GB2357159A - Terrain responsive control system for land vehicle - Google Patents

Terrain responsive control system for land vehicle Download PDF

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Publication number
GB2357159A
GB2357159A GB9928769A GB9928769A GB2357159A GB 2357159 A GB2357159 A GB 2357159A GB 9928769 A GB9928769 A GB 9928769A GB 9928769 A GB9928769 A GB 9928769A GB 2357159 A GB2357159 A GB 2357159A
Authority
GB
United Kingdom
Prior art keywords
vehicle
control system
terrain
control
adaptation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
GB9928769A
Other versions
GB2357159B (en
GB9928769D0 (en
Inventor
Martin Ranson
Paul Thomas Faithfull
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MG Rover Group Ltd
Jaguar Land Rover Ltd
Original Assignee
MG Rover Group Ltd
Land Rover Group Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by MG Rover Group Ltd, Land Rover Group Ltd filed Critical MG Rover Group Ltd
Priority to GB9928769A priority Critical patent/GB2357159B/en
Publication of GB9928769D0 publication Critical patent/GB9928769D0/en
Publication of GB2357159A publication Critical patent/GB2357159A/en
Application granted granted Critical
Publication of GB2357159B publication Critical patent/GB2357159B/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
    • B60K23/0808—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles for varying torque distribution between driven axles, e.g. by transfer clutch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/1819—Propulsion control with control means using analogue circuits, relays or mechanical links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by steering
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/021—Introducing corrections for particular conditions exterior to the engine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/60—Inputs being a function of ambient conditions
    • F16H59/66—Road conditions, e.g. slope, slippery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B60G2400/823—Obstacle sensing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60G2401/16—GPS track data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60G2401/17—Magnetic/Electromagnetic
    • B60G2401/174—Radar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/24—Steering, cornering
    • B60G2800/242—Obstacle avoidance manoeuvre
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/96—ASC - Assisted or power Steering control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/97—Engine Management System [EMS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2200/00—Input parameters for engine control
    • F02D2200/70—Input parameters for engine control said parameters being related to the vehicle exterior
    • F02D2200/702—Road conditions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/60—Inputs being a function of ambient conditions
    • F16H59/66—Road conditions, e.g. slope, slippery
    • F16H2059/666—Determining road conditions by using vehicle location or position, e.g. from global navigation systems [GPS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The system includes a detection system which monitors the terrain in the region of the vehicle, and a control means which adapts the running of the vehicle to the detected terrain by varying at least the transmission ratio and/or power output. The detection means may be a terrain seeking/mapping radar 12. The control may be a hill descent control, optionally with locking/unlocking of differential units, ride height variation control, steering control override, selection of driven axles, or selection of drive torque to individually driven wheels.

