CN107351825A - The speed control system of vehicle and the method for operating it - Google Patents

Abstract

The invention provides the speed control system of vehicle and the method for operating it.The system includes：For the device for automatically making vehicle be operated according to target speed value；For receiving the device with least a portion of occupant relative to the relevant information of the movement of vehicle；And for automatically regulating the device of the value of target speed value according to the information, wherein the device for being used to automatically make vehicle be operated according to target speed value includes electric controller, the electric controller is configured to automatically make vehicle be operated according to target speed value, and wherein this is used to receiving and includes the electric controller relative to the device of the relevant information of the movement of vehicle with least a portion of occupant, the electric controller is configured at least a portion of reception expression occupant relative to the electric signal of the movement of vehicle.

Description

The speed control system of vehicle and the method for operating it

The application is the Chinese Application No. 201380053902.5 that applicant submits to Patent Office of the People's Republic of China, PCT worlds Shen Please number be PCT/EP2013/067202, the applying date is August in 2013 16, entitled " improvement of car speed control " Application for a patent for invention divisional application.

The cross reference of related application

Co-pending UK Patent Application GB1214651.0 and GB1202879.1 content is incorporated herein by reference. U.S. Patent number US7349776 and co-pending International Patent Application PCT/EP2013/053385 content are by quoting simultaneously Enter herein.UK Patent Application GB1111288.5, GB1211910.3 and GB1202427.9 content are also by being incorporated by this Text.

Technical field

The present invention relates to the system for controlling car speed.Specifically, but not exclusively, the present invention relates to for controlling The system of the speed of continental rise (land-based) vehicle processed, the ground-based vehicle can be in various different and extreme landform and condition Lower driving.

Background technology

In the known vehicle speed control system of commonly referred to as cruise control system, once user is provided with car speed And in the case where user is without further intervening, on the way the car speed is kept, come with will pass through reduction workload Improve the driving experience of user.Cruise control can when vehicle is in desired speed by vehicle driver generally by by Button is pressed to set.The plus button and the Minus button provide incremental velocity change, while set cruise control.Generally less than pre- Cruise control can not be enabled in the case of constant speed degree such as 30kph, to avoid being used in off-highway (non-highway) driving, Such as in urban environment.

When user has selected the vehicle speed to be kept, as long as user does not apply braking or with manual transmission Vehicle in the case of do not depress clutch pedal, vehicle is always maintained at being in the speed.Cruise control system, which obtains, carrys out autobiography The rate signal of moving axis velocity sensor or vehicle-wheel speed sensor.When brake or clutch are depressed, cruise control system Unite disabled, so as to user can be covered in the case of the not resistance from system (override) cruise control system with Change car speed.If user depress accelerator pedal, car speed increase, once but user from accelerator pedal move His pin is opened, vehicle is then returned to the cruising speed pre-set by coast (coasting).

Such system generally only can be higher than certain speed, typically about 15kph to 20kph, in the case of enter Row operation, and be under stable traffic and particularly in the case of highway or running on expressway in vehicle Preferably.However, under the hustle traffic situation that car speed tends to be widely varied, cruise control system is inefficient, spy It is not in the case where causing system not operate due to minimum speed requirement.Usually apply minimum speed to cruise control system Degree requires, to reduce the possibility of low speed collision when for example stopping.Therefore, such system is in some riving condition (examples Such as low velocity) under be inefficient, and user may think that it is undesirable so do in the case of, system is configured to automatic It is disabled.

More complicated cruise control system is incorporated into engine management system, and the cruise control system can include Consider the adaptation function with the distance of preceding vehicle using based on the system of radar.For example, vehicle can be provided with prediction Property radar sensing system, enabling detect the speed and distance of preceding vehicle, and can keep automatically safe with speed Degree and distance, inputted without user.If front vehicles are slowed down, or if detect another mesh by radar sensing system Mark, then system is to engine or brakes transmission signal, so that vehicle correspondingly slows down, so as to keep safe following distance.

Wheelslip is being detected, it is necessary to the intervention of TCS (TCS) or stabilitrak (SCS) In the case of, also eliminate known cruise control system.It is thus known that cruise control system be not very suitable in these events Vehicle is kept to advance when being driven under cross-country condition that may be relatively common.

Some vehicles are suitable to cross-country use, and are expected for such vehicle to provide low cruise control, to cause Allow to keep advancing in rugged topography.Cruise control can enable driver particularly new hand driver under cross-country condition It is absorbed in the action such as steering.

In practice off-highway situation differs widely, therefore desirable for, can adaptive mode apply cruise control, It is preferably able to allow appropriate maximum travelling speed.

Exactly under this background, it is proposed that the present invention.Embodiments of the present invention can provide one kind and solve above-mentioned ask Device, method or the vehicle of topic.According to following description, claims and accompanying drawing, other objects of the present invention and advantage It will be apparent.

It is also known that provide a kind of control system for being used to control the motor vehicles of one or more vehicle subsystems System.US7349776 discloses a kind of vehicle control system for including multiple subsystem controllers, the plurality of subsystem controller bag Include engine management system, gearbox controller, steering controller, brake monitor and suspension controller.Subsystem controller It can each be operated with multiple subsystem function patterns.Subsystem controller is connected to vehicle mode controller, the vehicle Mode controller control subsystem controller takes required functional mode, so as to provide multiple driving models to vehicle.Each Driving model corresponds to specific riving condition or one group of riving condition, and under each pattern, each subsystem is set Into the functional mode for being most suitable for these conditions.These conditions are related to the terrain type that vehicle drive passes through, such as meadow/sand Gravel/snowfield, slob, rock are creeped, sand ground and are referred to as " separate procedure close (special programs off, SPO) " Highway pattern.Vehicle mode controller can be referred to as landform response (TR) (RTM) system or controller.Driving model may be used also To be referred to as orographic model, landform response modes or control model.

The content of the invention

In the claimed one side of the present invention, there is provided a kind of speed control system for vehicle, the speed control System processed includes：For the device for making vehicle be operated according to target speed value automatically；For receiving with vehicle body extremely At least a portion of at least part of movement or occupant relative to the relevant information of the movement of vehicle device；And use In the device that the value of target speed value is automatically adjusted according to described information.

The part of occupant can be head or any other suitable part.

Alternatively, for automatically making the device that vehicle is operated according to target speed value include being configured to automatically The electric controller for making vehicle be operated according to target speed value.

Alternatively, for receive with least a portion of at least one of movement of vehicle or occupant relative to The device of the relevant information of the movement of vehicle includes the electric controller, and the electric controller, which is configured to receive, represents vehicle At least a portion of at least one of movement or occupant relative to the movement of vehicle electric signal.

For the electric controller can be included to automatically regulate the device of the value of target speed value according to described information, The electric controller is configured to output to automatically regulate the signal of the value of the target speed value.

It is to be understood that controller can include multiple computing devices, electric control unit etc..That is, the present invention Embodiment includes control system, in the control system, is distributed according to the required function of the present invention between multiple controllers.

Advantageously, the controller is configured to determine based in part on the signal of comfort level measured by expression Target speed value, the signal of comfort level is based in part at least one of of vehicle body measured by the expression Mobile or occupant at least one of movement determines.

In some embodiments, comfort quantity or stimulation degree parameter can be referred to as by representing the signal of comfort level. Comfort quantity or stimulation degree parameter can provide the directly measuring of occupant's movement or provide and be moved with reference to vehicle body Indirect measurement.

The controller can be further configured to come based in part on the signal of comfort level measured by expression It is determined that the amount that target velocity is adjusted from currency.

Advantageously, the controller may be configured to based in part on vehicle body pitching angular acceleration, vehicle Main body roll angle acceleration and vehicle body fluctuating acceleration determine the target speed value.

The controller may be configured to based in part on vehicle body pitching angular acceleration, vehicle body inclination Angular acceleration and vehicle body fluctuating acceleration determine the value of the signal of the expression comfort level.

The controller may be configured to always according to the movement with vehicle in landform it is associated, selected from parameters described below In at least one parameter determine the target speed value：Steering angle；Car speed；Steering as the function of car speed Angle；The value of driving surface side slope；The driving surface gradient；And vehicle suspension is hinged or the amount of suspension distortion.

The controller may be configured to determine the maximum speed value derived from comfort level and at least one other maximum Velocity amplitude, the maximum speed value derived from comfort level depend on the signal of comfort level measured by the expression, the system It can be operated so that the value of target velocity is configured to the maximum speed value derived from comfort level and described at least one Smaller in other maximum speed value.

Advantageously, at least one other maximum speed value includes it is expected that the maximal rate of traveling is corresponding with user User define velocity amplitude.

Alternatively, at least one other maximum speed value includes such velocity amplitude：The velocity amplitude is suitable In the maximal rate of the instantaneous value of the associated at least one other parameter of the movement with vehicle in landform.

At least one parameter can include for example steering angle, car speed, as car speed function steering Angle, the value of driving surface side slope, the driving surface gradient and vehicle suspension are hinged or the amount of suspension distortion.

One or more maximum speed value can be for one or more parameters set-point empirically The value of determination.

Alternatively, the controller is configured to iteratively adjust the value of target velocity, to reduce measured by described represent Difference between the signal and setting or setting scope of comfort level.

Advantageously, the controller may be configured to the value of the signal of comfort level according to measured by the expression to count Calculate and it is expected vehicle acceleration or the value that speed changes, so as to adjust the value of target velocity to reduce comfortable water measured by described represent Difference between flat signal and setting or setting scope.

The system can calculate the desired value for the vehicle acceleration that can put on vehicle, so that vehicle is with following speed Degree traveling：At such speeds, the comfort quantity has setting or in the range of setting.

The value of vehicle acceleration can be configured to：When the signal of comfort level measured by expression is in the range of the first value For just, and when the signal of comfort level measured by expression is in the range of the second value different from the first scope it is negative.

Embodiments of the present invention have the following advantages that：It can be adjusted according to vehicle body movement or occupant's movement Section vehicle control device makes the speed that vehicle is operated, so as to attempt to make the value of the signal of comfort level measured by expression to remain Setting or in the range of setting.

As noted above, the applicant has determined that vehicle body movement is that highly useful occupant's comfort level refers to Mark, because occupant's movement is directly related with vehicle body movement.

The electric controller may be configured to receive user's input electrical signal, and input telecommunications based on the user Number, the controller can be further configured to manipulate the amount that the target speed value is conditioned.

The user's input electrical signal for the amount being conditioned to manipulation of objects velocity amplitude can by control handle, touch-screen, Button or any other suitable device input.

Alternatively, based on user's input electrical signal, the controller, which is configured to manipulate measured by the expression, to relax The value of suitable horizontal signal, so as to control the amount that the target speed value is conditioned.

Therefore, the system can allow system to improve the comfort level that automotive occupant is enjoyed, or reduce comfortable water It is flat.In some embodiments, therefore this feature can be described as comfort level setting.

Instead of directly changing the value for the signal for representing comfort level, the system can change the value with reference to comfortable angle value. The system may be configured to by the signal of comfort level measured by expression compared with reference to comfortable angle value, to determine mesh How much mark velocity amplitude regulation.

Therefore, based on user's input electrical signal, the controller may be configured to manipulate the value of reference signal, institute Controller is stated to be further configured to by the reference signal compared with the signal of comfort level measured by representing, so as to control The amount that the target speed value is conditioned.

The controller may be configured to the comfort level according to measured by the manipulation value of the reference signal with the expression Signal between difference control the amount that the target speed value is conditioned.

The controller may be configured to adjust the target speed value according to the data relevant with seat occupancy.

The system may be operative to：If occupant in addition to driver also be present, referring for example to multiplying in seat Objective detector, with reference to seat belt buckle status or any other suitable device the value of target velocity is adjusted to lower value.

In one embodiment, the system is additionally provided with memory.Speed control system may be operative to：Record with User for automatically adjusting the device of target speed value to have adjusted how many relevant data；And adjusted when specified conditions meet With the data.Such as the system can be associated with specific user by data, and identifying that user is the occupant of vehicle Such as the data are called during driver.The system may be operative to by facial-recognition security systems or any other suitable dress Put, made a distinction between users based on the peculiar mark associated with keyfob memory (key fob).

