GB2584593A

GB2584593A - Vehicle control system and method

Info

Publication number: GB2584593A
Application number: GB1903358.8A
Authority: GB
Inventors: Neilson Robert; William Robertson James; Peers Adam; Kosmas Christopher; Kojchev Stefan
Original assignee: Jaguar Land Rover Ltd
Current assignee: Jaguar Land Rover Ltd
Priority date: 2019-03-12
Filing date: 2019-03-12
Publication date: 2020-12-16
Anticipated expiration: 2039-03-12
Also published as: GB2584593B; DE102020106317A1; GB201903358D0

Abstract

A control system (100) comprising controllers for implementing one or more stability parameters of a host vehicle (800). The control system is configured to receive 220 data indicative of an environment of the host vehicle; identify 230, from the data, the presence of a target vehicle (T) and identify 240 one or more characteristics of the target vehicle; determine 250 one or more stability parameters of the host vehicle in dependence on the characteristics of the target vehicle; and implement 270 said stability parameters before the host vehicle passes the target vehicle. The passing of the vehicles may comprise an aerodynamic interaction between the host vehicle and target vehicle, and the characteristics of the target vehicle may include a size and speed of the target vehicle, a lateral displacement and a minimum distance between the vehicles, these characteristics having an impact on the turbulent flow or crosswinds which the host vehicle may experience. The stability parameters may comprise one or more suspension control parameters. Also provided is a method of controlling a suspension system of a vehicle.

Description

VEHICLE CONTROL SYSTEM AND METHOD

TECHNICAL FIELD

The present disclosure relates generally to a control system and method and more particularly, but not exclusively, to a control system and method for implementing one or more stability parameters of a vehicle. Aspects of the invention relate to a control system for applying one or more vehicle stability parameters, a vehicle comprising the system, a method of implementing one or more stability parameters and a computer program product, a non-transitory computer readable medium and a processor for implementing the method or computer program product.

BACKGROUND

Large vehicles, for example trucks or buses, travelling at speed cause a significant disturbance to a surrounding aerodynamic environment. This disturbance is most commonly experienced by smaller vehicles, for example passing vehicles i.e. cars, as they pass through the aerodynamic environment created by the larger vehicle.

Such encounters most often take place during the overtake of a larger vehicle by a smaller vehicle. The driver of the smaller vehicle has to be alert to a push-pull-push effect on the smaller vehicle during the course of the overtake, often having to take corrective action at a steering wheel of the smaller vehicle to maintain the smaller vehicle on course.

This phenomenon is a direct result of the aerodynamic environment created by the larger vehicle, and in particular, a so-called 'bow-wave' that extends along the length of a truck.

Vehicle comfort and composure may be adjusted by virtue of adjustment of one or more vehicle stability parameters, for example suspension parameters. However, these tend to be either reactive in nature in the case of active or semi-active suspension systems, i.e. the adjustment taking place in response to a given disturbance, or otherwise based on a vehicle mode and therefore not tailored to a given situation.

It is therefore an object of embodiments of the present invention to provide a pre-emptive vehicle stability system in which one or more vehicle stability parameters are implemented prior to a passing of the host vehicle and a target vehicle.

It is a further object of embodiments of the invention to at least mitigate one or more of the

problems of the prior art.

SUMMARY OF INVENTION

Aspects and embodiments of the invention provide a control system, a method, a vehicle, a computer program, a non-transitory computer readable medium and a processor as claimed in the appended claims.

According to an aspect of the invention there is provided a control system for a vehicle, the control system comprising one or more controllers, the control system configured to: receive environment data indicative of an environment of a host vehicle; identify, from the environment data, the presence of a target vehicle; identify, from the environment data, one or more characteristics of the target vehicle; determine one or more stability parameters of the host vehicle in dependence on the one or more characteristics of the target vehicle; and implement the one or more stability parameters of the host vehicle before the host vehicle passes the target vehicle.

Advantageously, having a control system as per the present invention helps to maintain stability and/or composure of the host vehicle, or at least helps to mitigate the influence of the aerodynamic environment surrounding and created by a target vehicle, as the host vehicle passes the target vehicle. Such an effect reduces the need for the driver of the host vehicle to take corrective action when passing a target vehicle, or at least reduces the extent of the correction action required.

Optionally, the one or more controllers may comprise: an electrical input configured to receive an electrical signal indicative of the environmental data; one or more processors configured to identify, from the environment data: the presence of a target vehicle; one or more characteristics of the target vehicle; and determine one or more stability parameters of the host vehicle in dependence on the one or more characteristics of the target vehicle; an electrical output configured to output one or more electrical signals to implement the one or more stability parameters.

Implementing the one or more stability parameters may comprise outputting data indicative of the one or more parameters, for example, in the form of one or more electrical signals.

The passing of the host vehicle and the target vehicle may comprise an interaction, for example an aerodynamic interaction, between the host vehicle and target vehicle. An aerodynamic interaction may be dependent on a host vehicle being proximal to a target o vehicle or within a certain range of the target vehicle, for example such that the host vehicle experiences an aerodynamic disturbance produced by the target vehicle. Additionally or alternatively, an aerodynamic interaction may be dependent on the speed of the host vehicle and/or target vehicle.