Description

2357159 A Control System This invention relates to control systems and in
particular to a control system for a land vehicle.
It is known to provide a land vehicle with a control system including a detection means arranged in use to monitor an area of terrain in the region of the vehicle and one such system is disclosed in GB 2292860. In this system, an unmanned vehicle can be steered around obstacles or braked in response to a terrain mapping radar system. This system varies only a limited number of functions of the vehicle.
It is an object of this invention to provide an improved control system.
Accordingly, the invention provides a control system for a land vehicle, the control system including a detection means arranged in use to monitor an area of terrain in the region of the vehicle and a control means arranged in use to adapt automatically a running condition of the vehicle so as to substantially match the running condition to the nature of the terrain, wherein the adaptation includes the variation of a transmission ratio and/or a prime mover power output.
The vehicle may include a hill descent control means, wherein the adaptation further includes the implementation of a hill descent control strategy when descending a slope of or above a predetermined angle.
The vehicle may include one or more substantially lockable differential drive units, wherein the adaptation further includes locking and/or unlocking one or more differential units.
The vehicle may include a ride height variation means, wherein the adaptation further includes the variation of a ride height, so as to vary the ground clearance of the vehicle.
The vehicle may include a steering means under the control of the control means, wherein the adaptation further includes an automatic over-ride of a user steering input to a user operated steering means.
The vehicle may comprise a multi-axled vehicle for which drive can be selectably applied to more than one axle, wherein the adaptation further includes the variable selection of drive between the axles or to a plurality of axles, so as to aid traction.
The vehicle may comprise a multi-wheeled vehicle having a driving torque provided independently to a plurality of those wheels and wherein the adaptation further includes the biasing of torque between at least two of those wheels.
The invention will now be described with reference to the accompanying drawing, in which:
Figure 1 is a schematic diagram of a vehicle including a control system according to the invention.
Referring to the figure, a land vehicle 10 includes a detection means in the form of a terrain tracking/mapping radar 12, positioned in the region of a forward facing portion of the vehicle 10. The radar 12 provides to a controller 14 signals which are indicative of the nature of the terrain in a region 16 substantially forwards of the direction of travel of the vehicle 10. The vehicle 10 also includes a powertrain comprising a prime mover in the form of an engine 18 and an automated transmission 20, the control of both of which can be influenced by the controller 14.
The controller 14 analysis the nature of the terrain in the region 16 and of any objects 22 or obstacles in the path of the vehicle 10 and, in response to a signal from the radar 12, automatically adapts a running condition of the vehicle 10 so as to substantially match the running condition of the vehicle 10 to the nature of the terrain.
If an object 22 or obstacle, e.g. a hill, cannot be suitably negotiated using the currently selected transmission ratio or engine torque output, then the controller 14 is arranged, in response to the detected nature of the terrain, to cause a variation in the transmission ratio or in the engine output, so as to help clear the object 22 or obstacle. If an obstacle is a descending slope, then the transmission ratio is varied so as to provide engine braking. A similar effect could be achieved for a vehicle 10 having a manual transmission by providing advice to a user via a display means, so that he can make his own changes.
In a variation to the invention, the vehicle 10 further comprises a hill descent control system of the type disclosed in US 5,941,614. In this variation, the controller 14 is arranged, in response to the detected nature of the terrain, to implement automatically a suitable hill descent control strategy when the radar 12 detects a hill descent.
Under conditions of off-road use, the progress of a suitably equipped vehicle can also be enhanced by locking one or more differential drive units. If these units are locked under the wrong conditions, or not unlocked following correct deployment, damage may occur. In a further variation of this invention, the vehicle 10 has a lockable differential drive unit (not shown separately) on each axle 24 and the controller 14 is arranged, in response to the detected nature of the terrain, to lock andlor unlock automatically the differentials in response to the nature of the terrain. The invention could also be applied to a vehicle 10 which has at least one lockable differential, but not necessarily one on each axle 24. In similar fashion, the lockable differential may be part of a transfer gearbox forming part of the transmission 20 and arranged in use to lock the axles 24 together.
In another variation of the invention, the vehicle 10 includes a suspension system which includes a ride height alteration means. The controller 14 is arranged in use, in response to the detected nature of the terrain, to vary the ride height as necessary so as to best match the ground clearance of the vehicle 10 to the terrain.
In another variation of the invention, the vehicle 10 further comprises an automated steering means which is under the control of the control means 14. If an object 22 or obstacle cannot be safely tackled by possible alterations to the running condition of the vehicle 10, the controller 14 is arranged, in response to the detected nature of the terrain, to automatically steer the vehicle 10 along a calculated best path through the terrain, such that it avoids any such impassable objects 22 or obstacles. In this event, the controller 14 uses the automated steering means to over-ride any manually controlled user steering means.
In another variation of the invention, the vehicle 10 is provided with variable four-wheel-drive and the controller 14 is arranged, in response to the detected nature of the terrain, to select the best split in drive between one or more of the axles 24, so as to provide the optimum traction.
In another variation of the invention, the vehicle 10 is provided with individual drive means for each wheel (not shown). This may, for example, be provided using individual traction motors operating on electrical or hydraulic principles. The controller 14 is arranged, in response to the detected nature of the terrain, to vary the driving torque provided to one or more of the wheels so as to bias the driving force provided between the wheels

