CN107351825B

CN107351825B - The speed control system of vehicle and the method for operating it

Info

Publication number: CN107351825B
Application number: CN201710418018.7A
Authority: CN
Inventors: 詹姆斯·凯利; 萨利姆·祖贝里; 安德鲁·费尔格雷夫
Original assignee: Land Rover UK Ltd
Current assignee: Jaguar Land Rover Ltd
Priority date: 2012-08-16
Filing date: 2013-08-16
Publication date: 2019-10-01
Anticipated expiration: 2033-08-16
Also published as: GB2519024A; JP6526140B2; GB2524912A; GB2519024B; JP2017222362A; GB201510183D0; JP2017141026A; GB201500971D0; GB2524912B; GB2525102B; JP2017024722A; GB201510181D0; JP6499739B2; JP2018020778A; CN107351825A; GB2525102A

Abstract

The present invention provides the speed control system of vehicle and the methods for operating it.The system includes: the device for operating vehicle according to target speed value；For receiving the device at least part of occupant relative to the related information of movement of vehicle；And the device of the value for automatically regulating target speed value according to the information, it according to the device that target speed value is operated includes electric controller that wherein this, which is used to automatically making vehicle, the electric controller is configured to automatically operate vehicle according to target speed value, and wherein this is used to receive at least part of occupant relative to the device of the related information of movement of vehicle includes the electric controller, which is configured to receive the electric signal of the movement of at least part of expression occupant relative to vehicle.

Description

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

The application be applicant submitted to Patent Office of the People's Republic of China China application No. is the world 201380053902.5, PCT Shens It please number be PCT/EP2013/067202, the applying date is on August 16th, 2013, entitled the improvement of control " car speed " Application for a patent for invention divisional application.

Cross reference to related applications

The content of co-pending UK Patent Application GB1214651.0 and GB1202879.1 are 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.The content of UK Patent Application GB1111288.5, GB1211910.3 and GB1202427.9 are also by being incorporated by this Text.

Technical field

The present invention relates to the systems 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 technique

In the known vehicle speed control system of commonly referred to as cruise control system, once user setting car speed And in the case where user is without further intervening, on the way the car speed is kept, and is come with will pass through reduction workload Improve the driving experience of user.Cruise control, which can usually be passed through when vehicle is in desired speed by vehicle driver, presses Button is pressed to be arranged.The plus button and the Minus button provide incremental velocity variation, while cruise control is arranged.Usually it is being less than in advance Cruise control can not be enabled in the case where constant speed degree such as 30kph, in being driven for off-highway (non-highway), Such as in urban environment.

When user selected the vehicle speed to be kept, as long as user does not apply braking or with manual transmission Vehicle in the case where do not depress clutch pedal, vehicle is always maintained in the speed.Cruise control system, which obtains, carrys out autobiography The speed signal of moving axis velocity sensor or vehicle-wheel speed sensor.When brake or clutch are depressed, cruise control system Unite disabled, thus user can be covered in the case where the resistance not 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 foot is opened, vehicle is then returned to pre-set cruising speed by coast (coasting).

Such system usually only can be higher than certain speed, typically about 15kph to 20kph, in the case where into Row operation, and be under stable traffic condition and especially in the case where highway or running on expressway in vehicle Preferably.However, cruise control system is inefficient, spy under the hustle traffic situation that car speed tends to be widely varied It is not in the case where being required due to minimum speed and cause system that can not operate.Minimum speed usually is applied to cruise control system Degree require, so as to for example stop when reduce low speed collision a possibility that.Therefore, such system is in certain riving condition (examples Such as low velocity) under be inefficient, and in the case where user may think that undesirable do so, system is configured to automatic It is disabled.

More complicated cruise control system is incorporated into engine management system, and the cruise control system may include Use the adaptation function considered at a distance from preceding vehicle based on the system of radar.For example, prediction has can be set in vehicle Property radar sensing system, makes it possible to detect the speed and distance of preceding vehicle, and can automatically keep safe with speed Degree and distance are inputted without user.If front vehicles are slowed down, or if detect another mesh by radar sensing system Mark, then system sends signal to engine or braking system, so that vehicle correspondingly slows down, to keep safe following distance.

It is detecting wheelslip, is needing the intervention of traction control system (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 driving under cross-country condition that may be relatively common.

Some vehicles are suitable for cross-country use, and such vehicle is expected for provide low cruise control, so that Allow to keep advancing in rugged topography.Cruise control can enable driver especially new hand driver under cross-country condition It is absorbed in the movement 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 maximum travelling speed appropriate.

Exactly in this background, the present invention is proposed.Embodiments of the present invention, which can provide, a kind of to be solved above-mentioned to ask Device, method or the vehicle of topic.According to the following description, claims and attached drawing, other objects and advantages of the present invention It will be apparent.

It is also known that providing a kind of for controlling the control system of the motor vehicles of one or more vehicle subsystems System.US7349776 discloses a kind of vehicle control system including multiple subsystem controllers, multiple subsystem controller packet Include engine management system, gearbox controller, steering controller, brake monitor and suspension controller.Subsystem controller It can respectively be operated with multiple subsystem function modes.Subsystem controller is connected to vehicle mode controller, the vehicle Mode controller control subsystem controller takes required functional mode, to provide multiple driving modes to vehicle.Each Driving mode corresponds to specific riving condition or one group of riving condition, and under each mode, each subsystem is set At 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 creep, sand ground and is referred to as " separate procedure closes (special programs off, SPO) " Highway mode.Vehicle mode controller can be referred to as landform response (TR) (RTM) system or controller.Driving mode may be used also To be referred to as orographic model, landform response modes or control model.

Summary of the invention

In the claimed one aspect of the present invention, a kind of speed control system for vehicle is provided, the speed control System processed includes: the device for operating vehicle according to target speed value；For receiving with vehicle body extremely Device of at least part of at least part of movement or occupant relative to the related information of movement of vehicle；And it uses In the device for the value for automatically adjusting target speed value according to the information.

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

Optionally, the device for operating vehicle according to target speed value includes being configured to automatically The electric controller for operating vehicle according to target speed value.

Optionally, for receive at least part of at least part of movement of vehicle or occupant relative to The device of the related information of the movement of vehicle includes the electric controller, and the electric controller, which is configured to receive, indicates vehicle Electric signal of at least part of at least part of movement or occupant relative to the movement of vehicle.

The device of value for automatically regulating target speed value according to the information may include the electric controller, The electric controller is configured to export the signal of the value to automatically regulate the target speed value.

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

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

In some embodiments, indicate that the signal of measured comfort level can be referred to as comfort quantity or stimulation degree Parameter.Comfort quantity or stimulation degree parameter can provide the mobile directly measuring of occupant or provide referring to vehicle body Mobile indirect measurement.

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

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 roll based in part on vehicle body pitching angular acceleration, vehicle body Angular acceleration and vehicle body fluctuating acceleration determine the value of the signal of comfort level measured by the expression.

The controller may be configured to also according to it is associated with movement of the vehicle in landform, selected from parameters described below In at least one parameter determine the target speed value: steering angle；Car speed；The steering of function as 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 and at least one other maximum that derive from comfort level Velocity amplitude, the maximum speed value derived from comfort level depend on the signal of comfort level measured by the expression, the system Be able to carry out operate so that the value of target velocity be configured to the maximum speed value derived from comfort level and it is described at least one Smaller in other maximum speed value.

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

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

At least one described parameter may 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 be hinged or the amount of suspension distortion.

One or more maximum speed value can be for one or more parameters given value empirically Determining value.

Optionally, the controller is configured to iteratively adjust the value of target velocity, to reduce measured by described indicate Difference between the signal and specified value or specified value range of comfort level.

Advantageously, the controller may be configured to be counted according to the value of the signal of comfort level measured by the expression The value for calculating expectation vehicle acceleration or speed change, to adjust the value of target velocity to reduce comfortable water measured by described indicate Difference between flat signal and specified value or specified value range.

The system can calculate the target value that can be applied to the vehicle acceleration of vehicle, so that vehicle is with following speed Degree traveling: at such speeds, the comfort quantity has specified value or within the scope of specified value.

