multiple subsystems 12 or vehicle 10 is communicated.Sensor 14 may be configured to monitor, feel Survey, detection, measurement or otherwise determine and vehicle 10 and its operate and the related various parameters of configuration, and sensor 14 can include, but not limited to, e.g. any one or many persons in sensor as described below：Vehicle-wheel speed sensor；Environment temperature Degree sensor；Barometric pressure sensor；Tire pressure sensor；The gyro for being used to detect the yaw, inclination and pitching of vehicle is passed Sensor；Vehicle speed sensor；Longitudinal acceleration sensor；Engine torque sensor；Driveline torque sensor；Air throttle Sensor；Steering angle sensor；Steering wheel velocity sensor；Slope Transducer；Such as horizontal stroke on stabilitrak (SCS) To acceleration transducer；Brake pedal position sensor；Brake-pedal load sensor；Accelerator pedal position sensor；It is empty Gas suspension sensor (travelling height sensor)；Wheel position sensors；Wheel articulation sensor；Body vibrations sensor； Water-detection sensors (for the two kinds of situations of depth for approaching and paddling paddled)；Transfer gear HI-LO gearratio sensors；Air inlet Path sensor；Automotive occupant sensor；And longitudinally, laterally with vertical motion sensor, also have it is as known in the art its His sensor.

Sensor identified above and any other sensors of the information that this method can be used can be provided Can be carried out into hardware, software, firmware or their some combinations.Sensor 14 can directly sense or measure such shape State：Sensor 14 is set for the state, or sensor 14 can be based on by other sensors, part, equipment, mould Assess these states in the information indirect ground of the offers such as block, system.Additionally, these sensors can directly be attached to VCU 16 And/or one or more vehicle subsystems 12 in vehicle subsystem 12；These sensors can be via other electronic equipments, car Communication bus, network etc. are attached to one or more vehicle subsystems in VCU 16 and/or vehicle subsystem 12 indirectly 12；Or these sensors can be coupled according to some other settings as known in the art.In these sensors one A little or all the sensors can integrally combine one or more vehicles in vehicle subsystem 12 identified above In system 12, can be individual components or can be provided according to some other settings.Finally, used in this method Any sensor reading in various sensor readings can be by some other parts, module, equipment, subsystem of vehicle 10 etc. Directly provided rather than by actual sensor element to provide.For example, VCU 16 can receive some from the ECU of subsystem 12 Information is rather than directly from the receive information of sensor 14.It should be appreciated that because vehicle 10 is not limited to any specific sensor Or sensor is set, thus some possibilities in aforementioned circumstances only expressing possibility property；And any appropriate implementation can be used Mode.

VCU 16 can include any appropriate ECU, and can include that any type of electronic processing equipment, storage set Standby, input/output (I/O) equipment and/or other known elements, and perform the function related to various controls and/or communication. In one embodiment, VCU16 includes electronic storage device 22, and electronic storage device 22 can store various information, sensing Device reading (for example, the sensor reading for such as being generated by vehicle sensors 14), look-up table or other data structures are (for example, all Such as the look-up table used in the execution of following methods or other data structures), algorithm is (for example, implement in the following methods Algorithm) etc..In embodiments, storage device 22 can to perform the computer of following methods for controlling vehicle including being loaded with Read the carrier medium of code.Storage device 22 can also store the correlated characteristic and background letter related to vehicle 10 and subsystem 12 Breath.VCU 16 can also include electronic processing equipment 24 (such as microprocessor, microcontroller, application specific integrated circuit (ASIC) Deng), the electronic processing equipment 24 perform storage in storage device 22 for software, firmware, program, algorithm, script, application Deng instruction, and method described herein can be controlled.As described above, VCU16 can be via appropriate vehicle communication Be connected electrically to other vehicle arrangements, module, subsystem and part (such as sensor), and can when needed or according to Need and described other vehicle arrangements, module, subsystem and part (such as sensor) reciprocation.Except other places herein Outside the function that can be performed by VCU 16 of description, in one embodiment, VCU 16 can also be responsible on subsystem 12 various functions described above, especially when those subsystems are also not configured to do so.Certainly, these are only Some in the possible setting of VCU 16, function and performance are set, function and performances, because other embodiment party can also be used Formula.According to particular implementation, VCU 16 can be independent vehicle electronic module, and VCU 16 can be combined or be included in another In outer vehicle electronic module (for example, it is identified above go out one or more of subsystem 12 in), or VCU 16 Can in addition set in a manner known in the art and configure.Therefore, VCU 16 is not limited to any one particular implementation side Formula or setting.

In addition to part and system described above, in one embodiment, vehicle 10 can also include one Or multiple vehicle speed control systems.For example and with continued reference to Fig. 2, in one embodiment, vehicle 10 can also include Cruise control system 26 and low speed traveling (LSP) control system 28, the cruise control system 26 are also referred to as " highway " or " road Road " cruise control system, LSP control systems 28 can also be referred to as " off-highway " or " cross-country " traveling control system.

Highway cruise control system 26 --- it can include any number of conventional cruise control as known in the art System --- it is operable to car speed is automatically kept in desired " setting speed " set by user.This germline System is normally limited in its use, and reason is that vehicle must be in certain minimum threshold velocity (for example, 30mph is (approximate Traveling is so that the system is operable to more than 50kph)).Therefore, these systems be particularly suitable for highway driving or at least its In in the absence of a large amount of startings repeatedly and stop and allow to be used in the driving that vehicle is travelled with of a relatively high speed.Such as this Known in field, highway cruise control system 26 can include being configured to perform and implement the special of the function of system ECU or independent ECU, or alternatively, the function of cruise control system 26 can be integrated in the other subsystem of vehicle 10 12 (such as PWTN subsystems 12₁) such as VCU 16 (as shown in Figure 2) in.

Additionally, as it is known in the art, cruise control system 26 can include one or more user interface apparatus 30, One or more of user interface apparatus 30 can by user (such as driver) using with system 26 (for example, system 26 ECU) reciprocation, and in some embodiments, user interface apparatus 30 allow system and user's reciprocation. For lifting several possibilities, for example, these equipment can allow user to be switched on/off system 26 and setting and/or adjust The setting speed of system.Each equipment in these equipment can use any number of form, such as --- for example but not It is limited to --- one or more of following forms：Button；Switch；Touch-screen；Visual display unit；Loudspeaker；Warning message shows Show device；Keypad；Keyboard；Or any other suitable equipment.In addition, these equipment can be positioned in compartment and phase To relatively closely (such as steering wheel, steering column, instrument board, central control board at any number of position of user Deng).For example, referring to Fig. 3, the steering wheel (i.e. steering wheel 32 in Fig. 1) of vehicle 10 is configured with the shape of button Multiple user interface apparatus of the cruise control system 26 of formula.One this equipment can be " setting speed " button 30₁, should " setting speed " button 30₁Operation and also the setting phase of cruise control system 26 can be enabled when being manipulated in a specific way The setting speed of prestige.Cruise control system 26 can also include that one or more other users may be selected type interface equipment (for example, button), to allow user to increase or reduce the setting speed of system.For example, the "+" button 30 can be set₂To permit Perhaps user increases setting speed with discrete increment (for example, 1mph (or 1kph)), and sets "-" button 30₃To allow to make User reduces setting speed with same or different discrete increment.Alternatively, the "+" button 30₂With "-" button 30₃Can be into one Body ground is combined in used aloned person may be selected type equipment.The other user of system 26 may be selected type interface equipment can wrap Include for example：" cancellation " button 30 of deactivation or Break-Up System₄, and cause system in the temporary pause of systemic-function or stop " recovery " button 30 that can be re-enabled after₅。

It should be appreciated that because vehicle 10 is not limited to the cruise control system or user interface apparatus of any specific or sets Put, thus aforementioned circumstances only represent some possibilities in the possibility of cruise control system 26 and its user interface apparatus；And Any appropriate implementation method can be used.