In operation, the system may be configured to how governing speed control comfort level is set is recorded in and deposits by user In reservoir.For example, the given amplitude or frequency of the vehicle body movement or vibration caused by the landform passed through for vehicle drive, How user adjusts comfort level setting.

If user's covering system by adjusting to be used to automatically adjust the device of target speed value increase car speed The fact that greatly or reduce, then can be capped system stores in memory.Look-up table can be updated, or can be generated The specific lookup table associated with the driver.Look-up table includes the data relevant with the car speed that user is asked, as Such as the function of Vehicular vibration characteristic.In some embodiments, speed control system only repeats covering system in user In the case of update stored data.

It is to be understood that when user is in independent drive usually using cross-country speed control system in the case of, Yong Huke Less vehicle stabilization degree (and therefore, the vehicle body of higher level is mobile or occupant moves) is received with selection, with Just vehicle is driven with fast speed in given surface.When user is controlled to vehicle, the movement of vehicle be likely to by with Family is considered as the expection for meeting them and therefore can received.In addition, driver can lean on steering wheel make he or she itself it is steady It is fixed, and therefore driver can tolerate that the vehicle body that may be felt comfortably cool than passenger moves bigger vehicle body and moved It is dynamic.The movement of identical vehicle or vibration may be considered as unacceptably uncomfortable by the passenger not being controlled to vehicle 's.In order to make up this point, in some embodiments, when system detectio to vehicle carries one or more passengers, it is The speed shaping modes that system acquiescence comfort level and stability are oriented to, are arranged to stop unless and until user manually covers this.

In the case of user's coverage speed control system, this represents that their speeds of sensation are too high, and system can determine to use Family selection covering system is because the feature for the landform that vehicle drive passes through or because influenceing the other of vehicle body movement Factor.The example of such factor can be the action of driver, such as on it will not cause the excessively uncomfortable landform of user The racing of steering wheel.In some embodiments, system can contemplate vehicle roll angle；For example, if vehicle drive is through tiltedly Slope, then user may be more sensitive to following facts：Vehicle is tilted on its longitudinal axis, and even if landform relative smooth is also required to System, which reduces, sets speed.

Represent steering wheel angle it will consequently be understood that speed control system can be configured to record, road wheel can be turned to Angle or steering wheel angle and can turn to one of road wheel angle or the rate of change of the two, alternatively vehicle roll angle, The data of transverse acceleration etc., and can determine user select coverage speed control system with reduce set speed be it is independent because For terrain roughness or because the combination of terrain roughness and one or more other specifications of influence main body movement.System It can be configured to consider whether be just loaded with passenger when user is intervened and sets speed to reduce.The situation of passenger be not loaded with Under, if vehicle can determine to run into similar situation when being loaded with passenger in the future, speed can will be set to be decreased to compare user The horizontal lower level that speed is reduced to is set when being independent occupant.In addition, system may be operative to detect in the future Influence to reduce during the decreasing value for one or more parameters that vehicle body rolls and speed is set, this meets passenger may be than driving The person of sailing can not tolerate the expection of some main body movements.In addition, such action is probably careful, also as there is one Or more passenger when vehicle center of gravity may rise, result is that vehicle body movement is becoming when being travelled in some landform Gesture increases.In this way, when vehicle is in speed control system (for example, low speed is advanced (LSP) control system and/or cruise control System) control under when, vehicle body movement can be managed at least in part, with to keep the demand of good cross-country traveling with The needs for managing some factors are balanced, and some factors may influence or the comfort level of each occupant of vehicle is acted as With.

In one embodiment, the operation of LSP control systems represents the data of the seat occupancy of vehicle for reception.Namely Say, data represent whether the given seat of the vehicle in addition to operating seat is occupied.For example, LSP control systems can be with Receive the data corresponding to the state of switch embedded in the belt buckle associated with each seat.If the shape of switch State represents that buckle is clasped, then LSP control systems think the lose one's seat use associated with the buckle.If the state table of switch Show that buckle is disengaged, then LSP control systems can consider that the seat associated with the buckle is unoccupied.Seat occupancy can lead to The sensor crossed in each seat determines, or by means of being arranged to observe internal infrared of crew module (such as compartment) or can Light camera is seen to determine.For determining that other devices of seat occupancy are also useful.The memory of LSP control systems or with The associated memory of LSP control systems can be divided into storage to be had with multiple known drivers and their associated preference The data of pass.System can be arranged to by identification from seat adjustment position, user's specific keys fall memory identity or other One of selection identifies driver in known devices.In an arrangement, camera can be provided to determine occupant relative to car Movement, and such information be included in vehicle-related information definition in.Shifting that can be by occupant relative to vehicle One or more in dynamic amplitude and frequency determine comfort level.

In some embodiments, according to the determination for exceeding predetermined threshold to vehicle body acceleration, applied automatically by system The target velocity or maximal rate (setting rate limitation) added can be based on duration and vehicle behavior come automatically by system Adjustment.This can be used for improving the stability of vehicle and is used as independently of the defeated of one or more vehicle-wheel speed sensors Out determine the device of vehicle movement.This is useful in the case where no two wheel velocity readings match each other.

The feature can be with the multiple vehicle modifications set with different bearing springs/damper, and can be with In the vehicle changed over time used in its characteristic.Using vehicle body acceleration analysis speed control system can be made not to be bound In particular vehicle or suspension modification.

System can also include imaging device, and the imaging device is used at least one of shifting for monitoring passenger's body It is dynamic.The imaging device can be camera apparatus.

In the claimed another aspect of the present invention, there is provided a kind of vehicle including according to foregoing aspects of system.

In the claimed another further aspect of the present invention, there is provided a kind of method for the speed control system for operating vehicle, institute The method of stating includes：Automatically vehicle is set to be operated according to target speed value；Receive at least one of shifting with vehicle body Dynamic or occupant at least a portion is relative to the relevant information of the movement of vehicle；And automatically adjusted according to described information Save the value of target speed value.

Methods described can also include：Target speed is determined based in part on the signal of comfort level measured by expression Angle value, the signal of comfort level measured by the expression be based in part on vehicle body at least one of movement or At least one of movement of person occupant determines.

Methods described can include：Come based in part on the signal of comfort level measured by the expression it is determined that The amount that the target velocity is adjusted from currency.

Advantageously, methods described includes：Based in part on vehicle body pitching angular acceleration, vehicle body angle of heel Acceleration and vehicle body fluctuating acceleration determine target speed value.

It is further advantageous that methods described includes：Based in part on vehicle body pitching angular acceleration, vehicle body Roll angle acceleration and vehicle body fluctuating acceleration determine the value of the signal of the expression comfort level.

Methods described can include always according to the movement with vehicle in landform it is associated, in parameters described below extremely Lack a parameter to determine target speed value：Steering angle；Car speed；Steering angle as the function of car speed；Drive table The value on surface side slope；The driving surface gradient；And vehicle suspension is hinged or the amount of suspension distortion.

Methods described can include：It is determined that maximum speed value and at least one other maximal rate derived from comfort level Value, the maximum speed value derived from comfort level depend on the signal of comfort level measured by the expression, and target is fast The value of degree is arranged to smaller in the maximum speed value and at least one other maximum speed value derived from comfort level Person.

At least one other maximum speed value can include it is expected that the maximal rate of traveling is corresponding with user User defines velocity amplitude.

At least one other maximum speed value can include such velocity amplitude：The velocity amplitude be suitable for The maximal rate of the instantaneous value of the associated at least one other parameter of movement of the vehicle in landform.

Methods described can also include：Iteratively adjust the target speed value, with reduce represent measured by comfort level Signal and setting or setting scope between difference.

Methods described can also include：Expectation vehicle is calculated according to the value of the signal of comfort level measured by the expression The value that acceleration or speed change so that adjust the value of target velocity with reduce the signal of comfort level measured by described represent with Difference between the setting or setting scope of comfort level.

Methods described can also include：The amount that the target speed value is conditioned is manipulated based on user's input.

Alternatively, the amount that manipulation of objects velocity amplitude is conditioned includes：Manipulate the signal of comfort level measured by the expression Value, so as to control the amount that the target speed value is conditioned.

Methods described can include：Manipulate the value of reference signal and will be relaxed measured by the reference signal and the expression The signal of appropriateness is compared, so as to control the amount that the target speed value is conditioned.

Methods described can include：According to the signal of comfort level measured by the manipulation value of the reference signal and the expression Between difference control the amount that the target speed value is conditioned.

Methods described can also include：The target speed value is adjusted according to the data relevant with seat occupancy.

Methods described can include：At least one of movement of automotive occupant body is monitored using imaging device.

In the claimed another aspect of the present invention, there is provided a kind of mounting medium of load capacity calculation machine readable code, institute Computer-readable code is stated to be used to control vehicle to perform according to foregoing aspects of method.

In the claimed one side of the present invention, there is provided a kind of speed control for vehicle realized by controller Method, methods described includes：Vehicle is automatically set to be operated according to target speed value tgt_speed；Obtaining occupant stimulates Spend parameter Psng_Excit value；Vehicle target acceleration tgt_accel value is calculated according to Psng_Excit value, it is described Tgt_accel value for just, and is in and the first scope when Psng_Excit is in the range of the first value in Psng_Excit It is negative when in the range of different second values, Psng_Excit value moves in response to vehicle body；And always according to tgt_accel Value automatically operated vehicle.

Embodiments of the present invention have the following advantages that：It can be caused according to vehicle body movement to adjust vehicle control device Vehicle operated institute according to speed, so as to attempt to make Psng_Excit value to remain setting or in setting scope It is interior.

Can by speed increment (or increment be it is negative in the case of be decrement) in the form of generate aimed acceleration, institute State speed increment and be also referred to as speed variables (delta).Speed increment or variable can it is expected the brush in such as system Change the amount of car speed in the preset time section in new cycle or speed control update cycle, and therefore correspond to acceleration. The cycle can be that system is used to be turned round to reach the required target vehicle velocity of required target speed value or required wheel Period between the issue (issuance) of the updated value of square.

The applicant has determined that vehicle body movement is highly useful occupant's comfort level index, because occupant moves Moving can be related to vehicle body movement.Therefore the value of occupant's stimulation degree parameter may be considered that representing user is experienced comfortable Horizontal measurement.

It is to be understood that the reference to abbreviation term such as Psng_Excit and tgt_accel be understood not to it is restricted , but in order that description simplicity and understandable purpose.

It is to be understood that controller can include multiple computing devices, electronic control unit etc..It is that is, of the invention Embodiment include control system, in the control system, according to the present invention required function be distributed in multiple controllers it Between.

Embodiments of the present invention have the following advantages that：Car can be made to adjust vehicle control device according to vehicle body movement Operated institute according to speed, so as to which the value attempted Psng_Excit remains setting or in the range of setting.

The applicant has determined that vehicle body movement is highly useful comfort of passenger index, because passenger's body is moved It is dynamic directly related with vehicle body movement.

It is to be understood that controller can include multiple computing devices, electronic control unit etc..It is that is, of the invention Embodiment include control system, in the control system, according to the present invention required function be distributed in multiple controllers it Between.

This method can include：In the case where being limited by car speed no more than tgt_speed, make vehicle with tgt_ The speed that accel value is corresponding accelerates.

Therefore, the value of tgt_accel determined by the value according to Psng_Excit is put on car speed by controller, but It is to make car speed using tgt_speed value as the upper limit.This feature has the following advantages that：Controller can advantageously limit vehicle Speed, the value between the first value scope and second value scope is remained with the value attempted Psng_excit.Can will be first The value of Psng_excit between value scope and second value scope be arranged to be determined in advance as corresponding to occupant's comfort level can The value of acceptance level.Described value can be determined to provide acceptable compromise between occupant's comfort level and vehicle traveling. That is, it is assumed that Psng_excit value changes with car speed in a manner of the reduction with occupant's comfort level is corresponding, So that Psng_excit value is higher (or lower), the uncomfortable amount that automotive occupant is experienced is bigger.

First value scope can limit Psng_Excit value scope with second value scope, for the Psng_Excit's It is worth scope, tgt_accel value is substantially zero.

If it is to be understood that in given time tgt_accel the value speed or speed model of the vehicle that are substantially zero The value less than tgt_speed is enclosed, then controller is by under the value for the car speed for attempting to be substantially zero tgt_accel value Drop.