Implementing one or more stability parameters of the host vehicle prior to an aerodynamic interaction between the host vehicle and target vehicle may improve the stability, comfort and/or composure of the host vehicle during the aerodynamic interaction.

In embodiments, the environment data may be received from one or more sensors. The one or more sensors may comprise lidar, radar or imaging means, for example stereo camera. The one or more sensors may comprise one or more front, front mounted or forward facing sensors, one or more side, side mounted or sideward facing sensors and/or one or more rear, rear mounted or rearward facing sensors. The one or more sensors may provide 360 degree coverage of the environment of the host vehicle.

The environment data may comprise weather data. The weather data may be indicative of weather conditions proximal to or in the vicinity of the host vehicle. The weather data may be received, for example wirelessly, from a central server or forecasting station. In embodiments, the weather data may be determined by sensing means located on the host vehicle. The weather data may be received from other vehicles. The other vehicles may be connected vehicles, for example vehicles forming part of a connected vehicle network and/or connected to the host vehicle via one or more intermediary networks.

In the case of an aerodynamic interaction, weather can impact upon the aerodynamic environment. Therefore, providing weather data as part of the environment data can help to further improve the stability, comfort and/or composure due to the impact of weather conditions on the aerodynamic environment being taken into account when determining one or more stability parameters of the host vehicle.

The one or more stability parameters of the host vehicle may be determined in dependence on the one or more characteristics of the target vehicle in combination with the weather data.

The one or more characteristics may comprise one or more of a size of the target vehicle, a speed of the target vehicle, a lateral displacement between the host vehicle and the target vehicle and a minimum distance between the host vehicle and the target vehicle.

Taking one or more of these characteristics into account is advantageous in that one or more stability parameters can be optimised or refined based on the size of the target vehicle.

The size of the target vehicle may comprise one or more of an overall height of the target vehicle, an overall width of the target vehicle and an overall length of the target vehicle.

In embodiments, the size of the target vehicle comprises a combination of overall height of the target vehicle, overall width of the target vehicle and overall length of the target vehicle.

Optionally, the size of the target vehicle may comprise a cross-sectional area of the target vehicle, for example on a plane perpendicular to a principal axis of the target vehicle or on a plane parallel to a principal axis of the target vehicle.

One or more of overall height of the target vehicle, overall width of the target vehicle and overall length of the target vehicle may comprise a threshold above which the one or more stability parameters of the host vehicle are determined.

The threshold for overall height may be greater than 2.0m, for example, 2.2m, 2.4m, 2.6m or 2.8m. Optionally, the threshold for the overall height may be 2.9m.

The threshold for overall width may be at least 1.6m, for example, 1.8m, 1.9m or 2.0m.

Optionally, the threshold for overall width may be 2.1m.

Optionally, the threshold for overall length is greater than 5.0m, for example 5.5m, 6.0m or 6.5m. Optionally, the threshold for overall length may be 6.9m.

Alternatively, one or more of overall height of the target vehicle, overall width of the target vehicle and overall length of the target vehicle may comprise a range within which the one or more stability parameters of the host vehicle are determined.

The range for overall height may be 2.0m-4.0m, for example 2.2m-3.8m, 2.4m-3.6m, 2.8.-3.4m.

In embodiments, the range for overall width is 1.6m-2.6m, for example 1.8m-2.4m or 2.0m-2.2m.

In embodiments, the range for overall length is 5.0m-8.0m, for example 5.5m-7.5m or 6.0m-7.0m.

The lateral displacement between the host vehicle and target vehicle may comprise a threshold below which the one or more stability parameters of the host vehicle are zo determined.

Optionally, the threshold for the lateral displacement may be 5.0m, 4.5m or 4.0m. In some embodiments the threshold for the lateral displacement may be 3.55m.

The lateral displacement between the host vehicle and target vehicle may be determined or predicted, for example in dependence on a likely or probable trajectory of the host vehicle and/or target vehicle. The lateral displacement between the host vehicle and target vehicle may be determined or predicted based on a pre-programmed route, for example a route programmed in a navigation system of the host vehicle and/or target vehicle.

The speed of the target vehicle may comprise a threshold above which the one or more stability parameters of the host vehicle are determined. The speed threshold may be determined in dependence on one or more other characteristics of the target vehicle, for example size of the target vehicle. The speed of the target vehicle may be determined in dependence on the speed of the host vehicle and the closing speed or speed of approach between the host vehicle and the target vehicle.

The threshold speed may be at least 20mph, 30mph, 40mph, 50mph or 60mph. The range 5 for speed may be 20mph-60mph, for example 25mph-55mph, 30mph-50mph, 35mph45mph.

The one or more stability parameters of the host vehicle may be implemented only when the size and speed of the target vehicle exceed predetermined values and the lateral displacement is equal to or less than a predetermined value.

Providing one or more thresholds is advantageous in that stability parameters can be implemented only when required. For example, if the or a target vehicle is of such dimensions or travelling at such a speed that it would have little to no effect on the host vehicle during a passing, this can be accounted for through the provision of one or more thresholds.