LSP control systems 28 provide speed control system, and the speed control system for example makes equipped with this system The user of vehicle can select low-down target velocity or the setting speed, vehicle can not to need any pedal in user Advanced with low-down target velocity described above or setting speed in the case of input.This low speed traveling control function Difference with the traveling control function of cruise control system 26 is：Different from cruise control system 26, vehicle need not Travelled with of a relatively high speed (such as 30mph (approximate 50kph)) so that system turns into exercisable (although system 28 can be with It is configured to contribute to the auto-speed from static to the speed of about 30mph (approximate 50kph) or higher to control, and is therefore System 28 is not limited to " low speed " operation).Furthermore it is known that highway cruise control system be configured so that：Depressed in user and made In the case of dynamic pedal or clutch pedal, for example, cancelling road cruise control function and vehicle returns to the person of needing to use Pedal input keeping the manual operation mode of car speed.In addition, at least some of cruise control system, to may be by Can also have the effect for cancelling cruise control function in the detection of the wheel slip event for losing tractive force and causing.LSP is controlled System 28 can also be with this cruise control system difference：In at least one implementation method, LSP control systems 28 It is with so that the speed controlling function for thus being provided is not responsive to those described above event and is cancelled or disables Mode is configured.In embodiments, LSP control systems 28 are particularly adapted to be used in cross-country or off-highway driving.

In one embodiment, LSP control systems 28 also include ECU 42 (in institute in addition to potential miscellaneous part Show in implementation method and be shown as including VCU 16 for reasons described below) and one or more user's input equipments 44.ECU 42 can include arbitrary various electronic processing equipments, memory or storage device, input/output (I/O) equipment with And any other known parts, and ECU 42 can perform any number of function of LSP control systems 28, this include with Function that is lower description and implementing in the method.Therefore, ECU42 for example may be configured to from various sources (such as vehicle Sensor 14, vehicle subsystem 12, user's input equipment 44) receive information, and assess, analyze and/or process the information To control or monitor one or more operating aspects of vehicle 10, such as：For example, one or more operation ginsengs of monitoring vehicle Number；Instruct apply driving torque and/or deceleration torque to one or more wheels of vehicle and reduce the driving torque and/ Or deceleration torque；Detection is for the drive required for car speed is held in into the specific objective setting speed of LSP control systems 28 The reduction of dynamic torque；Determine type and/or feature of the landform that vehicle 10 is being travelled etc..Additionally, in one embodiment, ECU 42 is configured to perform or implement the one or more steps for describing in greater detail below of this method.Should manage Solution, ECU 42 can be single electronic module, or can integrally be attached to or be incorporated into vehicle 10 in addition Subsystem 12 such as VCU 16 in.For explanation and clearly purpose, description below will be for following implementation methods： In this embodiment, the function of ECU 42 is integrated or is incorporated into VCU16 so that as shown in Figure 2, and VCU 16 includes The ECU of LSP control systems 28.Therefore, in this embodiment, VCU 16 and its storage device or depositing of being accessed by it Storage equipment (such as storage device 22) especially store in order to perform LSP control systems 28 including realizing in the following methods Function the various information needed for interior function, data (such as in advance limit setting speed), sensor reading, look-up table or Other data structures, algorithm, software etc..

As highway cruise control system 26 as described above, LSP control systems 28 are also used including one or more Family interface equipment 44, the user interface apparatus 44 can by user use with the reciprocation of system 28, and in some realities Apply in mode, one or more of user interface apparatus 44 allow system 28 and user's reciprocation.These equipment can be with Allow user to be for example switched on/off LSP control systems 28, the setting speed of setting and/or regulating system, limited in advance from multiple Desired setting speed is selected in fixed setting speed, is cut between two or more setting speeds for limiting in advance Change and other mode and the reciprocation of system 28 can such as be described below.These user interface apparatus can also be permitted Perhaps system 28 provides some notice, warning, message, requests etc. to user.Each equipment in these equipment can be used Any number of form, such as --- such as but be not restricted to --- one or more of following forms：Button；Switch；Touch Touch screen；Visual display unit；Loudspeaker；Warning message display；Keypad；Keyboard；Or any other suitable equipment.Additionally, It is that these equipment can be positioned in compartment and relatively closely proximate at any number of position of user (for example, Steering wheel, steering column, instrument board etc.).In one embodiment, the He of user interface apparatus 30 of highway cruise control system 26 The user interface apparatus 44 of LSP control systems 28 are respectively arranged in vehicle 10 adjacent to each other, and in an embodiment party In formula, user interface apparatus 30,44 are provided on the steering wheel 32 of vehicle 10 adjacent to each other.However, such as originally In the other embodiment of text description, highway cruise control system 26 and LSP control systems 28 can share identical user circle Some or all of user interface apparatus in the equipment of face.In such implementation method, it is optional that other user can be set Equipment is as switched, button or any other suitable equipment are switched over between two speed control systems.Therefore, in figure In implementation method shown in 3, above with respect to those user interface apparatus 30 described by cruise control system 26₁-30₅Can be with It is used in the operation of LSP control systems 28, and therefore, user circle is also referred to as when being discussed under the background of system 28 Face equipment 44₁-44₅。

For illustrative purposes, and in addition to the function of LSP control systems 28 described below, it is right to provide now One description of the overall operation of illustrated embodiment of LSP control systems 28.First, the implementation method being described herein In include LSP control systems 28 the VCU 16 of ECU determine that (referred to herein as " expectation sets for the vehicle desired speed to be travelled Constant speed degree ").This can be the setting speed selected via user interface apparatus 44 by user, or alternatively, and VCU16 can be with Be configured to be automatically determined based on some conditions or factor or select expectation setting speed and without using the intervention of person.It is in office In the case of one, in response to the selection to expecting setting speed, VCU16 is configured to by generally or individually realizing to vehicle The PWTN of wheel application selectivity, polling power controlling and/or braking action and make vehicle desirably setting speed Work, so that vehicle reaches or be held in expectation setting speed.In one embodiment, this can include such VCU16：The VCU16 for example generates appropriate instruction and sends to appropriate subsystem 12 (for example the appropriate instruction PWTN subsystem 12₁With brake subsystem 12₃), and/or one or more parts directly to vehicle 10, module, Operation of subsystem etc. etc. is controlled.

More specifically, reference picture 4, expect setting speed once it is determined that, then the car being associated with vehicle chassis or power train Velocity sensor (is identified as sensor 14 in fig. 4₁) signal 46 for indicating car speed is just provided to VCU16.One In individual implementation method, VCU16 includes comparator 48, and the comparator 48 will expect setting speed (in fig. 4 with the table of reference 49 Show) output signal 50 for representing that this compares is compared and provided with measured speed 46.Output signal 50 is provided to Evaluator unit 52, the evaluator unit 52 is to need to increase or reduce to be set so as to keep or reach expectation according to car speed The output signal 50 is construed to need by such as PWTN subsystem 12 by constant speed degree₁Apply other torsion to wheel Square or needs are reduced by such as brake subsystem 12₃To the moment of torsion that wheel applies, in the case of the latter, according to predetermined Or the acceleration profile of regulation, acceleration poor (for example, +/- (0.1g-0.2g)) or acceleration profile and acceleration are poor The two come carry out.Output 54 from evaluator unit 52 is then provided to one or more subsystems 12, is to deposit with basis Still there is the negative demand to moment of torsion from evaluator unit 52 in the positive demand to moment of torsion from evaluator unit 52 to come Manage the moment of torsion applied to wheel.In order to start to apply required positive-torque or negative torque to wheel, evaluator unit 52 can be with Instruct and apply other power and/or instruct to the wheel of vehicle to apply brake force to the wheel of vehicle, in both of these case Any one or both may be incorporated for the change for being embodied as reaching or keeping moment of torsion necessary to desired vehicle setting speed.To Wheel synchronously applies positive-torque and negative torque to control the net moment of torsion for putting on wheel to be instructed by LSP control systems 28, The moment of torsion on each axletree is applied to the stability and stationarity and regulation that keep vehicle, particularly in one or more cars The torsion that the stability and stationarity and regulation that vehicle is kept in the case of there is slip event at wheel are applied on each axletree Square.In some examples, VCU16 can also be received and be represented the signal 56 of wheel slip event occurred.In such implementation In mode, during wheel slip event, VCU16 continues to be compared measured car speed with expectation setting speed, And continue automatically the moment of torsion that is applied on wheel of control so that car speed is maintained at into expectation setting speed and cunning is managed Shifting event.