Claims (8)

  1. A control system for a land vehicle, the control system including a detection means arranged in use to monitor an area of terrain in the region of the vehicle and a control means arranged in use to adapt automatically a running condition of the vehicle so as to substantially match the running condition to the nature of the terrain, wherein the adaptation includes the variation of a transmission ratio and/or a prime mover power output.
  2. 2. A control system according to Claim 1, the vehicle including a hill descent control means, wherein the adaptation further includes the implementation of a hill descent control strategy when descending a slope of or above a predetermined angle.
  3. 3. A control system according to Claim 1 or Claim 2, the vehicle including one or more substantially lockable differential drive units, wherein the adaptation further includes locking and/or unlocking one or more differential units.
  4. 4. A control system according to any preceding claim, the vehicle including a ride height variation means, wherein the adaptation further includes the variation of a ride height, so as to vary the ground clearance of the vehicle.
  5. 5. A control system according to any preceding claim, the vehicle including a steering means under the control of the control means, wherein the adaptation further includes an automatic over-ride of a user steering input to user operated steering means.
  6. 6. A control system according to any preceding claim, the vehicle comprising multi-axled vehicle for which drive can be selectably applied to more than one axle, wherein the adaptation further includes the variable selection of drive between the axles or to a plurality of axles, so as to aid traction.
  7. 7. A control system according to any preceding claim, the vehicle comprising a multi-wheeled vehicle having a driving torque provided independently to a plurality of those wheels and wherein the adaptation further includes the biasing of torque between at least two of those wheels.
  8. 8. A control system substantially as described herein and with reference to the accompanying drawing.
GB9928769A 1999-12-07 1999-12-07 A control system Expired - Fee Related GB2357159B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB9928769A GB2357159B (en) 1999-12-07 1999-12-07 A control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB9928769A GB2357159B (en) 1999-12-07 1999-12-07 A control system

Publications (3)

Publication Number Publication Date
GB9928769D0 GB9928769D0 (en) 2000-02-02
GB2357159A true GB2357159A (en) 2001-06-13
GB2357159B GB2357159B (en) 2003-12-31

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Cited By (26)