If Psng_Excit value is then changed to following values in this case, car speed will be improved to value Tgt_speed, and even if tgt_accel value can correspond to the positive acceleration of vehicle, also make car speed with the speed For the upper limit, for described value, the value or value scope of the speed that tgt_accel is substantially zero are more than tgt_speed.

This method, which can be included in the range of each value in Psng_Excit the first value scope and second value scope, to be changed Become tgt_accel value, with Psng_Excit instantaneous value and the Psng_ between the first scope and the second scope The increase of poor amplitude between Excit value, the value corresponding towards the value of the tgt_accel with being substantially zero increase car The change speed of speed.

Therefore, because the difference increase between the speed that instantaneous velocity and tgt_accel value are substantially zero, so tgt_ Accel amplitude increase, so that the velocity amplitude that car speed is substantially zero with ever-increasing high-speed towards tgt_accel Change.

This method can include：Vehicle is set to be operated according to the target speed value of highway cruise control system.

Alternatively or additionally, this method can include：Make target speed of the vehicle according to off-highway cruise control system Angle value is operated.

This method can include：Vehicle is set to be operated according to the target speed value of off-highway cruise control system, including Continue to make vehicle be operated according to target speed value in the case where there is following wheelslip, wherein the wheelslip is sufficient So that vehicle slip control system is intervened to reduce wheel velocity, so as to reduce the value of wheelslip.

That is, merely because slip control system intervene to reduce wheelslip, so off-highway cruise Control system, which does not terminate, makes vehicle be operated according to target velocity.It is understood that conventional cruise control system is sliding Speed control is terminated when control system is intervened.Due to wheel slip event generally under off-highway riving condition it is more conventional, So (it does not cancel speed to off-highway cruise control system in the case where slip control system is intervened to reduce wheelslip Degree control) in terms of driver workload is reduced it is favourable.That is, driver can continue to be absorbed in, to drive vehicle same When slip control system try to reduce sliding, and off-highway speed control system continue to make vehicle according to tgt_speed and Tgt_accel main flow (prevailing) value is operated.

The system may be operative to allow to adjust the first and second value scopes, so as to allow regulation in given time user institute The comfort level of impression.

In the claimed one side of the present invention, there is provided a kind of speed control system for the vehicle realized by controller System, the system operatio are：Vehicle is automatically set to be operated according to target speed value tgt_speed；Occupant's degree of stimulation is obtained to join Number Psng_Excit value；Vehicle target acceleration tgt_accel value, tgt_ are calculated according to Psng_Excit value Accel value for just, and is in different from the first scope when Psng_Excit is in the range of the first value in Psng_Excit Second value in the range of when be negative, Psng_Excit value moves in response to vehicle body；And automatically make vehicle always according to Tgt_accel value is operated.

The system may be operative to make vehicle with the speed corresponding with tgt_accel value accelerate, alternatively, the speed Rate is substantially equal to tgt_accel value.

In the claimed another aspect of the present invention, there is provided a kind of speed control system for vehicle, including：For The device for automatically making vehicle be operated according to target speed value, for receive with least a portion of occupant relative to The device of the relevant information of the movement of vehicle, and for automatically regulating the value of the target speed value according to described information Device, wherein, the device for automatically making vehicle be operated according to target speed value includes electric controller, described Electric controller is configured to automatically make vehicle be operated according to target speed value, and wherein, it is described to be used to receive and multiply At least a portion of member's body includes the electric controller, the electric control relative to the device of the relevant information of the movement of vehicle Device is configured to receive the electric signal for representing at least a portion of occupant relative to the movement of vehicle.

In the claimed another aspect of the present invention, there is provided a kind of method for the speed control system for operating vehicle, institute The method of stating includes：Automatically vehicle is set to be operated according to target speed value；Receive relative with least a portion of occupant In the relevant information of the movement of vehicle；And automatically regulate based in part on the signal of comfort level measured by expression The value of the target speed value, the signal of comfort level measured by the expression be based in part on occupant at least The movement of a part determines.

In the claimed another aspect of the present invention, there is provided including the vehicle according to foregoing aspects of system.

The vehicle can have the terrain sensor for being used for automatically detecting one of multiple off-highway situations.

Within the scope of application, it is contemplated that various aspects, embodiment, example and the alternative of the application with And particularly their feature can be used independently or in a manner of its is any combination of.For example, with reference to an implementation Feature disclosed in mode can be applied to all embodiments, unless these features are incompatible.

Brief description of the drawings

Now with reference to accompanying drawing, the present invention is only described in an illustrative manner, in the accompanying drawings：

Fig. 1 is the schematic diagram of the plan view of vehicle according to the embodiment of the present invention；

Fig. 2 shows the side view of Fig. 1 vehicle；

Fig. 3 is the high-level schematic diagram of the embodiment of the vehicle speed control system of the present invention, and the car speed controls System includes cruise control system and low speed traveling control system；

Fig. 4 is the schematic diagram of the other feature of the vehicle speed control system in Fig. 3；

Fig. 5 shows the steering wheel, brake pedal and accelerator pedal of vehicle according to the embodiment of the present invention；

Fig. 6 is the value of the value depending on vehicle pitch acceleration, the value of vehicle roll acceleration and vehicle fluctuating acceleration To generate the schematic diagram of the control logic of occupant's stimulation degree parameter Psng_Excit value setting；

Fig. 7 is stored in vehicle target acceleration tgt_accel in look-up table, with the function as Psng_Excit The schematic diagram of relevant data；

Fig. 8 is to show the speed LSP_set- for being used to generate low speed control system according to the embodiment of the present invention The schematic diagram of the signal arrangement of speed value；

Fig. 9 is to show the speed cruise_set- for being used to generate cruise control system according to the embodiment of the present invention The schematic diagram of the signal arrangement of speed value；And

Figure 10 shows the console and (b) of (a) in vehicle according to the embodiment of the present invention according to this The plan in the main cabin of the vehicle of the embodiment of invention.

Embodiment

Reference to the block of such as functional block herein will be understood to comprise to for performing specified function or action The reference of software code, the specified function or action can be in response to the output provided in one or more inputs.Should Code can be the form of the software routines or function called by host computer program, or can be the part to form code flow Code, rather than individually routine or function.Reference to functional block is for the ease of explaining the behaviour of embodiments of the present invention Make mode.

Fig. 1 shows vehicle 100 according to the embodiment of the present invention.Vehicle 100 has dynamical system (powertrain) 129, dynamical system 129 includes engine 121, and engine 121 is connected to the power train (driveline) with automatic transmission 124 130.It is to be understood that embodiments of the present invention are applied also for manual transmission, buncher or any other conjunction The vehicle of suitable speed changer.

In the embodiment of figure 1, speed changer 124 can be arranged to by means of transmission mode selector dial plate 124S One of multiple transmission mode of operation, the plurality of transmission mode of operation are car-parking model, reversing mode, neutral mode, driven Sail pattern or motor pattern.Selector dial plate 124S provides output signal to powertrain controller 11, in response to the output signal, Powertrain controller 11 makes speed changer 124 be operated according to selected transmission modes.

Power train 130 is configured to drive a pair of front vehicle wheels by means of front differential mechanism 137 and a pair of front propeller shafts 118 111、112.Power train 130 also includes accessory drive pastern point 131, and accessory drive pastern point 131 is configured to by means of auxiliary Power transmission shaft promotes power transmission shaft (prop-shaft) 132, rear differential mechanism 135 and a pair of inter-axle shafts 139 to drive a pair of rear cars Wheel 114,115.

Embodiments of the present invention are configured to only drive a pair of front-wheels or only drive a pair of rear wheels suitable for speed changer Vehicle (i.e. f-w-d vehicle or rear wheel drive vehicle), or suitable for selectable two-wheel drive vehicle/four-wheel drive Vehicle.In the embodiment of figure 1, speed changer 124 is releasably connected to aid in by means of power transfer unit (PTU) 131P Power train portion 131, so as to allow the operation of two-wheel drive mode or four-wheel drive pattern.It is to be understood that the reality of the present invention The mode of applying goes for vehicle with more than four wheels or only two wheels (such as three-wheeled vehicle or four-wheel car Or two wheels of the vehicle with more than four wheels) powered vehicle.

Control system for car engine 121 includes：It is referred to as the central controller of control unit for vehicle (VCU) 10 10th, powertrain controller 11, brake monitor 13 and steering controller 170C.Brake monitor 13 forms brakes 22 Partly (Fig. 3).VCU 10 receives multiple signals from various sensor and the subsystem (not shown) being arranged on vehicle, and And export multiple signals to the various sensors and subsystem.VCU 10 includes low speed traveling (LSP) control shown in Fig. 3 System 12 and stabilitrak (SCS) 14.SCS 14 is by detecting and managing the losing to improve vehicle 100 of tractive force Security.When detecting the reduction of tractive force or course changing control, SCS 14 can be automatically brought into operation as order brake monitor 13 Using one or more brakes of vehicle, to help to guide vehicle 100 to advance along direction desired by user.Shown Embodiment in, SCS 14 is realized by VCU 10.In some alternative embodiments, SCS 14 can pass through system Movement controller 13 is realized.In addition alternatively, SCS 14 can be realized by single controller.

Although not being shown specifically in figure 3, VCU 10 also includes dynamic stability control (DSC) functional block, traction Power control (TC) functional block, slow drop control (HDC) functional block of anti-lock braking system (ABS) functional block and abrupt slope.These work( Can the software code that is run by VCU 10 computing device of block realize that and wheelslip thing is occurring for these functional blocks The output for representing following item is provided in the case of part from VCU 10 to engine 121：Such as DSC actions, TC are acted, ABS is acted, be right Brake regulation and the engine torque request of each wheel.Each representations of events in above-mentioned event has occurred and that wheelslip thing Part.Other vehicle subsystems can also be useful such as roll stability control system etc..

As it is indicated above, vehicle 100 also includes cruise control system 16, cruise control system 16 is operable to When vehicle is travelled with the speed more than 25kph, car speed is automatically kept as selected velocity.Cruise control system 16 is provided with Cruise control man-machine interface (HMI) 18, by the device, user can input target to cruise control system 16 in a known way Car speed.In embodiments of the present invention, cruise control system input controller is mounted to steering wheel 171 (Fig. 5).Can To open cruise control system 16 by pressing cruise control system selector button 176.When cruise control system 16 is opened When, cruise control is set speed parameter cruise_set-speed currency to set by pressure " setting speed " controller 173 For Current vehicle speed.Pressure the "+" button 174 increases cruise_set-speed value, and depressing "-" button 175 makes Cruise_set-speed value reduces.Recovery button 173R is provided with, it can be operated to be covered in driver Cruise control system 16 is controlled to continue the instantaneous value by speed control for cruise_set-speed afterwards.It is to be understood that bag The known road cruise control system for including the system 16 is configured so that in the case where user depresses brake or right In the case of depressing clutch pedal for the vehicle with manual transmission, cruise control function is cancelled, and is caused Vehicle 100 returns back to manual operation mode, and the manual operation mode needs the accelerator pedal of user to input to keep vehicle Speed.In addition, detecting that wheel slip event (it can be caused by losing tractive force) also has cancels cruise control function Effect.If driver then depresses recovery button 173R, the speed control of recovery system 16.

Cruise control system 16 monitors car speed, and is automatically adjusted with any deviation of target vehicle velocity, So that car speed is retained as constant value, the constant value is usually more than 25kph.In other words, it is low in speed In the case of 25kph, cruise control system is inefficient.Cruise control HMI 18 can be configured to via HMI 18 Visual displays alarm is provided a user with regard to the state of cruise control system 16.In the present embodiment, cruise control system 16 are configured to for cruise_set-speed value to be arranged to any value in the range of 25kph to 150kph.

LSP control systems 12 have also provided the user the control system based on speed, the control system based on speed Low-down target velocity is allowed a user to select, vehicle can be with the case where user does not require the input of any pedal The low-down target velocity is advanced.The highway cruise control system 16 only operated with the speed more than 25kph does not have Low speed speed control (or control of advancing) function is provided.

LSP control systems 12 are swashed by means of the LSP control systems selector button 172 on steering wheel 171 It is living.System 12 is operable to that selective dynamical system, polling power controlling and braking maneuver collectively or individually are put on into car 100 one or more wheels, desired speed is remained by vehicle 100.