In addition to function described above, in one embodiment, LSP control systems 28 can be configured to inspection Survey, sensing, derive or otherwise determine the information related to the landform that vehicle 10 is being travelled (for example, surface type, Shape classification, landform or surface roughness etc.).According to an implementation method, VCU16 may be configured to perform the function and with Many modes perform the function.A kind of such mode is the Britain's published application announced on January 16th, 2013 Mode described in No.GB2492748A, the entire disclosure of which is incorporated herein by reference.More specifically, at one In implementation method, and it is from multiple vehicle sensors and/or various to the related information of multiple different parameters that vehicle is associated Vehicle subsystem --- including some or all of sensors in such as those as described above sensor 14 and/or subsystem 12 14 and/or subsystem 12 --- receive or obtain.Received information is then evaluated and for determining one or many Individual Terrain indexes, the Terrain indexes can represent the type of landform, and in some instances, can represent one of landform or Multiple features, such as classification, roughness etc. of landform.

More specifically, in one embodiment, speed control system (for example, VCU16) can be included in following assessment The apparatus for evaluating of device modular form：The information for obtaining or receiving from one or more sensors 14 and/or subsystem 12 (is hereafter united Referred to as " sensor/subsystem output ") it is provided to the evaluator module.In the first order of evaluator module, the sensing Each sensor/subsystem in device/subsystem output is exported for deriving multiple Terrain indexes.In the first order, from car Wheel speed sensor derives car speed, from vehicle-wheel speed sensor derived wheel acceleration, from longitudinal direction of car acceleration sensing Longitudinal force on device derived wheel, and derive generation from the powertrain torque signal provided by PWTN subsystem The moment of torsion and additionally or alternatively of wheelslip (in the case where wheelslip occurs), from by power train subsystem (example Such as, speed changer) provide torque signal derive occur wheelslip (wheelslip occur in the case of) moment of torsion, Yi Jicong It is used to detect that the motion sensor of yaw, pitching and inclination derives generation wheelslip (in the case where wheelslip occurs) Moment of torsion.Other calculating performed in the first order of evaluator module include that wheel inertia moment of torsion (accelerates with the wheel of rotation is made Or the associated moment of torsion that slows down), " continuity of traveling " (whether assessment vehicle starts and stops repeatedly, for example, it may be vehicle Situation when being travelled on rocky terrain), aerodynamic resistance and lateral vehicle acceleration.

Evaluator module also includes the second level, and following Terrain indexes are calculated in the second level：Surface scrolls resistance (is based on car Longitudinal force on wheel inertia torque, the longitudinal force on vehicle, aerodynamic resistance and wheel), the steering force on steering wheel (is based on Output and transverse acceleration from steering wheel sensor and/or steering column sensor), longitudinal direction of car sliding is (based on wheel Longitudinal force, wheel acceleration, the action of stabilitrak (SCS) and indicate whether occur wheelslip letter Number), side-friction (calculates by measured transverse acceleration and yaw compared with the transverse acceleration and yaw predicted Go out) and ripple detection (representing high frequency, the vertical wheel excitation of low amplitude on washboard type surface).SCS actuating signals are origin (TC) function, anti-lock braking system (ABS) and abrupt slope are controlled from dynamic stability control (DSC) function, landform is included Derived from some outputs of the ECU of the stabilitrak (SCS) of slow drop control (HDC) algorithm, represent that DSC actions, TC are moved Make, ABS action, the brake regulation to each wheel and from SCS ECU to the PWTN of PWTN subsystem turn round Square reduction request.It is all these to represent that slip event has occurred and that and SCSEDU has taken up action to control sliding.Comment Estimate device module and also use the output from vehicle-wheel speed sensor, and in four-wheel car, the output on each axletree is entered Row compares and is pointed to the vertical output of every side and is compared, to determine that wheel velocity change and ripple detect letter Number.

In one embodiment, in addition to evaluator module, road roughness module can also be included for base Terrain roughness is calculated in air suspension sensor (ride-height sensor or suspension articulation sensor) and wheel accelerometer. It is in the Terrain indexes signal of roughness output signal type from the output of road roughness module in such implementation method.

Assessment and side-friction force estimation in evaluator module to wheel straight skidding are compared to each other as authenticity Check.Then from the output of evaluator module to wheel velocity change and calculating, the assessment of surface scrolls resistance, the car of ripple output Wheel straight skidding and surge detection and frictional force authenticity examination, and the property for representing the landform that vehicle is being travelled is provided The Terrain indexes output signal of matter, for being further processed by VCU16.For example, Terrain indexes can be used for：Based on car Which kind of in multiple vehicle subsystem control models (such as orographic model) be the index of the type of the landform for travelling determine Control model is most suitable, and then correspondingly automatically controls appropriate subsystem 12.

In another embodiment, it is not that LSP control systems 28 perform landform sensed/detected function described above, And can be that the other part of vehicle 10, module or subsystem such as VCU16 (are not suitably performed into LSP controls at it In the case of the function of system processed 28), chassis management subsystem 12₂Or other suitable part is configured to perform and is retouched above The landform sensed/detected function of stating, and such other embodiment is still in the spirit and scope of the present invention.

It should be appreciated that the description before the setting of LSP control systems 28, function and performance be only in order at example and Descriptive purpose and provide, and be not meant to be limited in itself.Therefore, it is not intended that LSP control systems 28 are limited In any one particular implementation or setting.

Again, vehicle 10 be previously described and Fig. 1 and Fig. 2 in diagram be only intended to illustrate a kind of possible vehicle and set And it is intended to illustrate in a conventional manner.Alternatively can also be set and framework using any number of other vehicles, bag Include and the setting shown in Fig. 1 and Fig. 2 and the visibly different setting of framework and framework.

Turning now to Fig. 5, the method 100 for controlling the speed of vehicle by the operation of speed control system is shown Example.For illustration and clarity, will be retouched under the background of shown in Fig. 1 and Fig. 2 and described above vehicle 10 State method 100.More specifically, method 10 will be described under the background of the low speed of vehicle 10 traveling (LSP) control system 28, in order to Descriptive purpose, the low speed is advanced, and integrally with reference in VCU 16, (that is, VCU 16 includes that LSP is controlled to (LSP) control system 28 The ECU 42 of system processed 28).It will be understood, however, that the application of this method does not mean that is only limitted to such setting, conversely, Method 100 can be set by any number of other speed control systems --- including：For example except LSP described above LSP control systems outside control system are (for example, integrally combination is in the VCU of vehicle, and/or VCU does not include speed The ECU of control system) --- and applied, and in some examples, such as method 100 can be by being retouched above Routine " highway " cruise control system of the cruise control system 26 stated etc and obtain application.Therefore, the present invention is not intended to The speed control system for being limited to any one specific setting or type.Additionally, it will be appreciated that, the execution of method 100 is simultaneously It is not intended to be limited to any one specific order or sequence of step.