The value of vehicle acceleration may be arranged such that when indicating that the signal of measured comfort level is within the scope of the first value It is positive, and is negative when indicating that the signal of measured comfort level is within the scope of the second value different from the first range.

Embodiments of the present invention have the advantages that can adjust according to vehicle body movement or occupant's movement Section vehicle control device makes the speed that vehicle is operated, to attempt to make to indicate that the value of the signal of measured comfort level remains Specified value or within the scope of specified value.

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

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

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

Indicate that the value of the signal of measured comfort level, the system can change with reference to comfortable angle value instead of being directly changed Value.The system may be configured to for the signal for indicating measured comfort level being compared with reference to comfortable angle value, with true It is fixed by target speed value adjust how much.

Therefore, it is based on user's input electrical signal, the controller may be configured to the value of manipulation reference signal, institute It states controller to be further configured to for the reference signal being compared with the signal for indicating measured comfort level, 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 and 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 data related with seat occupancy.

The system may be operative to: if there is also occupants other than driver, referring for example to multiplying in seat The value of target velocity is adjusted to lower value referring to seat belt buckle status or any other suitable device by objective detector.

In one embodiment, the system is additionally provided with memory.Speed control system may be operative to: record with How much related data had adjusted to the device for automatically adjusting target speed value by user；And the tune when specified conditions meet With the data.Such as the system can be associated with specific user by data, and is identifying that user is the occupant of vehicle Such as the data are called when driver.The system may be operative to through facial-recognition security systems or any other suitable dress It sets, is distinguished between users based on peculiar mark associated with keyfob memory (key fob).

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

If user covers system increase car speed by adjusting for automatically adjusting the device of target speed value Big or reduction, then the true storage that can be capped system is in memory.Look-up table can be updated, or can be generated Specific lookup table associated with the driver.Look-up table includes data related with the requested car speed of user, as Such as the function of Vehicular vibration characteristic.In some embodiments, speed control system only repeats covering system in user In the case where update stored data.

In the case where being understood that when user is in independent drive usually using cross-country speed control system, Yong Huke To select to receive lesser stability of the vehicle (and therefore, the vehicle body of higher level is mobile or occupant is mobile), with Just vehicle is driven with fast speed in given surface.When user controls vehicle, the movement of vehicle be likely to by with Family is considered as the expection for meeting them and therefore can receive.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 bigger vehicle body more mobile than the vehicle body that passenger may feel comfortable moves It is dynamic.Identical vehicle movement or vibration may be considered as unacceptably uncomfortable by the passenger not controlled vehicle 's.To remedy this, in some embodiments, when system detection to vehicle carries one or more passengers, it is The speed shaping modes of system default comfort level and stability guiding, are arranged to stop unless and until user manually covers this.

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

It will consequently be understood that speed control system, which can be configured to record, to be indicated steering wheel angle, can turn to traveling wheel Angle or steering wheel angle and can turn to one of traveling wheel angle or both rate of change, optionally vehicle roll angle, The data of transverse acceleration etc., and can determine user select coverage speed control system with reduce setting speed be it is independent because For terrain roughness or because of the combination of terrain roughness and one or more other parameters for influencing main body movement.System It can be configured to consider whether be just loaded with passenger when user is intervened and speed is arranged to reduce.The case where not being loaded with passenger Under, vehicle, which can determine, encounters similar situation when if being loaded with passenger in the future, setting speed can be decreased to compare user The level lower level that speed is reduced to is set when being independent occupant.In addition, system may be operative to detect in the future It influences to reduce setting speed when the decreasing value for one or more parameters that vehicle body rolls, this meets passenger may be than driving The person of sailing can not tolerate the mobile expection of certain main bodys.In addition, such movement may be careful, also as there are one Or more passenger when vehicle center of gravity may rise, the result is that becoming when vehicle body is mobile when driving in certain landform Gesture increases.By this method, when vehicle is in speed control system (for example, low speed is advanced (LSP) control system and/or cruise control System) control under when, can at least partly manage that vehicle body is mobile, with to keep the demand of good cross-country traveling with The needs for managing certain factors are balanced, and certain factors may be influenced or be acted as to the comfort level of each occupant of vehicle With.

In one embodiment, the operation of LSP control system indicates the data of the seat occupancy of vehicle for reception.Namely It says, data indicate whether the given seat of the vehicle other than operating seat is occupied.For example, LSP control system can be with Receive data corresponding to the state of switch embedded in belt buckle associated with each seat.If the shape of switch State indicates that buckle is clasped, then LSP control system thinks the use that loses one's seat associated with the buckle.If the state table of switch Show that buckle is disengaged, then LSP control system can consider that 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 crew module (such as compartment) internal infrared or can Light-exposed camera determines.For determining that other devices of seat occupancy are also useful.The memory of LSP control system or with The associated memory of LSP control system 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 through identification from seat adjusts position, user's specific keys fall memory identity or other One of selection identifies driver in known devices.In one arrangement, camera can be provided to determine occupant relative to vehicle Movement, and such information be included in vehicle-related information definition in.It can shifting by occupant relative to vehicle One or more in dynamic amplitude and frequency determine comfort level.

In some embodiments, it according to the determination for vehicle body acceleration being more than predetermined threshold, is applied automatically by system The target velocity or maximum speed (setting rate limitation) added can by system based on duration and vehicle behavior come automatically 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 The mobile device of vehicle is determined out.This is useful in the case where not matching each other there are two wheel velocity reading.

The feature can be in multiple vehicle modifications with the setting of different bearing springs/damper, and can be with In the vehicle that its characteristic changes over time.Speed control system can be made not to be bound using vehicle body acceleration analysis In particular vehicle or suspension modification.

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

In the claimed another aspect of the present invention, providing a kind of includes vehicle according to foregoing aspects of system.

Of the invention claimed in another aspect, providing a kind of method of speed control system for operating vehicle, institute The method of stating includes: automatically to operate vehicle according to target speed value；Receive at least part of shifting with vehicle body Movement related information of dynamic or occupant at least part relative to vehicle；And it is automatically adjusted according to the information Save the value of target speed value.

The method can also include: to determine target speed based in part on the signal of measured comfort level is indicated Angle value, the signal of comfort level measured by the expression be based in part on vehicle body at least part of movement or At least part of movement of person occupant determines.

The method may 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 current value.

Advantageously, which comprises 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 the described method 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 comfort level measured by the expression.

The method may include also according to it is associated with movement of the vehicle in landform, in parameters described below extremely Lack a parameter to determine target speed value: steering angle；Car speed；The steering angle of function as 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.

The method may include: determine the maximum speed value and at least one other maximum speed for deriving 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 described other maximum speed value derived from comfort level Person.

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

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

The method can also include: iteratively to adjust the target speed value, indicate measured comfort level to reduce Signal and specified value or specified value range between difference.

The method can also include: that desired 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 indicate with Difference between the specified value or specified value range of comfort level.

The method can also include: the amount for manipulating the target speed value based on user's input and being conditioned.

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

The method may include: it manipulates the value of reference signal and will relax measured by the reference signal and the expression The signal of appropriateness is compared, to control the amount that the target speed value is conditioned.

The method may 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.

The method can also include: to adjust the target speed value according to data related with seat occupancy.

The method may include: at least part of movement of vehicle occupant's body is monitored using imaging device.

In the claimed another aspect of the present invention, a kind of mounting medium of load capacity calculation machine readable code, institute are provided It states computer-readable code and executes for controlling vehicle according to foregoing aspects of method.

In the claimed one aspect of the present invention, a kind of speed control for vehicle realized by controller is provided Method, which comprises operate vehicle according to target speed value tgt_speed；Obtain occupant stimulation Spend the value of parameter Psng_Excit；The value of vehicle target acceleration tgt_accel is calculated according to the value of Psng_Excit, it is described The value of tgt_accel is positive when Psng_Excit is within the scope of the first value, and is in and the first range in Psng_Excit It is negative when within the scope of different second values, the value of Psng_Excit is mobile in response to vehicle body；And also according to tgt_accel Value automatically operate vehicle.

Embodiments of the present invention, which have the advantages that, can make according to vehicle body is mobile to adjust vehicle control device Vehicle operated institute according to speed, to attempt that the value of Psng_Excit is made to remain specified value or in specified value range It is interior.