LSP control systems 12 are configured to allow users to advance via low speed to control HMI (LSP HMI) 20 (Fig. 1, figure 3) desired value that speed parameter user_set-speed is set is inputted to LSP control systems 12, the low speed, which is advanced, controls HMI (LSP HMI) 20 shares some load button 173-175 with cruise control system 16 and HDC control systems 12HD.It is assumed that vehicle Speed the operation of LSP control systems allowed band (scope is scope from 2kph to 30kph in the present embodiment, But other scopes are also useful) in, and in the absence of other constraints for car speed, while in LSP control systems Under 12 control, LSP control systems 12 control car speed according to LSP set-up of control system velocity amplitude LSP_set-speed, The LSP_set-speed is configured to be substantially equal to user_set-speed.It is different from cruise control system 16, LSP controls System 12 is configured to be operating independently with tractive force event.That is, LSP control systems 12 will not detect Cancel speed control during wheelslip.But the active management vehicle behavior when detecting sliding of LSP control systems 12.

LSP controls HMI 20 is arranged in compartment, so that user easily accesses.The user of vehicle 100 can be via LSP HMI 20 are by means of " setting speed " button 173 and "+"/"-" button 174,175 with similar to cruise control system 16 Mode inputs the instruction of the speed (being referred to as " target velocity ") of user's expectation vehicle traveling to LSP control systems 12.LSP HMI 20 also include visual displays, can be provided a user on the visual displays with regard to the state of LSP control systems 12 information and Instruct.

LSP control systems 12 receive from the brakes 22 of vehicle and represent that user has been applied by means of brake pedal 163 The input of the degree of braking.LSP control systems 12 also receive from accelerator pedal 161 and represent that user has pressed accelerator pedal The input of 161 degree.Input from speed changer or gearbox 124 is also provided to LSP control systems 12.The input can wrap Include and represent such as letter of the sliding of the speed of the output shaft of gearbox 124, torque converter and gearratio (gear ratio) request Number.To LSP control systems 12 other input include from cruise control HMI 18, represent the state of cruise control system 16 The input of (unlatching/closing) and the input from LSP controls HMI 20.

VCU 10 HDC functional blocks form HDC systems 12HD part.When HDC systems 12HD is active, it is System 12HD control brakes 22 (ABS functional blocks form the part of the brakes 22) so as to by car speed be restricted to HDC sets the corresponding value of speed parameter HDC_set-speed value, and the value of the HDC_set-speed can be set by user Put.HDC sets speed to be also referred to as HDC target velocities.It is assumed that when HDC systems are active user not over Accelerator pedal is depressed to cover HDC systems, HDC systems 12HD controls brakes 22 (Fig. 3) to prevent car speed from exceeding HDC_set-speed.In the present embodiment, HDC systems 12HD is not operated to apply positive driving torque.But HDC systems 12HD is operated only as applying negative braking torque.

There is provided HDC system HMI 20HD, and by means of the HDC system HMI 20HD, user can control HDC systems 12HD, including HDC_set-speed value is configured.HDC system selectors button 177 is provided with steering wheel 171, By means of the HDC system selectors button 177, user can activate HDC systems 12HD to control car speed.

As described above, HDC systems 12HD operations set HDC to set speed parameter HDC_set-speed's for permission user Value, and it is to adjust HDC_set- using with cruise control system 16 and the identical controller of LSP control systems 12 to operate Speed value.Therefore, in the present embodiment, when HDC systems 12HD controls car speed, can be controlled using identical Button 173,173R, 174,175, will with the setting speed similar mode with cruise control system 16 and LSP control systems HDC systems set speed to increase, reduce or be arranged to the instantaneous velocity of vehicle.HDC systems 12HD operations are permission HDC_ Set-speed value is arranged to any value in the range of 2kph to 30kph.

If HDC system 12HD are have selected when vehicle 100 is travelled with 50kph or smaller speed, and without other Speed control system is operating, then the value that HDC_set-speed value is arranged to select from look-up table by HDC systems 12HD. The value exported by look-up table be depend on to currently selected change-speed gearing, PTU gearratios (Hi/LO) selected at present and Currently selected driving model identifies to determine.Then, it is assumed that driver is not over pressure accelerator pedal 161 HDC systems 12HD, HDC system 12HD applications dynamical system 129 and/or brakes 22 are covered so that vehicle 100 decelerates to HDC systems System sets speed.HDC systems 12HD is configured to be decelerated to vehicle 100 with the rate of deceleration no more than maximum allowable speed and set Put velocity amplitude.In the present embodiment, the speed is arranged to 1.25ms to 2ms, but other values are also useful.If User then depresses " setting speed " button 173, then HDC_set-speed value is arranged to instant vehicle by HDC systems 12HD Speed, it is assumed that instantaneous velocity is 30kph or smaller.If it have selected HDC when vehicle 100 is travelled with the speed more than 50kph System 12HD, then HDC systems 12HD ignores the request, and provides a user the request ignored instruction.

It is to be understood that VCU 10 is configured to realize known landform response (TR) (RTM) system of the above-mentioned type, at this VCU 10 is controlled to one or more Vehicular systems or subsystem according to selected driving model in landform response system The setting of (such as powertrain controller 11).Driving model can by user by means of drive mode selector 141S (Fig. 1) Lai Selection.Driving model is also referred to as orographic model, landform response modes or control model.In the embodiment of figure 1, carry Four kinds of driving models are supplied：" highway " driving model, it is suitable for driving on relatively hard and smooth driving surface, wherein Relatively high skin-friction coefficient between driving surface and the wheel of vehicle be present；" sand ground " driving model, it is suitable for more Driven in sand ground shape；" meadow, gravel or snowfield " (GGS) driving model, it is suitable for driving on meadow, gravel or snowfield； " rock is creeped " (RC) driving model, it is suitable for slowly driving on more rock surfaces；And " slob " (MR) drives Pattern, it is suitable for driving in muddy, canyon topography.Additionally or alternatively, other driving models can be provided.

In some embodiments, LSP control systems 12 may be in state of activation, holding state and "Off" state Any one.In active state, LSP control systems 12 are by controlling driveline torque and brakes moment of torsion to manage on one's own initiative Manage car speed.In the standby state, before user presses recovery button 173R or " setting speed " button 173, LSP controls System 12 does not control car speed.In the closed state, before LSP control systems selector button 172 is depressed, LSP controls System 12 processed does not respond to input control.

In the present embodiment, LSP control systems 12 are also operated to take and middle shape as the state class of activation pattern State, but under the intermediateness, prevent the order of LSP control systems 12 by dynamical system 129 to the one or more of vehicle 100 Wheel applies positive driving torque.Therefore, by means of brakes 22 and/or dynamical system 129, braking torque is only applied.Other Set and useful.

When under LSP control systems 12 are active, user can be increased by means of "+" and "-" button 174,175 Big or reduction vehicle sets speed.In addition, user can also be by pressing lightly on accelerator pedal 161 or brake pedal respectively 163 set speed to increase or reduce vehicle.In some embodiments, when under LSP control systems 12 are active, "+" and "-" button 174,175 are disabled so that can only be by means of accelerator pedal 161 and brake pedal 163 to LSP_set- Speed value is adjusted.Latter feature can prevent for example due to inadvertent depression "+" or "-" button 174, one of 175 and Occur to set unintentionally changing for speed.Such as inadvertent depression may occur when by difficult landform, in the difficult landform It is lower to need relatively large steering angle and need often to change steering angle.It is also useful that other, which are set,.

It is to be understood that in the present embodiment, the operation of LSP control systems 12 is to make model of the vehicle according to 2kp to 30kph Interior setting velocity amplitude is enclosed to travel, and in the range of cruise control system operation is makes vehicle according to 25kph to 150kph Velocity amplitude is set to travel, but other values are also useful.If higher than 30kph but it is less than or substantially first-class in car speed LSP control systems 12 are have selected when 50kph, then LSP control systems 12 take middle model.Under middle model, if driven The person of sailing unclamps accelerator pedal 161 while being travelled with the speed more than 30kph, then the arrangement brake system of LSP control systems 12 System 22 is so that vehicle 100 to be decelerated to the setting velocity amplitude corresponding with parameter LSP_set-speed value.Once car speed drops Low to arrive 30kph or following, LSP control systems 12 take state of activation, and it is operated for via dynamical system under the state of activation 129 apply positive driving torque, and apply braking torque via dynamical system 129 (via engine brake) and brakes 22, To control vehicle according to LSP_set-speed values.If LSP sets velocity amplitude not to be set, LSP control systems 12 are taken Standby mode.

It is to be understood that if LSP control systems 12 are under activation pattern, the operation of cruise control system 16 is banned Only.Therefore described two systems 12,16 are operated independently of one another, so that in any time only one system according to vehicle row The speed sailed is operated.

In some embodiments, cruise control HMI 18 and LSP controls HMI 20 can be configured in same hardware, So that such as speed selection inputs via same hardware, one or more individually switches are which provided with defeated in LSP Enter and switched between cruise control input.

Fig. 4 shows the device being controlled in LSP control systems 12 to car speed.As described above, selected by user The speed (user_set-speed) selected is input to LSP control systems 12 via LSP controls HMI 20.LSP control systems 12 Determine that the speed is appropriate for main flow landform (prevailing terrain) (as being discussed in further detail below), and And determine the desired value LSP_set-speed for the car speed that vehicle will be operated.The speed is input to the function in Fig. 4 Block 38.The vehicle speed sensor 34 associated with (shown in Fig. 1) dynamical system 129 provides to LSP control systems 12 and represents car The signal 36 of speed.LSP control systems 12 include comparator 28, and the comparator 28 (is also claimed LSP_set-speed 38 Be " target velocity " 38) compared with measured speed 36, and provide the output signal 30 for representing that this compares.Output letter Numbers 30 are provided to VCU 10 evaluator (evaluator) unit 40, and the evaluator unit 40 is desirable according to car speed Output signal 30 is construed to putting on the another of wheel 111-115 by increase or reduction with keeping speed LSP_set-speed The requirement of outer moment of torsion, or output signal 30 is construed to the requirement to making to put on wheel 111-115 moment of torsion to reduce.Generally The biography at given position (such as engine output shaft, wheel or any other suitable position) place of dynamical system is delivered to by increase Dynamic is that the amount of moment of torsion realizes the increase of moment of torsion.The powertrain torque of wheel can be delivered to by reducing and/or passes through increase To the brake force of wheel come realize by the moment of torsion at given wheel be decreased to it is less on the occasion of or relatively negative negative value (less positive or more negative).It is to be understood that there is operation for the one or more of generator in dynamical system 129 In some embodiments of individual motor, negative torque can be applied to one or more wheels by motor from dynamical system 129. In some cases, the speed moved based in part on vehicle 100, can also apply negative torque by means of engine brake. If being provided with one or more motors of the operation for propulsion motor, can be applied by means of one or more motors Positive driving torque.

Output 42 from evaluator unit 40 is provided to powertrain controller 11 and brake monitor 13, dynamical system control Device 11 and brake monitor 13 processed control the net moment of torsion for putting on wheel 111-115 again.Can be according to evaluator unit 40 will Positive-torque or negative torque are asked to increase or reduce net moment of torsion.In order that required positive-torque or negative torque put on wheel, comment Estimating device unit 40 can order from dynamical system 129 to wheel application positive-torque or negative torque, and/or can order by brakes 22 may be used to realize the change of moment of torsion to wheel application either or both of brake force, the above situation, the moment of torsion Change for reaching and keeping required car speed to be required.In the illustrated embodiment, torsion is individually applied to wheel Square is so that vehicle is kept in required speed, but can generally apply moment of torsion to wheel in another embodiment to keep Required speed.In some embodiments, powertrain controller 11 may be operative to by controlling such as rear drive unit, forerunner The power train part of moving cell, differential mechanism or any other suitable components puts on the moment of torsion of one or more wheels to control Amount.For example, one or more parts in power train 130 can include one or more clutches, it is one or The amount of moment of torsion of more clutch operatings to put on one or more wheels is changed.It is also useful that other, which are set, 's.

Include one or more motors (such as one or more propulsion motors and/or generator) in dynamical system 129 In the case of, powertrain controller 11 may be operative to by means of one or more motors come adjust put on it is one or more The moment of torsion of individual wheel.