In embodiments, there is provided the complete method of method 100 in vehicle for example crossing such as megalith, platform Prevented during related to the landform obstacle of rank, high-drag landform etc or at least substantially the speed of limitation vehicle exceeds speed control The goal-setting speed of system processed.More specifically, method 100 can be used for being surmounted obstacles in vehicle and needs it is different or The speed of vehicle is controlled between the environment of the driving torque amount of change during transition, to be for example kept substantially goal-setting speed Spend or the amount due to the car speed that PWTN or racing of the engine cause beyond setting speed is minimized simultaneously And therefore minimize the adverse effect that its stationarity and/or comfort of passenger to vehicle is produced.For example, in implementation method In, at vehicles traverse megalith area or step, method 100 can be used for counteracting and go out when vehicle reaches the top of megalith or step Existing PWTN or racing of the engine, and the speed of vehicle is therefore maintained at goal-setting speed.Similarly, method 100 can be used to be transitioned into from high-drag landform or environment (for example, sand, mud, gravel etc.) in vehicle in substantially the same manner The speed of vehicle is maintained at goal-setting speed when lower resistance landform or environment (such as road surface).

Correspondingly, reference picture 5, in embodiments, method 100 includes receiving of the information for representing related to vehicle Or the step of multiple electric signals 102.Electric signal can be derived from any number of source --- including but not limited to one or more Vehicle sensors 14, one or more vehicle subsystems 12, one or more storage devices (such as storage device 22 of VCU 16), Or any appropriate or appropriate equipment or part of vehicle 10.Additionally, electric signal can represent the operation phase with vehicle and vehicle Various information closing, can be particularly used for following purposes.

The a type of information that can be represented by the electric signal for receiving in a step 102 is or many with vehicle The related information of individual operating parameter.This can include --- such as but not limited to --- information related to parameters described below：Lift several For kind possibility, longitudinal vehicle acceleration；Car speed；Wheel velocity；Vehicle attitude (for example, the pitching of vehicle body, inclination, Yaw etc., change of vehicle attitude etc.)；Wheel articulation；The driving torque for being applied；The deceleration torque for being applied；Asked The change of driving torque and/or deceleration torque, actual driving torque and/or deceleration torque, driving torque and/or deceleration torque Rate；Wheelslip；Ride-height；Tire pressure；Tire resistance；Tire Friction；Steering wheel angle；Lateral vehicle acceleration； Landform responds (TR) pattern；Rolling resistance；Gear is selected；Vehicle suspension is hinged (for example extend or compress)；And/or influence vehicle body The other specification of motion.The information related to these parameters represented by received electric signal can include such as operation ginseng Several particular value is measured or other useful informations.Represent that the electric signal of one or more operating parameters of vehicle 10 can be from one Individual or multiple vehicle sensors 14 and/or one or more vehicle subsystems 12 --- including but not limited to elsewhere Those vehicle sensors 14 and/or vehicle subsystem 12 of description --- receive or from any other suitable components of vehicle 10 Or equipment is received.

Another type of information can be the type of the landform that vehicle is being travelled (for example, snow, water, sand, gravel, huge Stone, mud, grass etc.), and/or the landform one or more features (such as roughness, steepness etc.).In embodiments, The information can be received from the subsystem 12 for being configured to determine such information related to landform of vehicle 10.Example Such as, appropriate vehicle subsystem 12 can be inquired about, and appropriate terrain information (example can be received from the vehicle subsystem 12 Such as, type/classification, feature etc.).In another embodiment, the information may have stored in and be configured to execution method In 100 part of at least some of step or the storage device of equipment or the storage device that can be accessed by the part or equipment In, therefore, it can receive the information from the storage device.For example, VCU 16 be configured to execution method 100 at least certain In the example of a little steps, the information can be stored in the storage device 22 of VCU16, and therefore, the processing equipment of VCU 16 24 can be from the receive information of storage device 22.

Another type of information can be type in order to determine, detecting or sensing the landform that vehicle is being passed through and/ Or the landform one or more features and the information that needs.For example, such as receiving one or more behaviour of expression vehicle 10 Make in the implementation method of the implementation method described above of electric signal of parameter etc, these electric signals can be represented and can be used for Determine the information related with the operating parameter of vehicle of the various information related to landform.These operating parameters can be included for example Be used to determine above terrain type/classification and/or landform feature illustrative process described by those parameters or other Relevant parameter.Received information can for example be used in mode described above and assess to determine desired and ground The related information of shape.For example, in the implementation method of at least some of step that VCU16 is configured to execution method 100, VCU16 The various operations represented with vehicle 10 can be received from one or more vehicle sensors 14 and/or one or more subsystems 12 Property parameter or the related information of operating parameter electric signal.Then, VCU 16 can be assessed in mode for example described above To the information received by use determining the desired information related to landform.

Although below having explicitly described only certain kinds of information, it is to be understood that the present invention is not intended to The information for being limited to only those types.But identical mode can also obtain or connect in the way of with more detail below Receive and use the information in addition to information described above or the information of replacement information described above.Therefore, originally Invention is not limited to any one or more certain types of information.In addition, in VCU16 is configured to execution method 100 one In the implementation method of a little steps or all steps, VCU 16 is configured to receive the electric signal of the information for representing related to vehicle. However, in other embodiments, the part in addition to VCU 16 of vehicle 10 or substitute the part of VCU 16 and can be matched somebody with somebody It is set to the reception electric signal.

As shown in figure 5, method 100 also includes step 104：Determine whether to need to reduce by PWTN subsystem 12₁The driving torque (" driving torque for being applied ") applied to one or more wheels of vehicle 10 is protected with by the speed of vehicle Hold the goal-setting speed in speed control system.For purposes of the invention, the speed of vehicle is maintained at speed control The goal-setting speed of system includes for the speed of vehicle being accurately maintained in goal-setting speed and protects the speed of vehicle Hold in the range of the acceptable amount predetermined higher or lower than goal-setting speed, such as --- such as but not limited to --- keep In the range of higher than goal-setting speed 10% and it is maintained at less than in the range of goal-setting speed 20% or being higher than Or the speed predetermined less than goal-setting speed, i.e., predetermined kilometer per hour, such as 2kph.Although it will be appreciated that There is provided the specific percentage value above and below goal-setting speed, but the present invention is not meant to such value；And Can be that any number of other percentages are alternatively used according to specific implementation.In embodiments, the determination step Electric signal based on the expression that the receives in a step 102 information related to vehicle whole or in part.Step 104 can be with Many modes are performed.

In one embodiment, step 104 includes judging vehicle 10 using the electric signal for receiving in a step 102 One or more wheels have passed over or will extend over the obstacle of the landform that vehicle is being passed through.In such embodiment party In formula, if it is determined that one or more wheels of vehicle have passed over or will extend over the obstacle related to landform, then speed Control system may further determine that the driving torque that reduction will be needed applied is maintained at goal-setting with by the speed of vehicle Speed.The judgement can be carried out using many technologies.