Aimed acceleration can be generated in the form of speed increment (or in the case where increment is negative for decrement), institute It states speed increment and is also referred to as speed variables (delta).Speed increment or variable can be expectation in the brush of such as system Change the amount of car speed in the given time period of new period or speed control update cycle, and therefore corresponds to acceleration. The period can be used by system so that the required target vehicle velocity for reaching required target speed value or required wheel are turned round Period between the publication (issuance) of the updated value of square.

The applicant has been 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 stimulation degree parameter may be considered that representing user is experienced comfortable Horizontal measurement.

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

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

Embodiments of the present invention, which have the advantages that, can make vehicle according to vehicle body is mobile to adjust vehicle control device Operated institute according to speed, to attempt the value of Psng_Excit to be remained specified value or within the scope of specified value.

The applicant has been 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.

This method may include: by car speed no more than tgt_speed limitation under, make vehicle with tgt_ The corresponding rate of the value of accel accelerates.

Therefore, the value of tgt_accel determined by the value according to Psng_Excit is applied to car speed by controller, but It is the value upper limit for making car speed with tgt_speed.This feature has the advantages that controller can advantageously limit vehicle Speed remains value between the first value range and second value range to attempt the value by Psng_excit.It can will be first The value of Psng_excit between value range and second value range 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 the acceptable compromise between occupant's comfort level and vehicle traveling. That is, it is assumed that the value of Psng_excit is changed in a manner of corresponding with the reduction of occupant's comfort level with car speed, So that the value of Psng_excit is higher (or lower), the uncomfortable amount that vehicle occupant is experienced is bigger.

First value range and second value range can limit the value range of Psng_Excit, for the Psng_Excit's It is worth range, the value of tgt_accel is substantially zero.

It is to be understood that if 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 will be under the value that attempt the car speed for being substantially zero the value of tgt_accel Drop.

If the value of Psng_Excit is then changed to following values in this case, car speed will be improved to value Tgt_speed, and even if the value of tgt_accel 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 range for the speed that tgt_accel is substantially zero are greater than tgt_speed.

This method may include changing within the scope of each value in the first value range and second value range of Psng_Excit The value for becoming tgt_accel, with the instantaneous value of Psng_Excit and the Psng_ between the first range and the second range The increase of the amplitude of difference between the value of Excit increases vehicle towards value corresponding with the value for the tgt_accel being substantially zero The change rate of speed.

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

This method may include: to operate vehicle according to the target speed value of highway cruise control system.

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

This method may include: operate vehicle according to the target speed value of off-highway cruise control system, including Continue to operate vehicle 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, 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, operates vehicle according to target velocity.It is understood that conventional cruise control system is sliding Speed control is terminated when control system is intervened.Since wheel slip event is more common usually under off-highway riving condition, So (it does not cancel speed in the case where slip control system is intervened to reduce wheelslip to off-highway cruise control system Degree control) it is advantageous in terms of reducing driver workload.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 Mainstream (prevailing) value of tgt_accel is operated.

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

In the claimed one aspect of the present invention, a kind of speed control system of vehicle realized by controller is provided System, the system operatio are as follows: operate vehicle according to target speed value tgt_speed；Obtain occupant stimulation degree ginseng The value of number Psng_Excit；The value of vehicle target acceleration tgt_accel, tgt_ are calculated according to the value of Psng_Excit The value of accel is positive when Psng_Excit is within the scope of the first value, and is in different from the first range in Psng_Excit Second value within the scope of when be negative, the value of Psng_Excit is mobile in response to vehicle body；And automatically make vehicle also according to The value of tgt_accel is operated.

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

In the claimed another aspect of the present invention, a kind of speed control system for vehicle is provided, comprising: be used for The device for operating vehicle according to target speed value, for receive at least part of occupant relative to The device of the related information of the movement of vehicle, and the value for automatically regulating the target speed value according to the information Device, wherein it is described for automatically making vehicle according to the device that target speed value is operated include electric controller, it is described Electric controller is configured to automatically operate vehicle according to target speed value, and wherein, described for receiving and multiplying At least part of member's body includes the electric controller, the electric control relative to the device of the related information of movement of vehicle Device be configured to receive indicate occupant at least part relative to vehicle movement electric signal.

In the claimed another aspect of the present invention, a kind of method of speed control system for operating vehicle, institute are provided The method of stating includes: automatically to operate vehicle according to target speed value；It receives opposite at least part of occupant In the related information of the movement of vehicle；And it automatically regulates based in part on indicating the signal of measured comfort level 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, provide including the vehicle according to foregoing aspects of system.

The vehicle can have the terrain sensor 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 especially their feature can be used independently or in a manner of any combination thereof.For example, implementing in conjunction with one Feature disclosed in mode can be applied to all embodiments, unless these features are incompatible.

Detailed description of the invention

Now with reference to attached 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 the vehicle of embodiment according to the present invention；

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

Fig. 3 is the high-level schematic diagram of the embodiment of vehicle speed control system of the invention, car speed control 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 the vehicle of embodiment according to the present invention；

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

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

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

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

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

Specific embodiment

The reference of the block of such as functional block will be understood to comprise to for executing specified function or movement herein The reference of software code, the specified function or movement can be the output provided in response to one or more inputs.It 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 the behaviour for the ease of explaining embodiments of the present invention Make mode.

Fig. 1 shows the vehicle 100 of embodiment according to 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, stepless transmission 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, multiple transmission mode of operation are car-parking models, reversing mode, neutral mode, drive Sail mode or motor pattern.Selector dial plate 124S provides output signal to powertrain controller 11, in response to the output signal, Powertrain controller 11 operates speed changer 124 according to selected transmission modes.

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

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

Control system for car engine 121 includes: the central controller of referred to as control unit for vehicle (VCU) 10 10, powertrain controller 11, brake monitor 13 and steering controller 170C.Brake monitor 13 forms braking system 22 Partially (Fig. 3).VCU 10 receives multiple signals from the various sensors and subsystem (not shown) that are arranged on vehicle, and And multiple signals are exported to the various sensors and subsystem.VCU 10 includes the traveling of low speed shown in Fig. 3 (LSP) control System 12 and stabilitrak (SCS) 14.SCS 14 improves vehicle 100 by detecting and managing losing for tractive force Safety.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 that vehicle 100 is guided 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 individual controller.

Although not being shown specifically in Fig. 3, VCU 10 further includes dynamic stability control (DSC) functional block, traction Power controls slow drop control (HDC) functional block in (TC) functional block, anti-lock braking system (ABS) functional block and abrupt slope.These function Energy block is realized by the software code that the computing device of VCU 10 is run, and wheelslip thing is occurring for these functional blocks There is provided the output for indicating following item in the case where part from VCU 10 to engine 121: such as DSC movement, TC movement, ABS are acted, are right The brake regulation and engine torque of each wheel are requested.Each event expression in above-mentioned event has occurred and that wheelslip thing Part.Other vehicle subsystems such as roll stability control system etc. are also possible to useful.

As it is indicated above, vehicle 100 further includes cruise control system 16, cruise control system 16 is operable to Vehicle be more than 25kph speed when driving, 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).It can To open cruise control system 16 by pressing cruise control system selector button 176.When cruise control system 16 is opened When, the current value of cruise control setting speed parameter cruise_set-speed is arranged pressure " setting speed " controller 173 For current vehicle speed.Pressure the "+" button 174 increases the value of cruise_set-speed, and depressing "-" button 175 makes The value of cruise_set-speed reduces.It is provided with recovery button 173R, is able to carry out operation to cover in driver The instantaneous value that it is cruise_set-speed by speed control that control cruise control system 16, which continues, later.It is to be understood that packet The known road cruise control system for including this system 16 is configured so that in the case where user depresses brake or right In the case where depressing clutch pedal for the vehicle with manual transmission, cruise control function is cancelled, and is made 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 maintained as constant value, the constant value is usually more than 25kph.In other words, low in speed In the case where 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 any values for being configured to be arranged to the value of cruise_set-speed within the scope of 25kph to 150kph.