LSP control systems 12 also receive the signal 48 for representing to have occurred and that wheel slip event.This can be with provide to The signal identical signal 48 of the highway cruise control system 16 of vehicle, and in the latter case, signal triggering highway Covering or quiescing pattern in cruise control system 16 so that cruise control system 16 is to the automatic of car speed by road Control is suspended or cancelled.However, LSP control systems 12 are not configured to the wheelslip for representing wheelslip according to receiving Signal 48 is cancelled or pausing operation.But system 12 is configured to monitor wheelslip and then manages wheelslip, with Reduce the workload of driver.During slip event, LSP control systems 12 continue measured car speed and LSP_ Set-speed value is compared, and continues to automatically control the moment of torsion for putting on wheel so that car speed remain it is selected Value.It is therefore to be understood that LSP control systems 12 be configured to it is different from cruise control system 16, for cruise control system Wheel slip event has the effect of covering cruise control function for 16, to cause the manually operated of vehicle to be resumed, Or by pressing recovery button 173R or setting the speed control of the recovery cruise control system 12 of speed button 173.

In another embodiment of the present invention (not shown), not only show that wheelslip is believed from the comparison of wheel velocity Numbers 48, and using the ground speed for representing vehicle sensing data come the wheel slip signal 48 that further becomes more meticulous.So Ground speed determine to carry out via global location (GPS) data, or via Vehicular radar system or based on laser System carry out, the Vehicular radar system or the system based on laser are configured to determine vehicle 100 and passed through with vehicle traveling Relative movement between the ground crossed.In some embodiments, the camera system for being used for determining ground speed can also be used.

In any stage of LSP control process, user can be by pressing accelerator pedal 161 and/or brake pedal 163 Carry out covering function, energetically or negatively to adjust car speed.However, detecting wheel slip event via signal 48 In the case of, LSP control systems 12 keep activation, and are not suspended by control of the LSP control systems 12 to car speed.Such as Fig. 4 Shown, this can be managed by the way that wheel slip event signal 48 is provided to LSP control systems 12 and then by LSP control systems 12 Wheel slip event signal 48 is managed to realize.In Fig. 1 in shown embodiment, SCS 14 generates wheel slip event signal 48, and it is provided to LSP control systems 12 and cruise control system 16.

Wheel slip event is triggered when losing tractive force at any wheel.When in such as snowfield, ice, mud ground Or when being travelled on sand ground and/or abrupt slope or horizontal slope, wheel and tire may more easily lose tractive force.With in normal road condition Under compared in driven on public roads, in the more uneven or more sliding environment of landform, vehicle 100 may also more easily lose traction Power.Therefore, embodiments of the present invention, which are especially found that, works as in country or possible it occur frequently that wheelslip Situation under drive vehicle 100 when benefit.For driver, manually operated under such situation is difficult and frequent The experience of pressure is filled with, and uncomfortable driving may be caused.

Vehicle 100 is additionally provided with other sensor (not shown), the other sensor represent with vehicle movement and The associated various different parameters of state.These can be LSP control systems 12 or the distinctive inertial systems of HDC control systems 12HD System, or a part for occupant restraint system, or any other subsystem, any other subsystem can be provided from sensing Device (such as gyroscope and/or accelerometer), can represent vehicle body movement data, and can provide to LSP control The useful input of system 12 and/or HDC control systems 12HD.Signal from sensor provide multiple riving condition indexs ( It is referred to as Terrain indexes), or for calculating multiple riving condition indexs, the riving condition index expression vehicle drive passes through Landform situation characteristic.

The sensor (not shown) of vehicle 100 includes but is not limited to the sensing that continuous sensor output is provided to VCU 10 Device, including：Vehicle-wheel speed sensor as previously mentioned and as shown in Figure 5；Environment temperature sensor；Atmospheric pressure senses Device；Tire pressure sensor；Wheel articulation sensor；To detect the yaw of vehicle (yaw), roll and the angle of pitch and speed Gyro sensor；Vehicle speed sensor；Longitudinal acceleration sensor；Engine torque sensor (or engine torque estimation Device)；Steering angle sensor；Steering wheel velocity sensor；Slope Transducer (or gradient estimator)；Can be as SCS 14 portion The lateral acceleration sensor divided；Brake pedal position sensor；Brake-pressure sensor；Accelerator pedal position sensor； Longitudinally, laterally and vertically move sensor；And formed vehicle paddle accessory system (not shown) part water detection sensing Device.In other embodiments, the selected works in the sensor can be used only.

VCU 10 also receives the signal from steering controller 170C.Steering controller 170C is electronic power assist steering unit The form of (ePAS units).Steering controller 170C provides to VCU 10 to be represented to turn to road wheel 111,112 to vehicle 100 Apply the signal of steering force.The power corresponds to user and puts on the power of steering wheel 171 and turning by ePAS units 170C generations Combination to power.

VCU 10 assesses various sensor inputs, to determine that multiple different control models for vehicle subsystem (are driven Sail pattern) in each control model be appropriate probability, wherein each control model correspond to vehicle traveling pass through it is specific Terrain type (for example, slob, sand ground, meadow/gravel/snowfield).

If user have selected the vehicle operating under automatic driving mode alternative condition, VCU 10 is selected in control model An optimal control model, and VCU 10 is automatically configured to according to selected pattern come control subsystem. We while pending patent application GB1111288.5, GB1211910.3 and GB1202427.9 in further retouch in detail This aspect of the present invention is stated, the content of each application in above-mentioned application is incorporated herein by reference.

As it is indicated above, the characteristic for the landform (being determined with reference to selected control model) that vehicle drive passes through is also It can be used in LSP control systems 12, to determine the appropriate increase or reduction of car speed.For example, if user have selected not The user_set-speed for the topographic(al) feature passed through suitable for vehicle drive value, then the operation of system 12 is the speed by reducing wheel Degree lowers to automatically adjust car speed.In some cases, for example, speed selected by user possibly can not realize or It is probably unsuitable in some terrain types, particularly in the case of uneven or rough surface.If system 12 selects The setting speed (LSP_set-speed value) different from the setting speed user_set-speed selected by user, then pass through Visually indicating for constraint of velocity is provided a user by LSP HMI 20, alternative speed is used with instruction.

Landform that LSP control systems 12 are passed through according to vehicle drive determines LSP_set-speed value.Therefore, LSP is controlled The operation of system 12 processed is to limit maximal rate according to landform, and LSP control systems 12 will control vehicle 10 with the maximal rate Operated.When being operated under cross-country condition with the driver's intervention of reduction, embodiments of the present invention cause vehicle Stability improves.That is, because LSP control systems 12 determine LSP_set-speed maximum permissible value and correspondingly The speed of vehicle 100 is limited, so when not needing driver to be intervened so to ensure (so warrant) in main flow landform Reduce user_set-speed value, and increase user_set-speed values when main flow landform allows.In present embodiment In, if LSP speed controlling functions are activated, highway cruise control system is not activated, and LSP control systems 12 only operate To calculate LSP_set-speed value.It is understood, however, that described herein travel the main flow table passed through according to vehicle The change of face or landform automatically adjusts car speed to keep occupant's comfort level and the method for vehicle stabilization degree can also be simultaneously Enter into the vehicle speed control system optimized for highway driving.

In the present embodiment, LSP control systems 12 are configured to be generated according to the multiple parameters associated with vehicle LSP_set-speed value.LSP control systems 12 make vehicle be grasped according to the minimum in six values of vehicle target speed Make, that is to say, that LSP_set-speed value is arranged to the minimum of six values of target velocity by LSP control systems 12.Mesh Marking velocity amplitude is：(a)user_set-speed；(b) the most cart calculated according to occupant's stimulation degree parameter Psng_Excit value Speed Psng_Excit_v, Psng_Excit value are according to vehicle pitch acceleration, roll acceleration and fluctuating acceleration And set；(c) the maximal rate steering_angle_v set according to steering angle and car speed；(d) according to surface side slope The maximal rate sideslope_v that (surface side slope) is set；(e) maximal rate set according to surface gradient grad_v；And (f) turns round according to the be hinged maximal rate warp_v set of vehicle suspension or distortion speed, also referred to as suspension Bent (suspension warp).Alternatively, input can include according to vehicle whether the maximum speed value paddled and set. In some embodiments, maximum speed value can paddle the depth of the liquid (such as water) passed through based in part on vehicle To set.Other specification and speed are also useful.

LSP control systems 12 are configured to receive the input corresponding with multiple vehicle parameters.The parameter includes：(a) The reference value of the skin-friction coefficient of Current vehicle, it is the value based on one or more parameters (such as to causing excessive car The amount for the moment of torsion that the wheel of wheel slip is applied) value that is calculated；(b) it is corresponding with currently selected vehicle driving model It is expected that the value of skin-friction coefficient, it is the setting for each driving model；(c) value of current steering angle, it is corresponding In road wheel angle or steering wheel position can be turned to；(d) the current yaw velocity (yaw rate) of vehicle is (with reference to accelerometer Export and determine)；(e) value (and being determined with reference to the output of accelerometer) of the transverse acceleration currently measured；(f) it is current The value (being determined with reference to suspension articulation) of the surface roughness of measurement；(g) current location of vehicle is (with reference to global positioning satellite system System (GPS) is exported and determined)；And the information that (h) is obtained by means of camera system.Previous list be intended to only illustrate example without Intention is limited, and additionally or alternatively, other inputs are also useful.

The information obtained by means of camera system can include for example it is determined that vehicle 10 may prepare from cross-country track or Track leave in the case of alarm.In some embodiments, one or more systems of vehicle 100, alternatively LSP controls System 12 processed, it may be configured to detect the landform for the vehicle front that may influence Psng_Excit values.That is, based on pair The analysis of one or more images of landform in vehicle route, LSP control systems 12 can predict vehicle front Landform may reversely or positively influence occupant's stimulation degree.Thus, if vehicle continues to advance with its present speed, LSP Control system 12 may be configured to change Psng_Excit value or expect the change of Psng_Excit value and influence Car speed.This is different from the assessment of the reaction to landform with reference to above-mentioned vehicle parameter.

It is to be understood that in some embodiments, controller or system in addition to LSP control systems 12 are configured Into the value for determining Psng_Excit.

Fig. 6 shows that LSP control systems 12 determine the mode of Psng_Excit value.LSP control systems 12 receive following The value of each parameter in three parameters is to calculate Psng_Excit value：(1) VehPitch_Aa_Meas, it is vehicle body The measured value of pitching angular acceleration；(2) VehRoll_Aa_Meas, it is the measured value of vehicle body roll angle acceleration；And (3) VehHeave_A_Meas, it is the measured value of vehicle body fluctuating acceleration.The vehicle body fluctuating acceleration refers to For the acceleration of the vehicle body of x, y, z axle in a z-direction, wherein the z directions with relative to the vertical of vehicle reference system Upward direction (if vehicle is located in basic horizontal plane, the direction with relative to the earth vertically upward substantially It is corresponding) it is corresponding.Described value is input to the corresponding signal input 201,202,203 of LSP control systems 12.In some implementations In mode, by LSP control systems 12 from controller zone network (CAN) bus (not shown) or Vehicle Electronic Control Unit that This other device for being utilized of communication reads described value.

Term vehicle body it is well understood that and be commonly referred to as the main part of vehicle, generally comprise crew module or room, And generally supported by suspension system, in the case where being provided with suspension system.

Signal is fed to gain function block 210, and the gain function block 210 is by LSP control systems 12 with computer program Code applies corresponding amount of gain to realize to each signal.Susceptibility according to occupant to the value of each signal To set the exaggerated amount of each signal.Therefore, in some embodiments, gain is arranged to be explained as follows observation result： Relatively low pitch acceleration VehPitch_Aa_Meas value compared with fluctuating acceleration VehHeave_A_Meas equal value, It is considered as more uncomfortable for automotive occupant.Thus, in some embodiments, put on signal VehPitch_Aa_ The value of Meas gain can be higher than the value for the gain for putting on signal Veh Heave_A_Meas.

The signal value handled by gain block 210 is then fed to standard functions block 220, the standard functions block 220 standardize described value, and the value of maximum permission speed is generated with the value according to each signal.The maximum permissible value quilt of signal It is fed to and maximizes device (maximiser) functional block 230, maximizes the output of device functional block 230 and be input in signal therein The greater.Functional block 220 is " seeking absolute value " functional block, that is to say, that functional block 220 only exports corresponding with signal amplitude On the occasion of.Which ensure that all values are comparable, rather than negative value.