A kind of such technology is directed to use with one or more in the electric signal for receiving in a step 102 to monitor The rate of change of the driving torque of request or the driving torque for being applied.More specifically, in embodiments, can monitor and be asked Driving torque, and if sense the driving torque for being applied suddenly, drastically raise after have requested that suddenly reduce institute The driving torque of applying, then can determining one or more wheels of vehicle, to cross (or having passed over) related to landform Obstacle.It will be appreciated that for being raised and lowered of the driving torque asked or the driving torque for being applied, to be recognized Be be " drastically ", then be raised and lowered can be respectively the driving torque previously asked or the driving torque for being applied extremely The increase or reduction of few particular percentile, for example, being the drive previously asked during scheduled duration depending on as the case may be Dynamic torque value or the driving torque value that is applied up and down more than 20% increase (for example, its can for example include more than 30%, it is many In 40% or more than 50%).The duration can depend on the speed of vehicle, but may, for example, be less than five (5) seconds, less than three (3) second or less than two (2) seconds.Shorter duration may be used together rather than together with relatively low speed with speed higher Use.The rate of rise asked for driving torque can be adapted to the landform that most suitable vehicle is being travelled, and just because of In this way, can be limited according to following current condition or operating parameter or otherwise limit most increasing for driving torque Greatly, the current condition or operating parameter be such as：Landform scheme or pattern；Vehicle attitude；Steering angle；Or it is any its His suitable limiting factor, therefore, the increase of the driving torque asked can be with the phase with the moment of torsion Magnification for being limited When the big Magnification being in equal proportions exceeds torque value 20% of previous Request or more.For example, it is assumed that the quality of vehicle 10 is about It is 2000kg (4400 pounds) that rolling radius is about 0.38m (15 inches), and vehicle 10 is climbing 4 inches of about 0.1m (4 English high It is very little) step before travelled along relatively flat and smooth landform.In climbing step lifting vehicle top bar and simultaneously The increase for keeping the driving torque required at the wheel of the vehicle for giving setting speed can be in phase before step is crossed Increase about 295 ppfs on and then the e.g., from about 100Nm (74 ppf) that may need up to flat and smooth surface About 400Nm (295 ppf).Therefore, when vehicle reaches step top, it would be desirable to which very small moment of torsion comes with goal-setting speed Degree propulsion vehicle, so it would be desirable to reduce applied driving torque.In response to drastically raising it in the driving torque for being applied This reduction of the driving torque for being applied afterwards or the reduction asked, it may be determined that one or more wheels of vehicle are Obstacle that vehicle crossing is crossed or will extend over (for example, reaching top or from high-drag surface transition to lower resistance table Face), and it is thus determined that the driving torque for being applied will otherwise make car speed except non-rapid is lowered beyond setting speed.Will Understand, actual torque value (that is, the rising and reduction of the driving torque for being applied) will be depending on particular vehicle, and reason is not Different torque capacities may be needed with the vehicle of size.

In another embodiment, the vehicle that can be represented by the electric signal monitored by receiving in a step 102 One or more operating parameters get over determining that one or more wheels of vehicle 10 have passed over or will extend over vehicle The obstacle crossed, is then based at least partially on monitored operating parameter to judge one or more wheels be to have passed over obstacle Or will surmount obstacles.More specifically, the operating parameter that for example one or more can be monitored is right with one or more Whether the threshold value or scope answered are compared, and reach, exceed or fall below given threshold value according to the operating parameter monitored Or scope, one or more wheels on vehicle can be made whether crossing (or having passed over) vehicle and cross The judgement of obstacle.In embodiments, these operating parameters can include the attitude with vehicle (for example, pitching, yaw, inclination Deng) change of related those parameters or vehicle attitude, vehicle suspension be hinged (that is, extend or compress) and/or any other conjunctions Suitable parameter.

In a particular implementation, the operating parameter monitored is the longitudinal acceleration of vehicle 10.In the embodiment party In formula, step 104 includes：The longitudinal acceleration of vehicle 10 is monitored, the longitudinal acceleration is then based at least partially on and is come true One or more wheels for determining vehicle have passed over or will surmount obstacles.More specifically, in embodiments, can be with base Monitor in the acceleration profile of regulation the longitudinal acceleration of vehicle and applied at one or more wheels of vehicle Driving torque.Longitudinal acceleration and both driving torques for being applied can be used in a step 102 from one or more cars Sensor 14 (for example, be vehicle-wheel speed sensor in the case of longitudinal acceleration, longitudinal acceleration sensor, vehicle speed Degree sensor etc.；And in the case of moment of torsion be torque sensor), one or more vehicle subsystems 12 are (for example, power is passed Dynamic is subsystem 12₁), and/or any other suitable parts of vehicle 10 receive or the information that obtains or reading are supervised Survey.If at the given driving torque for being applied, longitudinal acceleration tracking acceleration distribution map or and acceleration profile Unanimously so that car speed will be held in expectation setting speed or goal-setting speed, then can determine vehicle according to pre- Phase accelerates, and therefore, it is possible to determine that no one of the wheel wheel of vehicle has passed over obstacle or will surmount obstacles.So And, if on the contrary, the longitudinal acceleration of vehicle exceed according to expected from the distribution map longitudinal acceleration (or at least beyond should Distribution map is more than the acceptable amount for limiting in advance or up to more than predetermined time quantum), then can determine of vehicle or many Individual wheel has passed over obstacle or will surmount obstacles.

In further embodiment, the operating parameter monitored is the speed of vehicle.In this embodiment, step 104 include monitoring the speed of vehicle based on setting speed, are then based at least partially on the speed of the vehicle to judge car One or more wheels have passed over obstacle or will surmount obstacles.More specifically, the speed of vehicle can be used In a step 102 from one or more vehicle sensors 14 (for example, vehicle-wheel speed sensor, vehicle speed sensor etc.), one Individual or multiple vehicle subsystems 12 are (for example, PWTN subsystem 12₁) and/or vehicle 10 any other suitable parts The information that receives or obtain or reading are monitored.If the setting speed of the speed of vehicle and speed control system With (or at least in the range of predetermined tolerance), then vehicle can be determined with setting speed or with close enough setting speed The speed operation of degree, and thus may determine that no one of wheel of vehicle wheel has passed over obstacle or will extend over barrier Hinder.Conversely, however, if car speed is (or at least a certain amount of and/or up at least beyond predetermined speed beyond setting speed Certain hour amount), then can determine that one or more wheels of vehicle have passed over obstacle or will surmount obstacles.

Therefore, in embodiments, it is possible to use techniques known in the art is operated to monitor and assess one or more Parameter is determining whether one or more wheels of vehicle are crossing the obstacle that (or having passed over) vehicle is being crossed.

In other implementation method, can be monitored by using the electric signal for receiving in a step 102 and vehicle The related information of the landform passed through has passed over or will extend over vehicle determining one or more wheels to vehicle 10 The obstacle crossed, and be then based at least partially on the information related to landform that is monitored and judge one or many Individual wheel has passed over obstacle or will surmount obstacles.More specifically, in embodiments, step 104 can include sense The change of the landform that vehicle is being passed through is surveyed or determines, and in response to this, one or more wheels for judging vehicle are Surmount obstacles or will surmount obstacles.In such implementation method, it is possible to use the electricity for for example receiving in a step 102 Some or all of electric signals in signal sense the change related to landform, and in some examples, it is possible to use in step The electric signal received in rapid 102 combines the technology for determining classification of landform/type and/or features of terrain described above To sense the change related to landform.

For example, using the mark for representing specific terrain type/classification for receiving in a step 102 or can be used to derive ground The electric signal of the information related to the operating parameter of the front jocket wheel corresponding to vehicle of the type/classification of shape, can determine vehicle Another type of landform (for example, flat rock) is transitioned into from a type of landform (for example, husky).Existed using storage Terrain type/classification and setting speed being carried out with driving torque in storage device (for example, storage device 22 of VCU 16) The look-up table of association or other data structures, can determine in order in new landform to expect setting speed or goal-setting speed Propulsion vehicle needed for driving torque, be then based on the determination, can just currently applied driving torque whether exceed in order to Driving torque needed for the setting speed for keeping vehicle in new landform makes further judgement.If currently applied driving Moment of torsion exceeds driving torque scheduled volume for needed for new landform beyond the driving torque for new landform needed for or at least, then can be with Determine that one or more wheels of vehicle have passed over or will extend over the obstacle related to landform.