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

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

LSP control system 12 is configured to allow users to control HMI (LSP HMI) 20 (Fig. 1, figure that advance via low speed 3) desired value of setting speed parameter user_set-speed is inputted to LSP control system 12, the low speed, which is advanced, controls HMI (LSP HMI) 20 and cruise control system 16 and HDC control system 12HD share certain input button 173-175.It is assumed that vehicle Speed the operation of LSP control system allowed band (range is range from 2kph to 30kph in the present embodiment, But other ranges are also useful) in, and there is no other constraints for car speed, while in LSP control system Under 12 control, LSP control system 12 controls 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 control System 12 is configured to be operating independently with tractive force event.That is, LSP control system 12 will not detect Cancel speed control when wheelslip.But the active management vehicle behavior when detecting sliding of LSP control system 12.

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

LSP control system 12 is received from the braking system 22 of vehicle indicates that user has been applied by means of brake pedal 163 The input of the degree of braking.LSP control system 12, which is also received from accelerator pedal 161, indicates that user has pressed accelerator pedal The input of 161 degree.Also the input from speed changer or gearbox 124 is provided to LSP control system 12.The input can wrap Include the letter for representing such as sliding of the speed of the output shaft of gearbox 124, torque converter and transmission ratio (gear ratio) request Number.Other inputs to LSP control system 12 include state from cruise control HMI 18, representing cruise control system 16 The input of (unlatching/closing) and the input that HMI 20 is controlled from LSP.

The HDC functional block of VCU 10 forms the part of HDC system 12HD.When HDC system 12HD is active, it is System 12HD control braking system 22 (part that ABS functional block forms the braking system 22) so as to by car speed be restricted to The corresponding value of value of speed parameter HDC_set-speed is arranged in HDC, and the value of the HDC_set-speed can be set by user It sets.HDC setting speed is also referred to as HDC target velocity.It is assumed that when HDC system is active user not over Accelerator pedal is depressed to cover HDC system, HDC system 12HD control braking system 22 (Fig. 3) is more than to prevent car speed HDC_set-speed.In the present embodiment, HDC system 12HD is not operated to apply positive driving torque.But HDC system 12HD is operated only as applying negative braking torque.

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

As described above, HDC system 12HD operation is arranged speed parameter HDC_set-speed's for permission user setting HDC Value, and operate to adjust HDC_set- using controller identical with cruise control system 16 and LSP control system 12 The value of speed.Therefore, in the present embodiment, when HDC system 12HD controls car speed, identical control can be used Button 173,173R, 174,175 will in the mode similar with the setting speed of cruise control system 16 and LSP control system The increase of HDC system setting speed, the instantaneous velocity for reducing or being set as vehicle.HDC system 12HD operation is permission HDC_ The value of set-speed is arranged to any value within the scope of 2kph to 30kph.

If when vehicle 100 has selected HDC system 12HD with 50kph or smaller speed when driving, and without other Speed control system is operating, then the value of HDC_set-speed is arranged to the value selected from look-up table by HDC system 12HD. By look-up table export value be depend on to currently selected transmission gear, at present selected PTU transmission ratio (Hi/LO) and Currently selected driving mode identifies to determine.Then, it is assumed that driver is not over pressure accelerator pedal 161 HDC system 12HD, HDC system 12HD application dynamical system 129 and/or braking system 22 are covered so that vehicle 100 decelerates to HDC system System setting speed.HDC system 12HD is configured to be decelerated to vehicle 100 with the rate of deceleration no more than maximum allowable rate and be set Set velocity amplitude.In the present embodiment, the rate is arranged to 1.25ms to 2ms, but other values are also useful.If User then depresses " setting speed " button 173, then the value of HDC_set-speed is arranged to instant vehicle by HDC system 12HD Speed, it is assumed that instantaneous velocity is 30kph or smaller.If when vehicle 100 has selected HDC with the speed for being more than 50kph when driving System 12HD, then HDC system 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 according to selected driving mode to one or more Vehicular systems or subsystem in landform response system The setting of (such as powertrain controller 11).Driving mode can by user by means of drive mode selector 141S (Fig. 1) Lai Selection.Driving mode is also referred to as orographic model, landform response modes or control model.In the embodiment of figure 1, it mentions Four kinds of driving modes: " highway " driving mode have been supplied, have been suitable for driving on relatively hard and smooth driving surface, wherein There are relatively high skin-friction coefficients between driving surface and the wheel of vehicle；" sand ground " driving mode, is suitable for more It is driven in sand ground shape；" meadow, gravel or snowfield " (GGS) driving mode is suitable for driving on meadow, gravel or snowfield； " rock is creeped " (RC) driving mode is suitable for slowly driving on more rock surfaces；And " slob " (MR) drives Mode is suitable for driving in muddy, canyon topography.Additionally or alternatively, other driving modes can be provided.

In some embodiments, LSP control system 12 may be in state of activation, standby mode and "Off" state Any one.In active state, LSP control system 12 is initiatively managed by control driveline torque and braking system torque Manage car speed.In the standby state, before user presses recovery button 173R or " setting speed " button 173, LSP control System 12 does not control car speed.In the closed state, before LSP control system selector button 172 is depressed, LSP control System 12 processed does not respond input control.

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

When under LSP control system 12 is active, user can increase by means of "+" and "-" button 174,175 Speed is arranged in big or reduction vehicle.In addition, user can also be by pressing lightly on accelerator pedal 161 or brake pedal respectively 163 are arranged speed to increase or reduce vehicle.In some embodiments, when under LSP control system 12 is 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- The value of speed is adjusted.Latter feature can prevent for example due to one of inadvertent depression "+" or "-" button 174,175 and Setting speed occurs is not intended to change.Such as inadvertent depression may occur when through difficult landform, in the difficult landform The relatively large steering angle of lower possible needs and the frequent change steering angle of needs.Other settings are also useful.

It is to be understood that in the present embodiment, the operation of LSP control system 12 is to make vehicle according to the model of 2kp to 30kph Setting velocity amplitude in enclosing travels, and cruise control system operation for make vehicle according to 25kph to 150kph in the range of Velocity amplitude is set to travel, but other values are also useful.If being higher than 30kph in car speed but being less than or substantially etc. LSP control system 12 is selected when 50kph, then LSP control system 12 takes middle model.Under middle model, if driven The person of sailing unclamps accelerator pedal 161 while travelling with the speed greater than 30kph, then 12 arrangement brake system of LSP control system System 22 is to decelerate to setting velocity amplitude corresponding with the value of parameter LSP_set-speed for vehicle 100.Once car speed drops As low as 30kph or hereinafter, LSP control system 12 takes state of activation, its operation is 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 braking system 22, To control vehicle according to LSP_set-speed value.If LSP setting velocity amplitude is not set, LSP control system 12 is taken Standby mode.

If being understood that LSP control system 12 is 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, thus in any time only one system according to vehicle row The speed sailed is operated.

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

Fig. 4 shows the device controlled in LSP control system 12 car speed.As described above, selected by user The speed (user_set-speed) selected is input to LSP control system 12 via LSP control HMI 20.LSP control system 12 Determine that the speed is appropriate for mainstream 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.Vehicle speed sensor 34 associated with (shown in FIG. 1) dynamical system 129 is provided to LSP control system 12 indicates vehicle The signal 36 of speed.LSP control system 12 includes comparator 28, which (is also claimed LSP_set-speed 38 It with measured speed 36 is compared for " target velocity " 38), and provides expression the output signal compared 30.Output letter Numbers 30 are provided to evaluator (evaluator) unit 40 of VCU 10, which is desirable according to car speed Increase or reduce to keep speed LSP_set-speed, output signal 30 is construed to being applied to the another of wheel 111-115 The requirement of outer torque, or output signal 30 is construed to the requirement to the torque for being applied to wheel 111-115 is reduced.Usually By increasing the biography being transmitted at the given position (such as engine output shaft, wheel or any other suitable position) of dynamical system Dynamic is the amount of torque to realize the increase of torque.It can be transmitted to the powertrain torque of wheel by reduction and/or pass through increase The brake force of wheel is realized, the torque at given wheel is decreased to lesser positive value or relatively negative negative value (less positive or more negative).It is to be understood that having operation in dynamical system 129 is the one or more of generator In some embodiments of a motor, negative torque can be applied to one or more wheels by motor from dynamical system 129.? In some cases, the speed mobile based in part on vehicle 100, can also apply negative torque by means of engine brake. If being provided with one or more motors that operation is 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 being applied to wheel 111-115 again.It can be to want according to evaluator unit 40 Positive-torque or negative torque is asked to increase or reduce net moment of torsion.In order to make required positive-torque or negative torque be applied to 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 braking system 22 apply brake force to wheel, and either or both of above situation may be used to realize the change of torque, the torque Change for reaching and keeping required car speed to be required.In the illustrated embodiment, individually apply torsion to wheel Square is so that vehicle keeps being in required speed, but can generally apply torque 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 is applied to the torque of one or more wheels to control Amount.For example, one or more components in power train 130 may include one or more clutches, it is one or More clutch operatings are so that the amount for being applied to the torque of one or more wheels is changed.Other settings are also useful 's.