Therefore the greater in signal is fed past smoothing apparatus 240, the application of smoothing apparatus 240 feedback control loop is simultaneously And Butterworth wave filters then are applied to signal.The value that the signal exported by smoothing apparatus 240 is Psng_Excit.It is flat Sliding device substantially performs rolling average computing function, without storing the parameter with maximizing the output of device functional block 230 It is worth relevant historical data.Therefore, the output of smoothing apparatus 240 constructs the landform that the vehicle in preset time section has passed through It is evenly distributed (profile), and for relaxing the relatively irregular characteristic for the acceleration profile that vehicle body is subjected to.

In the present embodiment, Psng_Excit value is configured to increase with the increase of vehicle body stimulation degree. Because occupant's stimulation degree is directly related with vehicle body stimulation degree, relaxed so increase Psng_Excit value corresponds to reduction occupant Appropriateness.

It is to be understood that each functional block in functional block 210,220,230,240 be by LSP control systems 12 in terms of Calculation machine program code is realized.In some alternative embodiments, the functional block for example can be amplified by means of electronics Circuit, filter circuit etc. are realized with hardware rather than computer program code.

When structure is according to the system of present embodiment, in the range of Psng_Excit value automotive occupant experienced To non-comfort studied, to identify the Psng_ for corresponding to optimal compromise between occupant's comfort level and car speed The scope of Excit value.Then vehicle target acceleration tgt_accel value is determined for Psng_Excit each value. Tgt_accel value is the value for the acceleration that can put on vehicle 100, so as to the value attempted Psng_Excit be maintained at by It is identified as in the optimum range of occupant's comfort level and the optimal compromise of car speed.

Figure 4 illustrates optimum range, the optimum range is the model from lower value P_E_l to high value P_E_high Enclose.The value of Psng_Excit shown in Fig. 7 be standardized with so that the value for the Psng_Excit for being zero in higher limit P_E_h Substantially middle value between lower limit P_E_l.It is also useful that other, which are set,.

In some alternative embodiments, the data storage in the form of residual quantity or incrementation parameter.LSP control systems 12 are true Determine the difference between predetermined " acceptable " value of identified Psng_Excit value and Psng_Excit in Fig. 6, and from data Storehouse obtains tgt_accel analog value.

In some embodiments, Psng_Excit value can be configured to from zero (most comfortable) to such as 80 on the occasion of (the unacceptable high level for corresponding to occupant's stimulation degree) is changed.Therefore, in some embodiments, it is acceptable Psng_Excit values can be about 30 value, or any other suitable value, and this is determined generally according to experience.

In the present embodiment, for the value in below P_E_l Psng_Excit, vehicle acceleration tgt_ Accel value is configured to Psng_Excit function so that as Psng_Excit value is reduced to below P_E_l, tgt_ Accel value gradually become on the occasion of.Conversely, for for more than P_E_h Psng_Excit value, with Psng_ Excit value increases to more than P_E_h, and Psng_Excit value gradually becomes negative value.Therefore, for below P_E_l's For Psng_Excit value, it is favourable that vehicle, which accelerates to fair speed, and for the Psng_Excit's in more than P_E_l Value, vehicle deceleration is to being favourable compared with low velocity.

LSP control systems 12 are further configured to determine with reference to the value of the skin-friction coefficient between wheel and driving surface The transverse acceleration max_lat_acc of the vehicle 10 maximum allowable speed during route process.LSP control systems 12 use should Max_lat_acc values generate steering_angle_v value, to prevent the understeer when vehicle 10 is turned (understeer).In the present embodiment, LSP control systems 12 are also operated to calculate the vehicle in landform based on steering angle The radius of curvature in 100 path.LSP control systems 12 will be worth determined by the radius of curvature and the driving path with reference to vehicle into Row compares, and wherein the driving path of vehicle determines with reference to GPS location data.If LSP control systems 12 detect appearance Understeer, then the operation of LSP control systems 12 is correspondingly to reduce steering_angle_v value.In the present embodiment also Yaw velocity and measured transverse acceleration are employed, in order to increase in the case where any understeer be present to institute The reliability of the determination of the amount of existing understeer.In some embodiments, it is determined that the amount of existing understeer When do not use yaw velocity and measured transverse acceleration.It is also useful that other, which are set,.

Determine that target velocity LSP_set-speed instantaneous value is adopted now with reference to Fig. 8 to describe LSP control systems 12 Mode.It is to be understood that in the present embodiment, described each functional block is realized in the form of software code, But one or more functional blocks described in some alternative embodiments in functional block can be with the shape of discrete circuit Formula is realized.

As shown in figure 8, described six speed parameters user_set-speed, Psng_Excit_v, steering_angle_ V, the value of each speed parameter in sideslope_v, gradient_v and warp_v, which is input to, minimizes device functional block 309.Minimum device functional block 309 therefrom exports the smaller in six speed.The speed is fed to rate limit work( Can block 311, the rate-limiting feature block 311 by the velocity amplitude exported by minimum device functional block 309 and car speed i.e. Duration is compared.Rate-limiting feature block 311 is configured to ensure that the difference between them is not corresponded to more than setting (at this Be 1.5ms to 2ms in embodiment) positive acceleration or amplitude exceed another setting (in the present embodiment for 1.25ms to 2ms) negative acceleration.

The speed exported by rate-limiting feature block 311 is LSP_v_target value.Then, LSP control systems 12 Car speed is controlled according to LSP_set-speed value.

Determine Psng_Excit_v value as follows.

At functional block 301, reference is obtained according to Psng_ above with respect to the look-up table described by data shown in Fig. 7 Tgt_accel value determined by Excit instantaneous value.The value is fed to rate-limiting feature block 303, the rate limit work( Energy block 303 determines to answer in future time step-length (time step) interior LSP_set-speed of LSP control systems 12 instantaneous value The respective amount being changed, to reach the speed (its can be on the occasion of or negative value) for the acceleration for corresponding to tgt_accel.The value By marking the variable for being to provide in Fig. 8.Rate-limiting feature block 303 is configured to prevent LSP_v_target Value increased with the speed more than maximum allowable speed.In some embodiments, permit for positive vehicle acceleration, maximum Perhaps speed can be about 1.5ms to 2ms；For negative acceleration, that is to say, that the deceleration of vehicle 10, maximum allowable speed can be with It is about 1.25ms to 2ms.Car speed increment speed_incr value is fed to summation block 305.

It is to be understood that the length of time step can be LSP control systems 12 operated used by it is any suitable Value, as 10ms, 100ms or any other suitable be worth.

Summation block 305 also receives the LSP_set-speed of following time step strong point value as input：The time Step-length is before the time step of updated value for determining LSP_set-speed.By means of time step functional block 313 To provide the value.

Summation block 305 also receives instant car speed v_actual value as input, the instant car speed V_actual value can be Fig. 4 signal 36.Summation block 305 calculates the instantaneous value v_actual and LSP_ of car speed Difference (error amount) between set-speed, LSP_set-speed are the speed that LSP control systems 12 attempt to travel vehicle 100 Degree.If the difference exceedes ormal weight, summation block 305 exports LSP_set-speed value as Psng_Excit_v's Value.This trying to respond to before Psng_Excit value changes LSP_set-speed, gives LSP control systems 12 Time by car speed to change into the value being closer to LSP_set-speed value.It is to be understood that work as speed v_actual When reaching close to LSP_set-speed value, Psng_Excit value can in P_E_l to P_E_h optimum range, and Therefore LSP_set-speed need not can further be changed in response to Psng_Excit.

If error amount is no more than ormal weight, speed_delta value is added to LSP_set- by summation block 305 Speed value, and Psng_Excit_v value is arranged to this value.

It is to be understood that if the just traveling of vehicle 10 passes through a landform, and user_set-speed value is less than speed Each speed in steering_angle_v, sideslope_v, gradient_v, warp_v and Psng_Excit_v, then LSP control functions continue to make vehicle 10 be operated according to LSP_set-speed value, the value quilt of the LSP_set-speed It is arranged to be substantially equal to user_set-speed value.In not excessive wheelslip and alternatively it is one or more other In the case of situation, vehicle 10 will continue to be substantially equal to user_set-speed speed traveling.Driver can more than The mode of stating increases or reduced user_set-speed value.However, once user_set-speed value becomes equal to input extremely The smaller in the other specification of device functional block 309 is minimized, LSP control systems 12 do not allow for car speed further to increase Greatly.Cause if for example as the change of landform the smaller in remaining parameter value be reduced to user_set-speed with Under, then LSP control systems 12 control vehicle fast by the way that LSP_set-speed value is arranged into the smaller in remaining parameter Degree is reduced to the smaller in remaining parameter.

In some embodiments, parameter max_set_speed is set equal to input to minimum device functional block 309 Six parameters in each parameter in smaller.Max_set_speed value is output as LSP_set_speed's Value.Therefore, max_set_speed value is set in time in the upper limit of any given time car speed, while vehicle is fast Degree control is realized by LSP control systems 12.

If max_set_speed value then raises, LSP control systems 12 make car speed increase to user_ Set_speed, or increase (if user_set_speed is more than max_set_speed) towards user_set_speed, it is false If speed is no more than max_set_speed.

In the present embodiment, if LSP control systems 12 make vehicle 100 according to the speed less than user_set-speed Operated and then higher speed becomes to be allowed to, then can make conjunction to vehicle driver in some embodiments Suitable vision or audible indication.In some embodiments, if the operation of LSP control systems 12 is so that higher speed becomes It is allowed to, then the speed of vehicle is automatically increased to more speed.

In one embodiment, LSP control systems 12 operation for detection vehicle 100 when reach slope top and Begin to take on horizontal attitude.Such case can be referred to as " reaching top (cresting) ".When LSP control systems 12 determine car 100 when reaching top, (in some embodiments, LSP control systems 12 can temporarily reduce LSP_set-speed value Alternatively, max_set_speed value is reduced).This feature has the following advantages that：(if necessary) car speed is reduced to Certain speed, the speed give driver time to be familiar with the landform in the front of vehicle 100, the landform may due to slope and/or The front portion (such as hood or hood) of vehicle 100 and be blocked.Which enhance driver enjoy drive vehicle 100 enjoyment with And vehicle stabilization degree.It is to be understood that in some embodiments, further higher (or maximum) velocity amplitude cresting_v quilts Input extremely minimizes device functional block 309.When detecting arrival top, cresting_v value can be configured to be suitable for leading The value of stream situation.Such as when in predetermined distance vehicle pitch posture from the posture of facing upward more than setting (such as more than 15 degree Value) by more than (such as) 5 degree of angle to be moved towards horizontal attitude when, arrival top can be detected.Alternatively, System can monitor the change speed of the gradient towards horizontal attitude.Within specified time period such as 2s to 4s period (such as) average 3 degree per second of continuous decrease can be enough detection trigger and reach top.

In some embodiments, LSP control systems 12 can drop to below setting in the gradient, such as drop to 10 When below the gradient of degree, detection trigger reaches top.The combination of two or more tests can be performed, to confirm to detect Up to top, so as to reduce the possibility of the error detection to reaching top, the error detection may pass through unnecessary vehicle Speed reduces and makes user inconvenient.It is to be understood that in some embodiments, if the change speed of the gradient is too low, i.e., Vehicle is set to reach top, LSP control systems 12 may also can not detect arrival top.May not have in these cases Necessity reduces speed, because driver can have time enough to assess the landform of vehicle front when vehicle is advanced.

, can be for stipulated time section or row if detecting arrival top and causing the appropriate reduction of car speed Sail distance and carry out application speed reduction.Once the period is expired or has travelled the distance, the can of LSP control systems 12 It is returned to and monitors again up to top condition.

When LSP control systems 12 detect vehicle attitude for it is sufficiently level and predetermined distance or in the period always such as Now, LSP control systems 12 can be automatically increased cresting_v value and (in some embodiments, and be automatically increased max_set_speed)。

In one embodiment, when the operation of LSP control systems 12 has declined for the change speed of detection vehicle attitude To below setting, so as to represent to reach top situation.Once stipulated time section is expired or has travelled predetermined distance, LSP control systems 12 can start to increase cresting_v value.Alternatively, LSP control systems 12 may be configured to It is not detected by the value for ignoring cresting_v when reaching top.Such as in vehicle by rolling topography and after reaching the crest of the hill In the case of vehicle descending, the feature of the delay before (or ignoring) cresting_v is increased can be with particularly advantageous.LSP is controlled System 12 processed can keep the cresting_v reduced value, untill vehicle 100 is determined descending, so as to improve vehicle Stability and driver's confidence.