In other embodiments, in addition to the determination that the change based on classification of landform or type is carried out or substitute base In the determination that the change of classification of landform or type is carried out, the special characteristic of such as landform is also based on (for example, grade, surface Roughness, deformability etc.) change be determined.For example, using the expression features of terrain for receiving in a step 102 The electric signal of the information related to the operating parameter of the front jocket wheel corresponding to vehicle of derivation features of terrain is identified or can be used for, Can determine vehicle from a feature (for example, slope) landform be transitioned into different characteristic (for example, have a down dip, Flat site etc.) identical landform.Using storage in storage device (such as the storage device 22 of VCU16) by features of terrain The look-up table being associated with setting speed and driving torque or other data structures, can determine in order in new landform to Driving torque needed for hoping setting speed or goal-setting speed propulsion vehicle, and the determination is subsequently based on, can be just current Whether the driving torque for being applied is beyond in order to keep in the new features of terrain driving torque needed for the setting speed of vehicle to do Go out further judgement.If currently applied driving torque surpasses beyond the driving torque needed for new features of terrain or at least Driving torque scheduled volume needed for going out new features of terrain, then can determine that one or more wheels of vehicle have passed over or will Cross the obstacle related to landform.It will be appreciated, therefore, that can be performed using various types of information related to landform Step 104, this includes but is not limited to the information related to landform described above.

In example at step 104 in mode described immediately above using the information related to landform, step 104 Can include：One or more operations of vehicle are monitored using one or more electric signals for representing the information related to vehicle Parameter and/or the information related to the landform that vehicle is being passed through；Be based at least partially on monitored operating parameter and/or The information related to the landform that vehicle is being passed through senses the change of the landform that vehicle is being passed through；And at least part of ground Determine that one or more wheels of vehicle have passed over obstacle or will surmount obstacles in the change of the landform for being sensed, and And it is thus determined that need to reduce what is applied in order to the speed of vehicle to be maintained at the goal-setting speed of speed control system Driving torque.

Although it will be appreciated by those skilled in the art that giving for judging that one or more wheels of vehicle are Some examples that the obstacle that vehicle crossing still will extend over the technology of the obstacle that vehicle is being crossed are crossed, it is also possible to Use the technology in addition to those described above technology.These technologies can be directed to use with except it is described above with Various types of and vehicle outside the related information of vehicle or substituting the information related to vehicle described above is related Information, such as can assess in the execution of step 104 and use the operation with the various other or replacement of vehicle The related information of parameter is (for example, the transmission of the power train (for example, PTU or speed changer) of ride-height, vehicle with such as vehicle The related parameters such as the AD HOC (for example, orographic model) operated than, vehicle slip or rotation, tire pressure, vehicle Related information).Therefore, the present invention is not intended to be limited to use any specific information.In embodiments, step 104 Function can be performed by VCU16, and especially for example as the PID controller realized in VCU16 in the way of software The part of operation perform, and in other embodiments, the function of step 104 can be by the other suitable of vehicle 10 Part perform.Therefore, the invention is not restricted to perform step 104 by any one particular elements or equipment of vehicle 10.

Got over if determining or detecting no one of wheel of vehicle wheel at step 104 and have passed over vehicle The obstacle crossed will extend over the obstacle that vehicle is being crossed, then in embodiments, method 100 be back to step 102 and The set method is repeated in mode described above.If however, determining at step 104 or detecting of vehicle or many Individual wheel has passed over obstacle or will surmount obstacles, then method 100 is moved to step 106, and the step 106 is included automatically One or more wheels in the wheel to vehicle are instructed to apply deceleration torque.Commanded deceleration torque is used to offset any hair Motivation or PWTN hypervelocity and the hypervelocity may be on the adjoint influences of the speed of vehicle；In other words, deceleration torque is made With for offset vehicle PWTN subsystem overspeed condition influence, in order to avoid make vehicle speed increase (for example, with The speed of vehicle is substantially maintained as example to be equal to or less than goal-setting speed).In embodiments, in step 106 The applying of deceleration torque be the reduction for combining commanded applied driving torque (for example, the applied driving of increase is turned round The ratio that square reduces or reduces) come what is completed, therefore, at least some of example, step 106 can include making deceleration torque Applying balances each other with the reduction of the driving torque for being applied.The applied driving torque of reduction (or increase driving torque reduction Ratio) itself may be not enough to prevent or at least significantly limit to exceed reason of goal-setting speed be internal combustion hair Response of the motivation to the change of speed control signal generally exists delayed.More specifically, due to the physical property of explosive motor, Torque output tends to lagging behind torque demand.For example, when torque demand is changed from high to low, the spinning momentum of engine is by moment of torsion Output keeps virtual height untill engine has the time to slow down and.Unless made to start by clutch or other similar devices Machine is disengaged with wheel and is connected, and the response lag of engine can show as PWTN in itself otherwise when vehicle surmounts obstacles Or racing of the engine.Although it is slow that the PWTN/engine of vehicle is generally responded, the applying of deceleration torque is generally responded Rapidly, thus can be used for offset PWTN overspeed condition.

Step 106 can include that instruction applies deceleration torque from one or more sources in many sources.For example, in reality Apply in mode, the brake subsystem 12 of vehicle 10 can be instructed₃Apply deceleration torque to one or more wheels of vehicle 10.Such as Fruit is suitably configured, PWTN subsystem 12₁Can also be commanded or alternatively be commanded to vehicle 10 Or multiple wheels apply deceleration torque indirectly.More specifically, in PWTN subsystem 12₁Including being configured to power A part for power train subsystem and/or one or more wheels of vehicle apply deceleration torque using or do not using braking Make one or more motors of vehicle deceleration in the case of subsystem --- for example it is operable as one or more electricity of generator Machine --- implementation method in, PWTN subsystem 12 can be instructed₁Apply deceleration torque.In other embodiments, Can be using the part in addition to brake subsystem and PWTN subsystem of vehicle 10, this is included, but not limited to, e.g. Slow drop control (HDC) system in the abrupt slope of vehicle, the power train of vehicle or speed changer (for example, speed change or change gearratio) etc..Cause This, it will be appreciated that, the present invention is not limited to any particular source of retarding moment, and can be to be used separately or in combination Any number of source applies deceleration torque or so as to one or many of vehicle 10 with to one or more wheels of vehicle 10 Individual wheel applies deceleration torque.

The specified quantitative of the deceleration torque being applied in through instruction in step 106 (and is obtained or applied (increase) Ratio) any number of factor can be depended on.These factors can include the drive for being applied for for example applying to wheel The specified quantitative of dynamic torque or measure, by need the driving torque for being applied required reduction measure and vehicle longitudinal direction The amount of the expectation acceleration that acceleration offset is limited by the acceleration profile of such as regulation (that is, deviates bigger, then deceleration torque It is bigger with the ratio that deceleration torque applies/increases).Can be using closed-loop control system (for example, performing the part of step 106 In software in PID controller implementation method) in any other suitable way using such as look-up table or other count Measuring and/or ratio for deceleration torque is determined according to structure or distribution map.

In embodiments, the automatic command of deceleration torque is applied in step 106 to be included automatically instructing to vehicle One or more wheels apply deceleration torque to offset PWTN to one or more wheels applying driving torque The influence of the overspeed condition in subsystem, so as to the speed of vehicle to be maintained at the goal-setting speed of speed control system.Such as Upper described, this can include for the speed of vehicle being held in goal-setting speed exactly or be maintained at the speed of vehicle Higher or lower than in the tolerance interval of goal-setting speed cause car speed be kept substantially in goal-setting speed.

In other implementation method, in step 106 apply deceleration torque automatic command include automatically instruct to One or more wheels of vehicle apply deceleration torque, the speed of vehicle are temporarily reduced into pre- less than goal-setting speed It is quantitative, and the applying of PWTN subsystem and deceleration torque is controlled thereafter so that the speed return of vehicle is (that is, extensive Again) to goal-setting speed.This crosses extremely precipitous obstacle in vehicle and user can not see the opposite side of obstacle It in the case of what is probably favourable to be.The speed less than goal-setting speed is temporarily slowed to by making vehicle, is used Person can preferably investigate or observation situation before being advanced with goal-setting speed.Therefore, car speed is reduced into less than mesh The time span for marking setting speed can be the duration for being enough to realize these purposes, and therefore for example can be to arrive within about several seconds several Ten seconds.Additionally, the specified quantitative of car speed reduction can be it is advance limit value (for example, certain mph. (kilometer is per small When) value), or can be alternatively the particular percentile (e.g., such as 10% to 50%) of goal-setting speed.Therefore, originally Invention is not limited to any one particular value or car speed reduction or any one particular value being reduced to).