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EP1355209A1 (en) * 2002-04-18 2003-10-22 Ford Global Technologies, LLC Vehicle control system
GB2388348A (en) * 2002-05-02 2003-11-12 Ford Global Tech Llc Vehicle differential control
GB2412750A (en) * 2004-03-30 2005-10-05 Bosch Gmbh Robert Adapting a vehicle stabilising system to the nature of the road surface
US7162346B2 (en) 2003-06-19 2007-01-09 Ford Global Technologies, Llc Vehicle control method and apparatus
GB2443619A (en) * 2006-11-09 2008-05-14 Ford Global Tech Llc Assisting recovery of a vehicle using a winch and automatic powertrain control
EP1780089A3 (en) * 2005-11-01 2009-06-17 Aisin Aw Co., Ltd. Vehicle control system and vehicle control method
US7577508B2 (en) 2006-05-09 2009-08-18 Lockheed Martin Corporation Mobility traction control system and method
US8145402B2 (en) 2007-12-05 2012-03-27 Lockheed Martin Corporation GPS-based traction control system and method using data transmitted between vehicles
US8229639B2 (en) 2009-02-17 2012-07-24 Lockheed Martin Corporation System and method for stability control
US8244442B2 (en) 2009-02-17 2012-08-14 Lockheed Martin Corporation System and method for stability control of vehicle and trailer
US8352120B2 (en) 2009-02-17 2013-01-08 Lockheed Martin Corporation System and method for stability control using GPS data
GB2499252A (en) * 2012-02-13 2013-08-14 Jaguar Cars Driver advice system for a vehicle
US8589049B2 (en) 2007-12-03 2013-11-19 Lockheed Martin Corporation GPS-based system and method for controlling vehicle characteristics based on terrain
EP2817189A1 (en) * 2012-02-20 2014-12-31 Jaguar Land Rover Limited Method of speed control for a vehicle
GB2516934A (en) * 2013-08-07 2015-02-11 Jaguar Land Rover Ltd Vehicle speed control system and method
GB2527510A (en) * 2014-06-23 2015-12-30 Jaguar Land Rover Ltd Multi-speed automatic vehicle transmission
US9376108B2 (en) 2012-06-07 2016-06-28 Jaguar Land Rover Limited Vehicle steering
US9493160B2 (en) 2012-08-16 2016-11-15 Jaguar Land Rover Limited Vehicle speed control system
DE102015220210A1 (en) * 2015-10-16 2017-04-20 Conti Temic Microelectronic Gmbh Driver assistance device and method for supporting a driver of a vehicle
FR3044602A1 (en) * 2015-12-02 2017-06-09 Claude Secchi SUSPENSION FOR MOTOR VEHICLE ASSISTED BY RADAR AND COMPUTER
WO2017192842A1 (en) * 2016-05-04 2017-11-09 Linamar Corporation Systems and methods for vehicle to vehicle communication and all wheel drive disconnect
GB2552021A (en) * 2016-07-08 2018-01-10 Jaguar Land Rover Ltd Improvements in vehicle speed control
USRE46828E1 (en) 2002-04-18 2018-05-08 Jaguar Land Rover Limited Vehicle control
FR3077053A1 (en) * 2018-01-24 2019-07-26 Psa Automobiles Sa SYSTEM FOR CONTROLLING THE MODE OF CONDUCT OF A MOTOR POWERS GROUP
US10676094B2 (en) 2016-05-04 2020-06-09 Linamar Corporation Systems and methods for vehicle to vehicle communication and all wheel drive disconnect
CN111319619A (en) * 2020-03-17 2020-06-23 新石器慧通（北京）科技有限公司 Autonomous vehicle and obstacle feedback adjustment method thereof

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CN109132392A (en) * 2017-06-27 2019-01-04 广西大学 A kind of AGV forklift ramp recognition methods
CN109318987B (en) * 2018-11-01 2021-07-16 河南科技大学 Vehicle with a steering wheel
CN111409604A (en) * 2020-04-10 2020-07-14 新石器慧通（北京）科技有限公司 Autonomous vehicle and steering method thereof
CN115071861A (en) * 2022-08-22 2022-09-20 徐州必拓安全设备制造有限公司 Police reconnaissance observation robot capable of preventing rollover

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US5598335A (en) * 1994-04-06 1997-01-28 Hyundai Motor Company System and method for controlling a shift position when a vehicle travels along a steeply sloped road or a sharply curved road
US5752214A (en) * 1995-05-25 1998-05-12 Hitachi, Ltd. Method and apparatus for controller power train of motor vehicle
GB2334496A (en) * 1998-02-20 1999-08-25 Rover Group Hybrid vehicle with controlled downhill electrodynamic braking

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Publication number Priority date Publication date Assignee Title
US5432701A (en) * 1991-05-08 1995-07-11 Robert Bosch Gmbh Electronic system in a motor vehicle for detecting a rough road condition
US5598335A (en) * 1994-04-06 1997-01-28 Hyundai Motor Company System and method for controlling a shift position when a vehicle travels along a steeply sloped road or a sharply curved road
US5752214A (en) * 1995-05-25 1998-05-12 Hitachi, Ltd. Method and apparatus for controller power train of motor vehicle
GB2334496A (en) * 1998-02-20 1999-08-25 Rover Group Hybrid vehicle with controlled downhill electrodynamic braking

Cited By (52)

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