It include one or more motors (such as one or more propulsion motors and/or generator) in dynamical system 129 In the case where, powertrain controller 11 may be operative to be adjusted by means of one or more motors be applied to it is one or more The torque of a wheel.

LSP control system 12 also receives the signal 48 for indicating to have occurred and that wheel slip event.This can be and is provided to The identical signal 48 of the signal of the highway cruise control system 16 of vehicle, and in the latter case, which triggers highway Covering or quiescing mode in cruise control system 16, so that cruise control system 16 is to the automatic of car speed by road Control is suspended or cancels.However, LSP control system 12 is not set into according to the wheelslip for receiving expression wheelslip Signal 48 is cancelled or pausing operation.But system 12 is configured to monitoring wheelslip and then manages wheelslip, with Reduce the workload of driver.During slip event, LSP control system 12 continues measured car speed and LSP_ The value of set-speed is compared, and is continued to automatically control and be applied to the torque of wheel so that car speed remain it is selected Value.It is therefore to be understood that LSP control system 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, so that the manual operation of vehicle must be resumed, Or restore the speed control of cruise control system 12 by pressing recovery button 173R or setting 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 wheel slip signal 48 is further refined using the sensing data for the ground speed for indicating vehicle.In this way Ground speed determination can be carried out via global location (GPS) data, or via Vehicular radar system or be based on laser System carry out, the Vehicular radar system or system based on laser is configured to determine vehicle 100 and vehicle driving passes through The relative movement between ground crossed.It in some embodiments, can also be using the camera system for determining ground speed.

In any stage of LSP control processing, user can pass through 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 system 12 keeps activation, and is not suspended by LSP control system 12 to the control of car speed.Such as Fig. 4 Shown, this can be by being provided to LSP control system 12 for wheel slip event signal 48, then being managed by LSP control system 12 Wheel slip event signal 48 is managed to realize.In embodiment shown in Fig. 1, SCS 14 generates wheel slip event signal 48, and it is provided to LSP control system 12 and cruise control system 16.

Wheel slip event is triggered when losing tractive force at any wheel.When in such as snowfield, ice, muddy ground Or on sand ground and/or abrupt slope or horizontal slope when driving, wheel and tire may more easily lose tractive force.With in normal road condition Under compare 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 particularly have found, works as in country or possible it occur frequently that wheelslip Situation under drive vehicle 100 when benefit.For driver, the manual operation under such situation is difficult and often It is filled with the experience of pressure, and may cause uncomfortable driving.

Vehicle 100 is additionally provided with other sensor (not shown), the other sensor represent with vehicle it is mobile and The associated various different parameters of state.These can be LSP control system 12 or the distinctive inertial system of HDC control system 12HD A part or any other subsystem of system or occupant restraint system, any other subsystem can be provided from sensing Device (such as gyroscope and/or accelerometer), data that can to indicate vehicle body mobile, and can provide and LSP is controlled The useful input of system 12 and/or HDC control system 12HD.Signal from sensor provide multiple riving condition indexs ( 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 for providing continuous sensor to VCU 10 and exporting Device, comprising: vehicle-wheel speed sensor as previously mentioned and as shown in Figure 5；Environment temperature sensor；Atmospheric pressure sensing Device；Tire pressure sensor；Wheel articulation sensor；To detect the sideway (yaw) of vehicle, roll and pitch angle and rate 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)；It can be used as the portion of SCS 14 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 auxiliary 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 unit).Steering controller 170C is provided to VCU 10 to be indicated to turn to traveling wheel 111,112 to vehicle 100 Apply the signal of steering force.The power corresponds to user and is applied to the power of steering wheel 171 and turn generated by ePAS unit 170C Combination to power.

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

If user has 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 mode come control subsystem.? We while pending patent application GB1111288.5, GB1211910.3 and GB1202427.9 in further retouch in detail This aspect of the 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 (determining referring to selected control model) that vehicle drive passes through is also It can be used in LSP control system 12, to determine suitably increasing or reducing for car speed.For example, if user has selected not The value of the user_set-speed of topographic(al) feature suitable for vehicle drive process, then the operation of system 12 is to pass through the speed for reducing wheel Degree lowers to automatically adjust car speed.In some cases, for example, the selected speed of user may cannot achieve or It may be unsuitable in certain terrain types, especially in the case where uneven or rough surface.If system 12 selects The setting speed (value of LSP_set-speed) different from the selected setting speed user_set-speed of user, then pass through Visually indicating for constraint of velocity is provided a user by LSP HMI 20, alternative speed has been used with instruction.

LSP control system 12 determines the value of LSP_set-speed according to the landform that vehicle drive passes through.Therefore, LSP is controlled To limit maximum speed according to landform, LSP control system 12 will control vehicle 10 with the maximum speed for the operation of system 12 processed It is operated.When being operated under cross-country condition with the driver's intervention of reduction, embodiments of the present invention make vehicle Stability improves.That is, since LSP control system 12 determines the maximum permissible value and correspondingly of LSP_set-speed The speed of vehicle 100 is limited, so when not needing driver and being intervened so to guarantee (so warrant) in mainstream landform Reduce the value of user_set-speed, and increases user_set-speed value when mainstream landform allows.In present embodiment In, if LSP speed controlling function is activated, highway cruise control system is not activated, and LSP control system 12 only operates For the value for calculating LSP_set-speed.It is understood, however, that the mainstream table described herein passed through according to vehicle driving The variation of face or landform automatically adjusts car speed to keep the method for occupant's comfort level and stability of the vehicle can also be simultaneously Enter into the vehicle speed control system optimized for highway driving.

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

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

By means of the information that camera system obtains may include for example determine vehicle 10 may prepare from cross-country lane or Track leave in the case where alarm.In some embodiments, one or more systems of vehicle 100, optionally LSP is controlled System 12 processed may be configured to the landform for detecting the vehicle front that may influence Psng_Excit value.That is, based on pair The analysis of one or more images of landform in vehicle route, LSP control system 12 can predict vehicle front Landform may reversely or positively influence occupant stimulation degree.Thus, if vehicle continues with the traveling of its present speed, LSP Control system 12 may be configured to the value of change Psng_Excit or expect the change of the value of Psng_Excit and influence Car speed.This is different from the reaction assessment to landform referring to above-mentioned vehicle parameter.

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

Fig. 6 shows the mode that LSP control system 12 determines the value of Psng_Excit.LSP control system 12 receives following The value of each parameter in three parameters is to calculate the value of Psng_Excit: (1) VehPitch_Aa_Meas is vehicle body The measured value of pitching angular acceleration；(2) VehRoll_Aa_Meas is the measured value of vehicle body roll angle acceleration；And (3) VehHeave_A_Meas 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 axis in a z-direction, wherein the direction z 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 terminal 201,202,203 of LSP control system 12.In some implementations In mode, by LSP control system 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 it is usually 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 system 12 with computer program Code applies corresponding amount of gain to each signal to realize.According to occupant to the susceptibility of the value of each signal The amount that each signal is amplified is arranged.Therefore, in some embodiments, gain is arranged to be explained as follows observation result: The value of lower pitch acceleration VehPitch_Aa_Meas compared with the equal value of fluctuating acceleration VehHeave_A_Meas, It is considered more uncomfortable for vehicle occupant.Thus, in some embodiments, it is applied to signal VehPitch_Aa_ The value of the gain of Meas can be higher than the value for being applied to the gain of 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, to generate the value of maximum permission speed according to the value of each signal.The maximum permissible value quilt of signal It is fed to and maximizes device (maximiser) functional block 230, maximize 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 Positive value.Which ensure that all values are comparable, rather than negative values.