Although below having specifically described some schemes for instructing and applying deceleration torque, it is to be understood that Any number of scheme, including the scheme in addition to scheme described above can be implemented.Therefore, the present invention is not intended to And be limited to any specific deceleration torque instruction and applying scheme.In embodiments, the function of step 106 can be by VCU 16 To perform, and especially for example held as a part for the operation of the PID controller implemented in the way of software wherein OK, and in other embodiments, the function of step 106 can by the other suitable components of vehicle 10 individually or with Performed in combination with VCU16.Therefore, the invention is not restricted to perform step by any one specific part or equipment of vehicle 10 106。

After the suitable deceleration torque instructed in step 106 is applied with, once it is determined that vehicle has been removed or got over Cross obstacle (for example, reach megalith top, gone out it is near coal-mine, be transitioned into low-resistance force environment completely from high resistant force environment), then can be by The deceleration torque to be applied reduction (for example, being reduced to zero substantially), and the drive that will can be applied are commanded in step 106 Dynamic torque stabilization is maintained at the value of goal-setting speed of speed control system being enough to the speed by vehicle.

Except the above, method 100 can also include many other steps.For example, in embodiments, in step 104 and/or step 106 before, method can include promoting (for example, instruction) to apply what is limited in advance to one or more wheels The step of benchmark deceleration torque or threshold value deceleration torque (not shown), the benchmark deceleration torque or threshold value of the advance restriction slow down Moment of torsion is used for example as damping force, and power transmission is resisted the damping force and worked during tying up to propulsion vehicle.Limit in advance Specific the measuring of deceleration torque will depend on such as particular vehicle, reason is various sizes of vehicle will need difference to measure Moment of torsion.However, in embodiments, the measuring for deceleration torque for limiting in advance will be enough to for example just make brake subsystem What pad and disk were contacted measures (for example, nominal about 3bar).In embodiments, can just be applied when speed control system starts Plus the benchmark deceleration torque for limiting in advance.Alternatively, can be only in response to the usable telecommunications for for example receiving in a step 102 Number and one or more conditions for detecting apply the benchmark deceleration torque of advance restriction.These conditions can include but not limit In：For lifting several possibilities, it is determined that surmounting obstacles (for example, megalith, step etc.)；Determine vehicle acceleration exceed by The expectation acceleration that the acceleration profile of regulation is limited；And/or determine applied driving torque it is existing through request or Actual unexpected and/or rising drastically.In the embodiment party for applying threshold value deceleration torque or benchmark deceleration torque as described above In formula, step 106 will include being adjusted threshold value or benchmark the deceleration torque that applies of the advance restriction by instruction To instruct one or more wheels to vehicle to apply deceleration torque.One advantage of such implementation method is to work as to perform step Brake subsystem has been started up when rapid 106, thus rapider and speed control is more accurate to respond system.In embodiments, Function described above can be performed by VCU16, and in other embodiments, function described above can be by car 10 other suitable part individually or in combination with VCU16 is performed.Therefore, the invention is not restricted to appointing by vehicle 10 One particular elements of meaning or equipment perform the step.

Method 100 can additionally or alternatively include to car before one of step 104 and step 106 or the two Brake subsystem started or loaded (instruction is started or loaded to the brake subsystem of vehicle).In other words, speed Degree control system can instruct brake subsystem to prepare to apply deceleration torque to one or more wheels of vehicle.In implementation method In, brake subsystem can be started in response to the situation for detecting.For example, can be in response to the driving torque for being applied or institute The increase of the driving torque of request starts brake subsystem beyond estimated rate, and the estimated rate can empirically be obtained It is arriving and can for example depend on type of vehicle.If for example, the increase for detecting constitutes the torsion for being applied as described above The rising unexpected, drastically of square, then can predict the reduction unexpected, drastically of asked moment of torsion or the moment of torsion for being applied May will occur, it is therefore contemplated that to need applying deceleration torque and start brake subsystem.Such implementation method One advantage is：When in step 106 instruct brake subsystem when brake subsystem will carry out the preparation of operation, thus make be The response of system is rapider and speed control is more accurate.In embodiments, function described above can be held by VCU16 OK, and in other embodiments, function described above can by the other suitable part of vehicle 10 individually or with VCU 16 is performed in combination.Therefore, the invention is not restricted to perform this by any one particular elements or equipment of vehicle 10 Step.

In the example of instruction deceleration torque in step 106, in one embodiment, after deceleration torque is instructed Method 100 terminates；However, in other implementation method, method 100 is iteration.It is the implementation method of iteration in method 100 In, method 100 is back to step 102 and repeats the set method as described above after step 106.This iteration or even Continuous process allows the precise control to the speed of vehicle.

Reference picture 6, and in order to provide being best understood to various aspects described above of the invention, will retouch now The non-limiting example or scheme of method 100 is stated to illustrate some aspects or all aspects in many aspects described above Application.Fig. 6 shows and distinguish according to the embodiment of the present invention when vehicle crosses the obstacle of such as megalith or step etc By vehicle PWTN subsystem and brake subsystem produce driving torque amount curve (curve P) and deceleration torque or The curve (curve B) of braking torque.

In time t<t₁Place, vehicle is by producing moment of torsion P₁Power transmission tie up to and moved in the landform of relatively flat.When Between t=t₁Place, vehicle runs into obstacle.Speed control system detects the speed of vehicle by the resistance of motion presented by obstacle Increase and cause the speed of vehicle to decline, and automatically require output of the increase from PWTN subsystem to keep car Setting speed.In some embodiments, speed control system temporarily reduces setting due to detecting obstacle presence The maximum permissible value of speed.In some cases, the speed can be less than driver's setting speed.

In time t=t₂Place, speed control system can determine the increase of required PWTN driving torque P and climb Climb that obstacle is consistent, and trigger the startup of vehicle brake subsystem.As described above, this is to subsequently detect arrival top Make brake subsystem in the case of portion and when subsequently detecting at the top of arrival ready relatively quickly to dispose. Time t=t₃Place, the relatively gentle actuating of speed control system instruction brake subsystem then reaches obstacle top with vehicle Portion and start in the case where the opposite side of obstacle is descending to provide a small amount of resistance to vehicle movement and reduce vehicle body plus The amount of speed.In time t=t₄Place, detects the increase of the car speed consistent with top is reached, and speed control system Immediate instruction reduces the amount of the driving torque P produced by PWTN subsystem.Speed control system also commanding actuator braking Subsystem with increase braking torque or deceleration torque B amount and make after instruction reduces PWTN driving torque P by Reduce in the amount of the car speed increase caused by PWTN response lag.

Once vehicle has been removed or surmounted obstacles, in time t=t₅Place, speed control system instruction by braking torque or Deceleration torque B is reduced to zero substantially, and PWTN driving torque P be stable at be enough to maintain car speed it is current At the value of setting speed.

It will be appreciated that being based on the above, among other things, system and method has an advantage that：Worn in vehicle More for example during obstacle the speed of vehicle can be held in goal-setting speed or remain closely goal-setting speed.Due to This accurate speed control, can keep the smoothness of vehicle and can improve automotive occupant comfort level.