In some embodiments, LSP control systems 12 are configured to the increasing by detecting vehicle pitch after descending It is big to detect the bottom when vehicle has reached slope.LSP control systems 12, which may be configured to work as, detects that vehicle has reached To slope bottom when temporarily reduce cresting_v value, to cause driver to have time to handle the change of the gradient.The spy Sign has the following advantages that：It can reduce when vehicle 100 reaches the bottom on slope due to connecing between the bottom surface of vehicle and landform Touch and cause the risk of vehicle damage.It is also useful that other, which are set,.

When vehicle operating and speed control system operationally, embodiments of the present invention by reducing automatically It to improve in terms of vehicle stabilization degree is useful to set the maximum permissible value of speed.Driver workload is accordingly reduced, and is reduced Driving fatigue.Vehicle stabilization degree can also be improved.

In some embodiments, Psng_ is calculated when vehicle is operating and highway cruise control system 16 activates Excit value, but regardless of vehicle whether equipped with LSP control systems.Figure 9 illustrates schematic illustration, the schematic figure Show the operation of the such system corresponding with Fig. 8, wherein similar feature with increment be 100 reference come table Show.

Highway cruise control system 16 can be any of highway cruise control system.However, it is possible to with above On the mode similar mode described in LSP_set-speed come calculate cruise control system make vehicle operated institute according to The maximum c ruise_set-speed of target velocity, difference are, can be to the input for minimizing device functional block 409 User_set-speed and Psng_Excit_v when cruise control system is activated.Therefore, cruise_set-speed Value can be configured to smaller in user_set-speed and Psng_Excit_v.Psng_Excit_v value can lead to Cross relative to VehPitch_Aa_Meas, VehRoll_Aa_Meas and VehHeave_A_Meas as described above value it is appropriate Calibrate to determine.

In some embodiments, one or more other specifications can be input to minimize device functional block 309, 409.For example, can be parameter to the other input for minimizing device functional block 309,409 in some embodiments Trailing_v_tgt value, the value of the trailing_v_tgt correspond to when vehicle 100 is followed along the side with vehicle 100 It is used for when after the front vehicles travelled to identical direction but with essentially identical or relatively low speed behind front vehicles Keep the higher limit of the permission target velocity of suitable distance.This can advantageously make it possible in some embodiments with facility Mode realize cruise active control function.Additionally or alternatively, vehicle is also provided with for before watching or reading The device of road, wherein described device are configured to the signal that generation represents main flow road rate limitation.Limited in road speeds In the case of signal is available, the signal, which can also be input to, minimizes device functional block 309,409.This can advantageously make it possible to It is enough to realize intelligent speed-limiting device speed controlling function in a manner of convenient in some embodiments.

Speed control system according to the embodiment of the present invention, such as the speed control system shown in Fig. 9, having can The advantages of to keep occupant's comfort level when vehicle is just in driven on public roads.Can in vehicle according to the embodiment of the present invention With cruise control system 16 known to use, the cruise_set- on the calculating described by Fig. 9 is provided to the system 16 Speed value.Therefore, existing cruise control system can be used to calibrate in some embodiments, this is realized so as to reduce The cost of some embodiments of invention.In some embodiments, this can advantageously allow will be following in a manner of convenient Feature is provided as the optional extraneous term in vehicle：Cruise_set-speed (and/or LSP_set-speed) value is being set When consider occupant's stimulation degree parameter.That is, this feature can be provided in some embodiments, and do not require substantially The downstream LSP control functions of value or matching somebody with somebody for cruise control function to providing LSP_set-speed or cruise_set-speed Put and be changed.It is also useful that other, which are set,.

In some embodiments, below user_set-speed situation is had descended in Psng_Excit_v value Under, audible indication can be provided to driver and/or visually indicated.Psng_Excit_v value then towards user_set- When speed is raised, in order to be sufficiently accurate it may be desired to which driver provides to LSP control systems 12 (or cruise control system 16) confirms input, is receiving LSP control systems 12 (or cruise control system 16) can make vehicle 100 according to by user_set- after being inputted to the confirmation The LSP_set-speed or cruise_set-speed of the set limitation of speed values increment value and operated.

Figure 10 (a) shows the console 184 of Fig. 1 vehicle 100.The console has the operable dial plate 187 of user, should The operable dial plate 187 of user allows users to provide control signal to the processor 185 associated with LSP control systems 12. Processor operation for data storage and retrieves data from memory 186 equally associated with LSP control systems 12.

In the embodiment of figure 1, dial plate 187 makes it possible to regulation (increase reduces) input to Fig. 8 functional block 301 Parameter Psng_Excit value.In the present embodiment, dial plate 187 is configured such that offset being added to input to work( The Psng_Excit of energy block 301 value subtracts offset from Psng_Excit value.It is considered as to multiply that this, which has change, The horizontal effect of occupant's stimulation degree of optimal compromise between member's comfort level and car speed.Therefore, determined by functional block 303 Aimed acceleration tgt_accel value will be according to Psng_Excit value reduction or increase come make vehicle accelerate to compared with At high speed or it is decelerated to compared with low velocity.

In some alternative embodiments, dial plate 187 makes it possible to adjust reference signal value, wherein LSP control systems Psng_Excit instantaneous value and the reference signal value are compared to determine tgt_accel value by 12.System 12 obtains Poor corresponding difference between reference signal and Psng_Excit instantaneous value, and tgt_ is obtained according to the difference Accel value.By adjusting the value of reference signal, the difference can be adjusted, and thus can be with metering needle to Psng_Excit Set-point tgt_accel value.

(or in some embodiments, as described above system 12 may be configured to storage and Psng_Excit value Reference value) user adjust relevant data, it is and data are associated with specific user.System 12, which will can correspond to, to be used The data storage of family regulation in its memory, and calls data when user occurs.In some embodiments, system 12 It can between users make a distinction, so as to store the regulation data set by each user, and be adjusted according to the identity of user Use data.Seat adjustment configuration that can be based on user and the keyfob memory identity of user, by means of face recognition or User is made a distinction by any other suitable mode.

LSP control systems 12 are also operated to receive the data for the seat occupancy for representing vehicle.That is, represent except driving The whether occupied data in given seat of vehicle outside the person of sailing seat.Figure 10 (b) shows seat 101S to 105S According to the plan in the main cabin of the vehicle of embodiment of the present invention.LSP system 12 receives associated with each seat 101S-105S Belt buckle 106 in embedded switch state corresponding to data.If the state representation buckle 106 of switch is detained Tightly, then LSP system 12 thinks the lose one's seat use associated with the buckle.If the state representation buckle 106 of switch is disengaged, The seat that then LSP system 12 thinks associated with the buckle 106 is unoccupied.Additionally or alternatively, seat occupancy can lead to The sensor crossed at each seat determines, or infrared camera or visible ray phase by means of being arranged to observe inside crew module Machine determines.For determining that other means of seat occupancy are also useful.

System may be configured to storage and the Psng_ exported when user's covering system 12 with the circuit for Fig. 6 Excit set-point is come the relevant data of seat occupancy when increasing or reduce car speed.The data stored for example can be with Including the information relevant with the quantity of occupant, such as can include with single occupant or the relevant data of multiple occupants be present. If system 12 may be operative to correspond in the seat occupancy data that sometime vehicle determines to be stored by system 12 in the future Current seat occupancy, then call the data.Therefore, if user's regulating system 12 is higher to allow when only existing an occupant Speed and only allow when more than one occupant be present compared with low velocity, then system 12 can be in future according to instant seat occupancy Data automatically adjust Psng_Excit value (or reference signal value) in a similar way.

It is also useful that other, which are set,.

It will be appreciated that embodiment described above only provides by way of example, and the present invention is not intended to limit, this The scope of invention limits in the following claims.

Embodiments of the present invention can understand by referring to the paragraph of following numbering：

1. a kind of speed control system for vehicle, the speed control system includes electric controller, the electric control Device is configured to：

Automatically vehicle is set to be operated according to target speed value,

Receive and at least a portion of at least one of movement of vehicle body or occupant are relative to vehicle Mobile relevant information, and

The value of the target speed value is automatically regulated according to described information.

2. according to the system described in paragraph 1, wherein, the electric controller represents vehicle at least by being configured to receive A part movement or occupant at least a portion relative to the movement of vehicle electric signal, so as to be configured to receive At least a portion of at least one of movement or occupant with vehicle is relative to the relevant information of the movement of vehicle.

3. according to the system described in paragraph 1, wherein, the electric controller is configured to by exporting to automatically regulate The signal of the value of the target speed value automatically makes the vehicle be operated according to the target speed value.

4. according to the system described in paragraph 2, wherein, the controller is configured to based in part on measured by expression The signal of comfort level determines the target speed value, and the signal of comfort level measured by the expression is root at least in part Determined according at least one of movement of the vehicle body or at least one of movement of the occupant.

5. according to the system described in paragraph 4, wherein, the controller is further configured to based in part on described The signal of comfort level measured by expression comes it is determined that the amount that the target velocity is adjusted from currency.

6. according to the system described in paragraph 4, wherein, the controller is configured to bow based in part on vehicle body Elevation angle acceleration, vehicle body roll angle acceleration and vehicle body fluctuating acceleration determine the target speed value.

7. according to the system described in paragraph 4, wherein, the controller is configured to bow based in part on vehicle body Elevation angle acceleration, vehicle body roll angle acceleration and vehicle body fluctuating acceleration come determine it is described expression comfort level letter Number value.

8. according to the system described in paragraph 4, wherein, the controller be configured to always according to the vehicle in landform Movement is associated, at least one parameter in parameters described below determines the target speed value：Steering angle；Vehicle speed Degree；Steering angle as the function of car speed；The value of driving surface side slope；The driving surface gradient；And vehicle suspension is hinged Or the amount of suspension distortion.

9. according to the system described in paragraph 4, wherein, the controller is configured to determine the maximal rate derived from comfort level Value and at least one other maximum speed value, the maximum speed value derived from comfort level depend on relaxing measured by the expression Suitable horizontal signal, the system can be operated so that the value of target velocity is configured to the maximum for deriving from comfort level Smaller in velocity amplitude and at least one other maximum speed value.

10. according to the system described in paragraph 9, wherein, at least one other maximum speed value includes and user's phase The user for hoping the maximal rate of traveling corresponding defines velocity amplitude.

11. according to the system described in paragraph 9, wherein, at least one other maximum speed value includes such speed Angle value：The velocity amplitude is suitable for the instantaneous value of the associated at least one other parameter of movement with vehicle in landform Maximal rate.

12. according to the system described in paragraph 4, wherein, the controller is configured to iteratively adjust the value of target velocity, To reduce the difference measured by described represent between the signal of comfort level and setting or setting scope.

13. according to the system described in paragraph 12, wherein, the controller is configured to comfortable according to measured by the expression The value of horizontal signal it is expected vehicle acceleration or the value that speed changes to calculate, so as to adjust the value of target velocity to reduce State the difference between the signal of comfort level and setting or setting scope measured by representing.

14. according to the system described in paragraph 4, wherein, the electric controller is configured to receive user's input electrical signal, and And user's input electrical signal is based on, the controller is further configured to manipulate what the target speed value was conditioned Amount.

15. according to the system described in paragraph 14, wherein, based on user's input electrical signal, the controller is configured Into the value for manipulating the signal of comfort level measured by the expression, so as to control the amount that the target speed value is conditioned.

16. according to the system described in paragraph 14, wherein, based on user's input electrical signal, the controller is configured Into the value for manipulating reference signal, the controller is further configured to will be comfortable measured by the reference signal and the expression The signal of degree is compared, so as to control the amount that the target speed value is conditioned.

17. according to the system described in paragraph 16, wherein, the controller is configured to the manipulation according to the reference signal Difference between the signal of comfort level measured by value and the expression controls the amount that the target speed value is conditioned.