Therefore the greater in signal is fed past smoothing apparatus 240, the application of smoothing apparatus 240 feedback control loop is simultaneously And Butterworth filter then is applied to signal.The value for being Psng_Excit by the signal that smoothing apparatus 240 exports.It is flat Sliding device substantially executes rolling average computing function, without storing the parameter exported with maximization device functional block 230 It is worth related historical data.Therefore, the output of smoothing apparatus 240 constructs the landform that the vehicle in given time period has passed through It is evenly distributed (profile), and the relatively irregular characteristic for mitigating the acceleration profile that vehicle body is subjected to.

In the present embodiment, the value of Psng_Excit is configured to increase with the increase of vehicle body stimulation degree. Since occupant stimulation degree is directly related with vehicle body stimulation degree, relax so the value for increasing Psng_Excit 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 system 12 in terms of Calculation machine program code is realized.In some alternative embodiments, the functional block can for example be amplified by means of electronics Circuit, filter circuit etc. are with hardware rather than computer program code is realized.

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

Optimum range is shown in FIG. 4, which is the model from lower value P_E_l to high value P_E_high It encloses.The value of Psng_Excit shown in fig. 7 is standardized so that the value for the Psng_Excit for being zero is in upper limit value P_E_h Substantially intermediate value between lower limit value P_E_l.Other settings are also useful.

In some alternative embodiments, the storing data in the form of residual quantity or incrementation parameter.LSP control system 12 is true Determine the difference in Fig. 6 between predetermined " acceptable " value of the value of identified Psng_Excit and Psng_Excit, and from data The analog value of library acquisition tgt_accel.

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

In the present embodiment, for the value in P_E_l Psng_Excit below, vehicle acceleration tgt_ The value of accel is configured to the function of Psng_Excit, so that as the value of Psng_Excit is reduced to P_E_l hereinafter, tgt_ The value of accel gradually becomes positive value.Conversely, for for the value of the Psng_Excit of P_E_h or more, with Psng_ The value of Excit increases to P_E_h or more, and the value of Psng_Excit gradually becomes negative value.Therefore, for below in P_E_l For the value of Psng_Excit, vehicle accelerates to fair speed and is advantageous, and for the Psng_Excit's in P_E_l or more Value, vehicle deceleration are advantageous to compared with low velocity.

LSP control system 12 is further configured to determine referring to the value of the skin-friction coefficient between wheel and driving surface The maximum allowable rate of the transverse acceleration max_lat_acc of vehicle 10 during route process.LSP control system 12 uses should Max_lat_acc value generates the value of steering_angle_v, to prevent the understeer when vehicle 10 is turned (understeer).In the present embodiment, LSP control system 12 is also operated to be calculated the vehicle in landform based on steering angle The radius of curvature in 100 path.LSP control system 12 by the radius of curvature be worth referring to determined by the driving path of vehicle into Row compares, and wherein the driving path of vehicle is determined referring to GPS location data.If LSP control system 12 detects appearance Understeer, then the operation of LSP control system 12 is to correspondingly reduce the value of steering_angle_v.In the present embodiment also Using yaw velocity and measured transverse acceleration, in order to increase there are any understeer to institute The reliability of the determination of the amount of existing understeer.In some embodiments, in the amount for determining existing understeer When do not use yaw velocity and measured transverse acceleration.Other settings are also useful.

LSP control system 12 is described now with reference to Fig. 8 determines that the instantaneous value of target velocity LSP_set-speed is adopted 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 in the functional block described in some alternative embodiments 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.It minimizes device functional block 309 and therefrom exports the smaller in six speed.The speed is fed to rate limit function 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 specified value (at this Be in embodiment 1.5ms to 2ms) positive acceleration or amplitude be more than another specified value (in the present embodiment for The negative acceleration of 1.25ms to 2ms).

It is the value of LSP_v_target by the speed that rate-limiting feature block 311 exports.Then, LSP control system 12 Car speed is controlled according to the value of LSP_set-speed.

Determine the value of Psng_Excit_v as follows.

At functional block 301, reference is obtained above with respect to look-up table described in data shown in Fig. 7 according to Psng_ The value of tgt_accel determined by the instantaneous value of Excit.The value is fed to rate-limiting feature block 303, the rate limit function Energy block 303 is determined answers in the instantaneous value of future time step-length (time step) interior LSP_set-speed of LSP control system 12 The corresponding amount being changed, to reach the rate for the acceleration for corresponding to tgt_accel (it can be positive value or negative value).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 be more than maximum allowable rate rate and increase.In some embodiments, for positive vehicle acceleration, maximum permits Perhaps rate can be about 1.5ms to 2ms；For negative acceleration, that is to say, that the deceleration of vehicle 10, maximum allowable rate can be with It is about 1.25ms to 2ms.The value of car speed increment speed_incr is fed to summation block 305.

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

Summation block 305 also receives the value of the LSP_set-speed of following time step strong point 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 the value of instant car speed v_actual as input, the instant car speed The value of v_actual can be the signal 36 of Fig. 4.The instantaneous value v_actual and LSP_ of the calculating car speed of summation block 305 Difference (error amount) between set-speed, LSP_set-speed are that LSP control system 12 attempts the speed for travelling vehicle 100 Degree.If the difference is more than specified amount, summation block 305 exports the value of LSP_set-speed as Psng_Excit_v's Value.This to give LSP control system 12 before the value tried to respond in Psng_Excit changes LSP_set-speed Time is to change into the value being closer to the value of LSP_set-speed for car speed.It is to be understood that working as speed v_actual When reaching close to the value of LSP_set-speed, the value of Psng_Excit can in the optimum range of P_E_l to P_E_h, and Therefore it can not need to further change LSP_set-speed in response to Psng_Excit.

If error amount is no more than specified amount, the value of speed_delta is added to LSP_set- by summation block 305 The value of speed, and the value of Psng_Excit_v is arranged to this value.

If being understood that the just traveling of vehicle 10 passes through a landform, and the value of user_set-speed is lower than speed Each speed in steering_angle_v, sideslope_v, gradient_v, warp_v and Psng_Excit_v, then LSP control function continues to operate vehicle 10 according to the value of LSP_set-speed, the value quilt of the LSP_set-speed It is arranged to be substantially equal to the value of user_set-speed.In not excessive wheelslip and optionally it is one or more other In the case where situation, the speed that vehicle 10 is substantially equal to user_set-speed by continuing is travelled.Driver can more than The mode of stating increases or reduces the value of user_set-speed.However, once the value of user_set-speed becomes equal to be input to The smaller in the other parameters of device functional block 309 is minimized, LSP control system 12 does not allow for car speed further to increase Greatly.If such as due to landform change and cause the smaller in remaining parameter value be reduced to user_set-speed with Under, then LSP control system 12 controls vehicle speed by the way that the value of LSP_set-speed is arranged to the smaller in remaining parameter Spend the smaller being reduced in remaining parameter.

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

If the value of max_set_speed then increases, LSP control system 12 makes car speed increase to user_ Set_speed, or increase (if user_set_speed is greater 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 system 12 makes vehicle 100 according to the speed for being lower than user_set-speed It carries out operation 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, the operation of LSP control system 12 is so that if higher speed becomes It is allowed to, then the speed of vehicle is automatically increased to higher speed.

In one embodiment, LSP control system 12 operation for detection vehicle 100 when reach slope top and Begin to take horizontal attitude.Such case can be referred to as " reaching top (cresting) ".When LSP control system 12 determines vehicle 100 when reaching top, (in some embodiments, LSP control system 12 can temporarily reduce the value of LSP_set-speed Optionally, reduce the value of max_set_speed).This feature has the advantages that and (if necessary) is reduced to car speed 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 (such as hood or hood) of vehicle 100 and be blocked.Which enhance driver enjoy drive vehicle 100 enjoyment with And stability of the vehicle.It is to be understood that in some embodiments, further higher (or maximum) velocity amplitude cresting_v quilt It is input to and minimizes device functional block 309.When detecting arrival top, the value of cresting_v can be configured to be suitable for leading The value of stream situation.Such as when in predetermined distance vehicle pitch posture from being more than the posture of facing upward of specified value (such as more than 15 degree Value) it is mobile towards horizontal attitude by the angle greater than (for example) 5 degree when, can detecte at the top of arrival.Alternatively, System can monitor the change rate of the gradient towards horizontal attitude.It is (for example) average within the period of specified time period such as 2s to 4s 3 degree of continuous decrease per second can be enough detection trigger and reach top.