It will be appreciated that the mode that implementation method described above is only through example is given and is not intended to limit this hair Bright, the scope of the present invention is defined in appended claim.The invention is not restricted to particular implementation disclosed herein, and It is only to be limited to the appended claims.Additionally, in addition to the situation of term or phrase specifically defined above, above The statement included in description is related to particular implementation without that should be interpreted as in the scope of the present invention or claim The limitation of the definition of the term for being used.To those skilled in the art, various other implementation methods and to disclosed The various changes and modifications of implementation method will be apparent.For example, because this method can include and step illustrated herein The step of compared to less, more or different step, combines, thus the particular combination and order of step are only that one kind can Can property.All such other embodiments, change and modification are intended in scope of the following claims.

As used in the present specification and claims, term " such as ", " such as ", " such as ", " such as " and " as " and verb "comprising", " having ", " including " and their other verb forms with one or more parts or other Item is interpreted as open when being used in combination, it means that this is listed item and is not considered as excluding portion other, in addition Part or item.Additionally, term " electrical connection " or " electrically connecting " and its modification be intended to comprising wireless type electrically connect and via one or Both electrical connections (wired connection) that multiple wires, cable or conductor are carried out.Other terms will use broadest reasonable sense To explain, unless they are used in the context for needing different explanations.

Claims

1. a kind of method that speed control system to the vehicle with multiple wheels is operated, including：

Receive one or more electric signals for the information for representing related to vehicle；

One or more electric signals of the information related to vehicle based on the expression are come in the wheel for determining the vehicle One or more wheels have passed over obstacle or will surmount obstacles, and determine therefore by need reduce pass through power transmission It is subsystem to the driving torque that one or more wheels in the wheel of the vehicle are applied with by the vehicle Speed is held in the goal-setting speed of the speed control system；And

Obstacle is had passed in response to one or more wheels in the wheel for determining the vehicle or will surmount obstacles, Keep automatically instructing the institute to the vehicle during the positive powertrain torque to the wheel of the vehicle at the same time One or more wheels in wheel are stated to apply deceleration torque to offset the shadow of the overspeed condition of the PWTN subsystem Ring, in order to avoid increase the speed of the vehicle.

2. the system that a kind of speed for the vehicle with multiple wheels is controlled, including：

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

One or more electric signals of the information related to vehicle based on the expression are come in the wheel for determining the vehicle One or more wheels have passed over obstacle or will surmount obstacles, and determine therefore by need reduce pass through power transmission It is subsystem to the driving torque that one or more wheels in the wheel of the vehicle are applied with by the vehicle Speed is held in the goal-setting speed of speed control system；And

One or more wheels in response to determining the vehicle have passed over obstacle or will surmount obstacles, and keep right at the same time One in the wheel to the vehicle is automatically instructed during the positive powertrain torque of the wheel of the vehicle Individual or multiple wheels apply deceleration torque to offset the influence of the overspeed condition of the PWTN subsystem, in order to avoid make described The speed increase of vehicle.

3. system according to claim 2, wherein, the electronic control unit is configured to by following manner come automatic Ground instruction applies deceleration torque：One or more wheels in the wheel to the vehicle are automatically instructed to apply torsion of slowing down Square is to offset the influence of the overspeed condition of the PWTN subsystem, so as to the speed of the vehicle is held in into the mesh Mark setting speed.

4. the system according to claim 2 or claim 3, wherein, the electronic control unit is configured under Mode is stated automatically to instruct applying deceleration torque：Automatically instruction apply deceleration torque so that the speed of the vehicle temporarily Have decreased below the goal-setting speed, and after this to the PWTN subsystem and the deceleration torque Applying is controlled to recover the goal-setting speed.

5. the system according to claim 2 or claim 3, wherein, the electronic control unit is configured under Mode is stated to determine that one or more wheels of the vehicle have passed over obstacle or will surmount obstacles：

One or more electric signals of the monitoring expression information related to vehicle, to determine in the driving torque liter for being applied It is a height of to reduce applied driving torque higher than request after predetermined value or ratio；And

One or more wheels for being based at least partially on the applied driving torque of request reduction to determine the vehicle are Surmount obstacles or will surmount obstacles.

6. the system according to claim 2 or claim 3, wherein, the electronic control unit is configured under Mode is stated to determine that one or more wheels of the vehicle have passed over obstacle or will surmount obstacles：

One or more of the vehicle are monitored using described one or more electric signals for representing the information related to vehicle Operating parameter；And

Be based at least partially on one or more operating parameters for the vehicle for monitoring determine one of the vehicle or Multiple wheels have passed over obstacle or will surmount obstacles.

7. system according to claim 6, wherein, the electronic control unit is configured to：Use the expression and car One or more electric signals of the information of correlation monitor the longitudinal acceleration of the vehicle；And described in the vehicle Longitudinal acceleration determines one or more wheels in the wheel of the vehicle when exceeding predetermined acceleration profile Through surmounting obstacles or will surmount obstacles.

8. system according to claim 6, wherein, the electronic control unit is configured to：Use the expression and car One or more electric signals of the information of correlation monitor the speed of the vehicle；And the vehicle speed exceed institute Determine that one or more wheels in the wheel of the vehicle have passed over obstacle or will get over when stating goal-setting speed Cross obstacle.

9. the system according to claim 2 or claim 3, wherein, the electronic control unit is configured under Mode is stated to determine that one or more wheels of the vehicle surmount obstacles：

One or more of the vehicle are monitored using described one or more electric signals for representing the information related to vehicle Operating parameter；

The operating parameter of the vehicle for monitoring is based at least partially on to sense changing for the landform that the vehicle is being passed through Become；And

The topographic change for sensing is based at least partially on come one or more wheels in the wheel for determining the vehicle Have passed over obstacle or will surmount obstacles.

10. the system according to claim 2 or claim 3, wherein, the electronic control unit is configured under Mode is stated to determine that one or more wheels of the vehicle have passed over obstacle or will surmount obstacles：

Monitored using described one or more electric signals for representing the information related to vehicle and to be passed through with the vehicle The related information of landform；

The information related to the landform that the vehicle is being passed through that monitors is based at least partially on to sense the vehicle just In the change of the landform passed through；And

11. system according to claim 2 or claim 3, wherein, the electronic control unit is configured under Mode is stated automatically to instruct the one or more of wheels to the vehicle to apply deceleration torque：Automatically instruction increase to The deceleration torque that one or more of wheels of the vehicle apply.

12. system according to claim 2 or claim 3, wherein, the electronic control unit is configured under Mode is stated automatically to instruct the one or more of wheels to the vehicle to apply deceleration torque：Automatically instruct the car The PWTN subsystem and one of brake subsystem or the two with to the one or many of the vehicle Individual wheel applies deceleration torque.

13. systems according to claim 12, the system is arranged for motor vehicle driven by mixed power, wherein, the electricity Sub-control unit is configured to automatically instruct the PWTN subsystem to apply deceleration torque by motor.

14. system according to claim 2 or claim 3, wherein, automatically instructing to the vehicle described one Before individual or multiple wheels apply deceleration torque, the electronic control unit is further configured to make the braking of the vehicle System starts.

15. systems according to claim 14, wherein, the electronic control unit is configured in response to the drive for detecting The increase of dynamic torque starts the brake subsystem of the vehicle beyond estimated rate.

16. system according to claim 2 or claim 3, wherein, in response to will need to reduce applied driving Moment of torsion is detected that the electronic control unit is also configured so that the speed of the vehicle is held in into the goal-setting speed The driving torque applied at one or more of wheels of the vehicle is reduced into automatically instruction.

17. systems according to claim 16, wherein, the electronic control unit is further configured to：Make reduction described In the driving torque applied at one or more wheels in the wheel of vehicle and the wheel to the vehicle One or more wheels apply the deceleration torque and balance each other, to offset the shadow of the overspeed condition of the PWTN subsystem Ring, in order to avoid increase the speed of the vehicle.

A kind of 18. vehicles, the vehicle has multiple wheels and including according to any one of claim 2 to 4 System.