18. according to the system described in paragraph 1, wherein, controller be configured to according to the data relevant with seat occupancy come Adjust the target speed value.

19. according to the system described in paragraph 1, in addition to imaging device, the imaging device monitoring occupant is at least The movement of a part.

20. a kind of vehicle, including the system according to paragraph 1.

21. a kind of method for the speed control system for operating vehicle, methods described include：

Automatically vehicle is set to be operated according to target speed value；

Receive and at least a portion of at least one of movement of vehicle body or occupant are relative to vehicle Mobile relevant information；And

The value of the target speed value is automatically regulated according to described information.

22. according to the method described in paragraph 21, in addition to：Based in part on the signal of comfort level measured by expression To determine the target speed value, the signal of comfort level measured by the expression is based in part on the vehicle body At least one of movement or at least one of movement of the occupant determine.

23. according to the method described in paragraph 22, including：Based in part on the letter of comfort level measured by the expression Number come it is determined that the amount that the target velocity is adjusted from currency.

24. according to the method described in paragraph 22, including：Based in part on vehicle body pitching angular acceleration, vehicle Main body roll angle acceleration and vehicle body fluctuating acceleration determine the target speed value.

25. according to the method described in paragraph 21, including：Based in part on vehicle body pitching angular acceleration, vehicle Main body roll angle acceleration and vehicle body fluctuating acceleration determine the value of the signal of the expression comfort level.

26. according to the method described in paragraph 21, including always according to the movement with the vehicle in landform is associated, choosing The target speed value is determined from least one parameter in parameters described below：Steering angle；Car speed；As car speed The steering angle of function；The value of driving surface side slope；The driving surface gradient；And vehicle suspension is hinged or the amount of suspension distortion.

27. according to the method described in paragraph 21, in addition to：It is determined that maximum speed value derived from comfort level and at least one another Outer maximum speed value, the maximum speed value derived from comfort level depend on the signal of comfort level measured by the expression, And the value of target velocity is arranged to the maximum speed value derived from comfort level and at least one other maximum speed Smaller in angle value.

28. according to the method described in paragraph 27, wherein, at least one other maximum speed value includes and user's phase The user for hoping the maximal rate of traveling corresponding defines velocity amplitude.

29. according to the method described in paragraph 27, wherein, at least one other maximum speed value includes such speed Angle value：The velocity amplitude is suitable for the instantaneous value of the associated at least one other parameter of movement with vehicle in landform Maximal rate.

30. according to the method described in paragraph 21, in addition to：The value of target velocity is iteratively adjusted, to reduce described represent Difference between the signal and setting or setting scope of measured comfort level.

31. according to the method described in paragraph 30, in addition to：According to the value of the signal of comfort level measured by the expression come Calculate and it is expected vehicle acceleration or the value that speed changes so that the value for adjusting target velocity is comfortable measured by described represent to reduce Difference between horizontal signal and setting or setting scope.

32. according to the method described in paragraph 21, in addition to：The target speed value is manipulated based on user's input to be conditioned Amount.

33. according to the method described in paragraph 32, wherein, manipulating the amount that the target speed value is conditioned is included described in manipulation The value of the signal of comfort level measured by expression, so as to control the amount that the target speed value is conditioned.

34. according to the method described in paragraph 32, including：Manipulate reference signal value and by the reference signal with it is described The signal of comfort level measured by expression is compared, so as to control the amount that the target speed value is conditioned.

35. according to the method described in paragraph 34, including：According to measured by the manipulation value of the reference signal and the expression Difference between the signal of comfort level controls the amount that the target speed value is conditioned.

36. according to the method described in paragraph 23, in addition to：The target is adjusted according to the data relevant with seat occupancy Velocity amplitude.

37. according to the method described in paragraph 21, including：At least one of automotive occupant body is monitored using imaging device The movement divided.

38. a kind of mounting medium, the mounting medium is carried for controlling vehicle to perform the method according to paragraph 21 Computer-readable code.

Through the described and claimed of this specification, word " comprising " and the variant of "comprising" and these words, example Such as " including " and " including ", it is meant that " including but is not limited to ", and be not intended to (and not) exclude other parts, addition Thing, part, entirety or step.

Through the described and claimed of this specification, unless the context otherwise requires, otherwise odd number includes plural number.Especially Ground, using in the case of indefinite article, unless the context otherwise requires, otherwise specification should be understood to consider plural number and Odd number.

Unless objectionable intermingling each other, otherwise the feature with reference to described by certain aspects of the present disclosure, embodiment or example, Entirety, characteristic, compound, chemical composition or group should be understood suitable for any other aspect described herein, implement Mode or example.

Claims (35)

1. a kind of speed control system for vehicle, including：

For the device for automatically making vehicle be operated according to target speed value,

For receiving the device with least a portion of occupant relative to the relevant information of the movement of vehicle, and

For the device for the value that the target speed value is automatically regulated according to described information,

Wherein, the device for automatically making vehicle be operated according to target speed value includes electric controller, the electricity Controller is configured to automatically make vehicle be operated according to target speed value,

And wherein, the dress for being used to receiving with least a portion of occupant relative to the relevant information of the movement of vehicle Put including the electric controller, the electric controller is configured to receive at least a portion for representing occupant relative to vehicle Movement electric signal.

2. system according to claim 1, wherein, it is described to be used to automatically regulate the target speed according to described information The device of the value of angle value includes the electric controller, and the electric controller is configured to output to automatically regulate the target The signal of the value of velocity amplitude.

3. system according to claim 1, wherein, the electric controller is configured to be surveyed based in part on expression The signal for measuring comfort level determines the target speed value, and the signal of comfort level is at least in part measured by the expression Determined according at least one of movement of occupant.

4. system according to claim 3, wherein, the electric controller is further configured to based in part on institute The signal for stating comfort level measured by representing comes it is determined that the amount that the target velocity is adjusted relative to currency.

5. system according to claim 3, wherein, the electric controller is configured to based in part on vehicle body Pitching angular acceleration, vehicle body roll angle acceleration and vehicle body fluctuating acceleration determine the target speed value.

6. the system according to any one of claim 3 to 5, wherein, the electric controller is configured at least in part Determine to represent to relax according to vehicle body pitching angular acceleration, vehicle body roll angle acceleration and vehicle body fluctuating acceleration The value of suitable horizontal signal.

7. the system according to any one of claim 3 to 5, wherein, the electric controller be configured to always according to institute At least one parameter that movement of the vehicle in landform is associated, in parameters described below is stated to determine the target velocity Value：Steering angle, car speed, as the steering angle of the function of car speed, the value of driving surface side slope, the driving surface gradient, And vehicle suspension is hinged or the amount of suspension distortion.

8. the system according to any one of claim 3 to 5, wherein, the electric controller is configured to determine derived from easypro Fit horizontal maximum speed value and at least one other maximum speed value, the maximum speed value derived from comfort level take Certainly in the signal for representing comfort level, the system can be operated so that the value of target velocity is configured to described derive from and relaxed Smaller in suitable horizontal maximum speed value and at least one other maximum speed value.

9. system according to claim 8, wherein, at least one other maximum speed value includes it is expected with user The user that the maximal rate of traveling is corresponding defines velocity amplitude.

10. system according to claim 8, wherein, at least one other maximum speed value includes such speed Angle value：The velocity amplitude be suitable for the associated at least one other parameter of movement with the vehicle in landform i.e. The maximal rate of duration.

11. the system according to any one of claim 3 to 5, wherein, the electric controller is configured to iteratively adjust The target speed value, to reduce measured by described represent between the signal of comfort level and setting or setting scope Difference.

12. system according to claim 11, wherein, the electric controller is configured to be relaxed according to measured by the expression The value of suitable horizontal signal it is expected vehicle acceleration or the value that speed changes to calculate, so as to adjust the target speed value to subtract Difference measured by the small expression between the signal of comfort level and setting or setting scope.

13. according to the system any one of claim 1-5, wherein, it is defeated that the electric controller is configured to reception user Enter electric signal, and be based on user's input electrical signal, the electric controller is further configured to manipulate the target speed The amount that angle value is conditioned.

14. system according to claim 13, wherein, based on user's input electrical signal, the electric controller by with The value for manipulating the signal of comfort level measured by the expression is set to, so as to control the amount that the target speed value is conditioned.

15. system according to claim 14, wherein, based on user's input electrical signal, the electric controller by with The value for manipulating reference signal is set to, the electric controller is further configured to measured by the reference signal and the expression The signal of comfort level is compared, so as to control the amount that the target speed value is conditioned.

16. system according to claim 15, wherein, the electric controller is configured to the behaviour according to the reference signal The difference between the signal of comfort level measured by value and the expression is indulged to control the amount that the target speed value is conditioned.

17. according to the system any one of claim 1-5, wherein, the electric controller is configured to basis and seat Relevant data are taken to adjust the target speed value.

18. according to the system any one of claim 1-5, in addition to imaging device, the imaging device is in use Monitor at least one of movement of occupant.

19. a kind of vehicle, including the system according to any one preceding claims.

20. a kind of method for the speed control system for operating vehicle, methods described include：

Automatically vehicle is set to be operated according to target speed value；

Receive with least a portion of occupant relative to the relevant information of the movement of vehicle；And

The value of the target speed value is automatically regulated based in part on the signal of comfort level measured by expression, it is described The signal of comfort level measured by expression is determined based in part at least one of movement of occupant.

21. the method according to claim 11, including：Based in part on the letter of comfort level measured by the expression Number come it is determined that the amount that the target velocity is adjusted relative to currency.

22. the method according to claim 11, including：Based in part on vehicle body pitching angular acceleration, vehicle Main body roll angle acceleration and vehicle body fluctuating acceleration determine the target speed value.

23. the method according to claim 11, including：Based in part on vehicle body pitching angular acceleration, vehicle Main body roll angle acceleration and vehicle body fluctuating acceleration determine the value of the signal of the expression comfort level.

24. the method according to any one of claim 20 to 23, including：According to the movement with the vehicle in landform At least one parameter associated, in parameters described below determines the target speed value：Steering angle, car speed, make For the steering angle of the function of car speed, the value of driving surface side slope, the driving surface gradient, and vehicle suspension are hinged or suspension The amount of distortion.

25. the method according to any one of claim 20 to 23, including：It is determined that the maximum speed value derived from comfort level With at least one other maximum speed value, the maximum speed value derived from comfort level depends on relaxing measured by the expression Suitable horizontal signal, and the value of target velocity is arranged to the maximum speed value and described at least one for deriving from comfort level Smaller in individual other maximum speed value.

26. according to the method for claim 25, wherein, at least one other maximum speed value includes and user's phase The user for hoping the maximal rate of traveling corresponding defines velocity amplitude.

27. according to the method for claim 25, wherein, at least one other maximum speed value includes such speed Angle value：The velocity amplitude be suitable for the associated at least one other parameter of movement with the vehicle in landform i.e. The maximal rate of duration.

28. the method according to any one of claim 20 to 23, in addition to：The target speed value is iteratively adjusted, To reduce the difference measured by described represent between the signal of comfort level and setting or setting scope.

29. the method according to claim 11, in addition to：According to the value of the signal of comfort level measured by the expression come Calculate and it is expected vehicle acceleration or the value that speed changes so that adjust the target speed value and relaxed with reducing measured by described represent Difference between suitable horizontal signal and setting or setting scope.

30. the method according to any one of claim 20 to 23, in addition to：The target is manipulated based on user's input The amount that velocity amplitude is conditioned.

31. the method according to claim 11, in addition to：The target speed value is manipulated based on user's input to be conditioned Amount, and wherein, manipulating the amount that the target speed value is conditioned includes manipulating the letter of comfort level measured by the expression Number value, so as to control the amount that the target speed value is conditioned.

32. the method according to claim 11, including：Manipulate reference signal value and by the reference signal with it is described The signal of comfort level measured by expression is compared, so as to control the amount that the target speed value is conditioned.

33. the method according to claim 11, including：According to measured by the manipulation value of the reference signal and the expression Difference between the signal of comfort level controls the amount that the target speed value is conditioned.

34. the method according to any one of claim 20 to 23, in addition to：According to the data relevant with seat occupancy come Adjust the target speed value.

35. the method according to any one of claim 20 to 23, including：Automotive occupant body is monitored using imaging device At least one of movement of body.