In some embodiments, LSP control system 12 can drop to specified value in the gradient hereinafter, for example dropping to 10 When below the gradient of degree, detection trigger reaches top.The combination of two or more tests can be executed, is detected with confirmation Up to top, thus a possibility that reducing to the error detection for reaching top, which may pass through unnecessary vehicle Speed reduces and keeps user inconvenient.It is to be understood that in some embodiments, if the change rate of the gradient is too low, i.e., Make vehicle that may reach top, LSP control system 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 while the vehicle is traveling.

It, can be for stipulated time section or row if detecting the appropriate reduction for reaching top and causing car speed It sails distance and carrys out application speed reduction.Once the period is expired or has travelled the distance, LSP control system 12 It is returned to monitoring again and reaches top bar part.

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

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

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

When vehicle operating and speed control system at runtime, embodiments of the present invention are by automatically reducing It is useful for the maximum permissible value of speed being arranged to improve in terms of stability of the vehicle.Driver workload is accordingly reduced, and is reduced Driving fatigue.Stability of the vehicle can also be improved.

In some embodiments, Psng_ is calculated when vehicle is operating and highway cruise control system 16 activates The value of Excit, but regardless of vehicle whether equipped with LSP control system.Schematic illustration is shown in FIG. 9, the schematic figure The operation of such system corresponding with Fig. 8 is shown, wherein the appended drawing reference that similar feature is 100 with increment is come table Show.

Highway cruise control system 16 can be any of highway cruise control system.However, it is possible to with above The mode similar about 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, the difference is that, the input for minimizing device functional block 409 can be User_set-speed and Psng_Excit_v when cruise control system is activated.Therefore, cruise_set-speed Value can be configured to the smaller in user_set-speed and Psng_Excit_v.The value of Psng_Excit_v can lead to Cross the appropriate of the value relative to VehPitch_Aa_Meas, VehRoll_Aa_Meas and VehHeave_A_Meas as described above Calibration is to determine.

In some embodiments, one or more other parameters can be input to minimize device functional block 309, 409.For example, in some embodiments, can be parameter to the other input for minimizing device functional block 309,409 The value of trailing_v_tgt, the value of the trailing_v_tgt correspond to when vehicle 100 is followed along the side with vehicle 100 For behind front vehicles when after the front vehicles travelled to identical direction but with essentially identical or lower speed Keep the upper limit value of the permission target velocity of suitable distance.This can advantageously make it possible in some embodiments with convenience Mode realize cruise active control function.Additionally or alternatively, vehicle is also provided with for watching or reading front The device of road, wherein described device is configured to generate the signal for indicating mainstream road rate limitation.It is limited in road speeds In the available situation of signal, which, 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.

The speed control system of embodiment according to the present invention, such as speed control system shown in Fig. 9, having can With in vehicle just in driven on public roads when keep occupant's comfort level the advantages of.It can in the vehicle of embodiment according to the present invention To use known cruise control system 16, the cruise_set- of the calculating described in Fig. 9 is provided to the system 16 The value of speed.Therefore, it can be calibrated in some embodiments using existing cruise control system, to reduce realization originally 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: in the value of setting cruise_set-speed (and/or LSP_set-speed) When consider occupant stimulation degree parameter.That is, this feature can be provided in some embodiments, and do not require substantially To the downstream LSP control function of value or matching for cruise control function of offer LSP_set-speed or cruise_set-speed It sets and is changed.Other settings are also useful.

In some embodiments, the situation of user_set-speed or less is had descended in the value of Psng_Excit_v Under, audible indication can be provided to driver and/or visually indicated.Psng_Excit_v value then towards user_set- When speed is increased it may require that driver provides confirmation input to LSP control system 12 (or cruise control system 16), is receiving LSP control system 12 (or cruise control system 16) can make vehicle 100 according to by user_set- after to the confirmation input The increment value of the LSP_set-speed or cruise_set-speed of limitation set by speed value and operated.

Figure 10 (a) shows the console 184 of the vehicle 100 of Fig. 1.The console have user can operational panel 187, should User can operational panel 187 allow users to processor 185 associated with LSP control system 12 provide control signal. Processor operation is storing data and retrieves data from memory 186 equally associated with LSP control system 12.

In the embodiment of figure 1, dial plate 187 makes it possible to adjust the functional block 301 that (increasing or reducing) is input to Fig. 8 Parameter Psng_Excit value.In the present embodiment, dial plate 187, which is configured such that for offset to be added to, is input to function The value of the Psng_Excit of energy block 301 subtracts offset from the value of Psng_Excit.It is considered as multiplying that this, which has change, The effect of the occupant stimulation degree level of optimal compromise between member's comfort level and car speed.Therefore, it is determined by functional block 303 Aimed acceleration tgt_accel value will be according to the value of Psng_Excit reduce or increase 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 system 12 are compared to the instantaneous value of Psng_Excit and the reference signal value to determine the value of tgt_accel.System 12 obtains Poor corresponding difference between reference signal and the instantaneous value of Psng_Excit, and tgt_ is obtained according to the difference The value of accel.By adjust reference signal value, the adjustable difference, and thus it is adjustable be directed to Psng_Excit Given value tgt_accel value.

System 12 may be configured to store with the value of Psng_Excit (or in some embodiments, as described above Reference value) user adjust related data, and it is data are associated with specific user.System 12, which can will correspond to, to be used The data that family is adjusted are stored in its memory, and data are called when user occurs.In some embodiments, system 12 It can distinguish between users, thus adjusting data of the storage by each user setting, and according to the identity tune of user Use data.Can be configured based on the seat adjustment of user and the keyfob memory identity of user, by means of face recognition or User is distinguished by any other suitable mode.

LSP control system 12 also operates to receive the data for the seat occupancy for indicating vehicle.That is, indicating in addition to driving The whether occupied data in the given seat of vehicle except the person of sailing seat.Figure 10 (b) shows seat 101S to 105S The plan view in the main cabin of the vehicle of embodiment according to 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 of switch indicates that buckle 106 is detained Tightly, then LSP system 12 thinks the use that loses one's seat associated with the buckle.If the state of switch indicates that buckle 106 is disengaged, Then LSP system 12 thinks that seat 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 light 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 cover the Psng_ that system 12 is exported with the circuit for Fig. 6 with user is worked as The given value of Excit is come the related data of seat occupancy when increasing or reducing car speed.The data stored for example can be with Including information related with the quantity of occupant, such as may include and there are single occupant or the related data of multiple occupants. If system 12 may be operative to, in the future, sometime the vehicle determines that the seat occupancy data stored by system 12 correspond to Current seat occupancy then calls the data.Therefore, if user's regulating system 12 is higher to allow when there is only an occupant Speed and only allow when there are more than one occupant compared with low velocity, then system 12 can be in future according to instant seat occupancy Data automatically adjust the value (or reference signal value) of Psng_Excit in a similar way.

Other settings are also useful.

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

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

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

Automatically operate vehicle according to target speed value,

At least part of at least part of movement or occupant with vehicle body is received relative to vehicle Mobile related information, and

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

2. according to system described in paragraph 1, wherein the electric controller indicates vehicle at least by being configured to receive The electric signal of movement of at least part of a part of movement or occupant relative to vehicle, to be configured to receive The related information of movement at least part of at least part of movement of vehicle or occupant relative to vehicle.

3. according to 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 operates vehicle according to the target speed value.

4. according to 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 at least partly root It is determined according at least part of movement of the vehicle body or at least part of movement of the occupant.

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

6. according to 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 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 comfortable water measured by the expression The value of flat signal.

8. according to system described in paragraph 4, wherein the controller be configured to also 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；The steering angle of function as 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 system described in paragraph 4, wherein the controller is configured to determine the maximum speed 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 Horizontal signal is fitted, the system, which is able to carry out, to 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 described other maximum speed value.

10. according to system described in paragraph 9, wherein at least one described other maximum speed value includes and user's phase The corresponding user of maximum speed of traveling is hoped to define velocity amplitude.

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

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

13. according to system described in paragraph 12, wherein the controller is configured to comfortable according to measured by the expression It is expected the value of horizontal signal calculates the value of vehicle acceleration or speed change, to adjust the value of target velocity to reduce State the difference between the signal and specified value or specified value range that indicate measured comfort level.

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

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

16. according to system described in paragraph 14, wherein be based on user's input electrical signal, the controller is configured At the value of manipulation 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, to control the amount that the target speed value is conditioned.

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

19. further including imaging device according to system described in paragraph 1, 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, which comprises

Automatically operate vehicle according to target speed value；

At least part of at least part of movement or occupant with vehicle body is received relative to vehicle Mobile related information；And

22. according to method described in paragraph 21, further includes: based in part on the signal for indicating measured comfort level To determine that the target speed value, the signal of comfort level measured by the expression are based in part on the vehicle body At least part of movement or at least part of movement of the occupant determine.

23. according to method described in paragraph 22, comprising: 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 current value.

24. according to method described in paragraph 22, comprising: 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 method described in paragraph 21, comprising: 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 comfort level measured by the expression.

26. according to method described in paragraph 21, including also according to, choosing associated with movement of the vehicle in landform The target speed value: steering angle is determined from least one parameter in parameters described below；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 method described in paragraph 21, further includes: determine that the maximum speed value for deriving from comfort level is another at least one 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 described other maximum speed Smaller in angle value.

28. according to method described in paragraph 27, wherein at least one described other maximum speed value includes and user's phase The corresponding user of maximum speed of traveling is hoped to define velocity amplitude.

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

30. according to method described in paragraph 21, further includes: adjust the value of target velocity, iteratively to reduce described indicate Difference between the signal and specified value or specified value range of measured comfort level.

31. according to method described in paragraph 30, further includes: according to the value of the signal of comfort level measured by the expression come The value of expectation vehicle acceleration or speed change is calculated, so that it is comfortable measured by described indicate to reduce to adjust the value of target velocity Difference between horizontal signal and specified value or specified value range.

32. according to method described in paragraph 21, further includes: manipulate the target speed value based on user's input and be conditioned Amount.

33. according to method described in paragraph 32, wherein manipulating the amount that the target speed value is conditioned includes described in manipulation The value for indicating the signal of measured comfort level, to control the amount that the target speed value is conditioned.

34. according to method described in paragraph 32, comprising: manipulate the value of reference signal and by the reference signal with it is described Indicate that the signal of measured comfort level is compared, to control the amount that the target speed value is conditioned.

35. according to method described in paragraph 34, comprising: 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 method described in paragraph 23, further includes: adjust the target according to data related with seat occupancy Velocity amplitude.

37. according to method described in paragraph 21, comprising: monitor at least one of vehicle occupant's body using imaging device The movement divided.

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

Through the described and claimed of this specification, the variant of word " comprising " and "comprising" and these words, example Such as " including " and " including ", it is meant that " including but not limited to ", and be not intended to (and not) exclude other parts, addition Object, component, 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 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 combine feature described in certain aspects of the present disclosure, embodiment or example, Entirety, characteristic, compound, chemical component or group should be understood to be suitable for any other aspect described herein, implementation Mode or example.

Claims

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

Device for operating vehicle according to target speed value,

For receiving the device at least part of occupant relative to the related information of movement of vehicle, and

For automatically regulating the device of the value of the target speed value according to the information,

Wherein, described for automatically making vehicle according to the device that target speed value is operated include electric controller, the electricity Controller is configured to automatically operate vehicle according to target speed value,

And wherein, described for receiving the dress of the related information of movement at least part of occupant relative to vehicle It sets including the electric controller, the electric controller is configured to receive at least part for indicating occupant relative to vehicle Movement electric signal.

2. system according to claim 1, wherein described for automatically regulating the target speed according to the information The device of the value of angle value includes the electric controller, and the electric controller is configured to export 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 of comfort level is measured to determine the target speed value, the signal of comfort level measured by the expression be at least partly It is determined according at least part of movement of occupant.

4. system according to claim 3, wherein the electric controller is further configured to based in part on institute Stating indicates that the signal of measured comfort level comes it is determined that the amount that the target velocity is adjusted relative to current value.

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. system according to any one of claim 3 to 5, wherein the electric controller is configured at least partly The table is determined according to vehicle body pitching angular acceleration, vehicle body roll angle acceleration and vehicle body fluctuating acceleration Show the value of the signal of measured comfort level.

7. system according to any one of claim 3 to 5, wherein the electric controller be configured to also according to institute State that movement of the vehicle in landform be associated, at least one parameter in parameters described below determines the target velocity Value: steering angle, car speed, the steering angle of the function as 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. system according to any one of claim 3 to 5, wherein the electric controller, which is configured to determine to derive from, to relax Horizontal maximum speed value and at least one other maximum speed value are fitted, the maximum speed value derived from comfort level takes The certainly signal of the comfort level measured by the expression, the system are able to carry out operation so that the value of target velocity is configured to Smaller in the maximum speed value and at least one described other maximum speed value derived from comfort level.

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

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

11. 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 between the signal of comfort level measured by described indicate and specified value or specified value range 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 horizontal signal is fitted to calculate the value of desired vehicle acceleration or speed change, to adjust the target speed value to subtract Difference between the signal and specified value or specified value range of comfort level measured by the small expression.

13. system according to any one of claim 3 to 5, wherein the electric controller is configured to receive user defeated 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 be based on user's input electrical signal, the electric controller is matched It is set to the value for manipulating the signal of comfort level measured by the expression, to control the amount that the target speed value is conditioned.

15. system according to claim 14, wherein be based on user's input electrical signal, the electric controller is matched It is set to the value of manipulation reference signal, the electric controller is further configured to will be measured by the reference signal and the expression The signal of comfort level is compared, 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. system according to any one of claim 1 to 5, wherein the electric controller is configured to basis and seat Related data are occupied to adjust the target speed value.

18. system according to any one of claim 1 to 5 further includes imaging device, the imaging device is in use Monitor at least part 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, which comprises

Automatically operate vehicle according to target speed value；

Receive the related information of movement at least part of occupant relative to vehicle；And

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

21. according to the method for claim 20, comprising: 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 current value.

22. according to the method for claim 20, comprising: 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. according to the method for claim 20, comprising: 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 comfort level measured by the expression.

24. the method according to any one of claim 20 to 23, comprising: 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, and car speed makees For 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 suspension The amount of distortion.

25. the method according to any one of claim 20 to 23, comprising: determine the maximum speed value for deriving from comfort level The other maximum speed value at least one, the maximum speed value derived from comfort level depend on relaxing measured by the expression Horizontal signal is fitted, 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 a other maximum speed value.

26. according to the method for claim 25, wherein at least one described other maximum speed value includes and user's phase The corresponding user of maximum speed of traveling is hoped to define velocity amplitude.

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

28. the method according to any one of claim 20 to 23, further includes: the target speed value is iteratively adjusted, To reduce the difference between the signal of comfort level measured by described indicate and specified value or specified value range.

29. according to the method for claim 28, further includes: according to the value of the signal of comfort level measured by the expression come The value of expectation vehicle acceleration or speed change is calculated, is relaxed measured by described indicate so that adjusting the target speed value with reducing Fit the difference between horizontal signal and specified value or specified value range.

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

31. according to the method for claim 21, further includes: manipulate the target speed value based on user's input and be conditioned Amount, and wherein, manipulating the amount that the target speed value is conditioned includes the letter for manipulating comfort level measured by the expression Number value, to control the amount that the target speed value is conditioned.

32. according to the method for claim 31, comprising: manipulate the value of reference signal and by the reference signal with it is described Indicate that the signal of measured comfort level is compared, to control the amount that the target speed value is conditioned.

33. according to the method for claim 32, comprising: 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, further includes: according to data related with seat occupancy come Adjust the target speed value.

35. the method according to any one of claim 20 to 23, comprising: monitor vehicle occupant's body using imaging device At least part of movement of body.