The system may be configured to monitor, from the environment data, a spatial relationship between the host vehicle and target vehicle. The spatial relationship may be monitored during the passing of the host vehicle and the target vehicle. The spatial relationship may comprise the location of the target vehicle relative to the host vehicle.

The control system may be arranged to repeatedly determine the spatial relationship between the host vehicle and target vehicle by monitoring, during the passing of the host vehicle and target vehicle. Additionally, the control system may be arranged to determine the spatial relationship between the host vehicle and target vehicle prior to and/or after the passing of the host vehicle and target vehicle.

The control system may be configured to determine, in dependence on the spatial relationship, one or more of whether the target vehicle is currently laterally offset from the host vehicle, the lateral displacement between the host vehicle and target vehicle and whether the passing is complete.

The spatial relationship may comprise the lateral displacement between the host vehicle and target vehicle and/or the longitudinal displacement between the host vehicle and target vehicle. The spatial relationship may be determined from a combination of the lateral displacement and longitudinal displacement between the host vehicle and target vehicle.

Optionally, the environmental data received, for example during a passing of the host vehicle and target vehicle, is indicative of a region sideward or lateral, for example sideward adjacent or lateral adjacent of the host vehicle.

In some embodiments, the control system may be configured to update the one or more stability parameters when it is determined that the target vehicle is no longer present, the lateral displacement between the host vehicle and target vehicle exceeds a predetermined value or the passing is complete.

Advantageously, such a feature allows the control system to implement more appropriate stability parameters when the target vehicle is no longer present. Such a feature can optimise the stability, comfort and/or composure of the host vehicle.

Updating the one or more stability parameters may comprise reverting to a prior stability parameter, or in the event where there was no stability parameter present, turning-off the one or more stability parameters. Updating the one or more stability parameters may comprise de-activating the system.

The control system may be arranged to receive updated environment data and to identify, from the data, the presence of a further target vehicle.

In embodiments, the updated environment data may be received during a passing of the host vehicle and a target vehicle.

If a further target vehicle is identified generally on a common longitudinal axis with the target vehicle, the system may be configured to determine a gap described between the target vehicle and further target vehicle.

The control system may be configured to maintain the determined stability parameters when it is determined that the gap described between the target vehicle and further target vehicle is below a predetermined threshold.

Such a feature may help to improve the stability, comfort and/or composure when the host vehicle is passing more than one target vehicle. The feature prevents the system from adjusting one or more stability parameters that are still required when passing the further target vehicle, therefore helping to improve the stability of the host vehicle.

In embodiments, the threshold gap is less than 100m, for example less than 90m, 80m, 70m, 60m or 53m. The threshold gap may be dynamic or dependent on a characteristic of one or more of the target vehicle or further target vehicle.

The control system may be configured to determine an activation point prior to a passing and a de-activation point after a passing has taken place, the activation point being a point at which the one or more determined stability parameters are implemented and the deactivation point being a point at which the one or more determined stability parameters are updated.

Updating the one or more stability parameters may comprise reverting to a prior stability parameter, or in the event where there was no stability parameter present, turning-off the one or more stability parameters. Updating the one or more stability parameters may comprise de-activating the system The control system may be configured to determine an activation zone described between the activation point and de-activation point.

The control system may be configured to determine one or more of the activation point and de-activation point, for example the location thereof, in dependence on the one or more characteristics of the target vehicle.

The control system may be configured to determine that the de-activation point is that at which a passing is complete. The control system may be configured to determine that a passing is complete from the environment data.

The control system may be configured to determine, from the environment data, whether the target vehicle is to be overtaken by the host vehicle, the target vehicle is to overtake the host vehicle, or the target vehicle is an oncoming vehicle.

The control system may be configured to determine the one or more stability parameters in dependence on whether the target vehicle is to be overtaken by a host vehicle, the target vehicle is to overtake the host vehicle, or the target vehicle is an oncoming vehicle.

In embodiments, the one or more stability parameters comprise one or more suspension control parameters.

The one or more suspension control parameters may comprise one or more of a suspension controller gain, suspension damping, ride height and suspension stiffness.

Determining one or more stability parameters may comprise determining one or more of vehicle yaw stability and vehicle roll stability.

In embodiments, the one or more stability parameters comprise one or more driveline parameters or driveline control parameters. The one or more driveline parameters may comprise a motor or engine output torque. The one or more driveline parameters may comprise a torque distribution, for example between wheels of the host vehicle. The one or more stability parameters may comprise one or more braking parameters or braking control parameters.

In some embodiments, the control system may comprise: a suspension controller for a vehicle suspension comprising one or more suspension actuators, the suspension controller being arranged to receive the one or more stability parameters and control the one or more suspension actuators to implement the one or more stability parameters.

According to another aspect of the invention there is provided a method of controlling a suspension system of a vehicle, the method comprising: identifying, from environment data indicative of the environment of a host vehicle, the presence of a target vehicle; identifying, from the environment data, one or more characteristics of the target vehicle; determining one or more stability parameters of the host vehicle in dependence on the one or more characteristics of the target vehicle; implementing the one or more stability parameters of the host vehicle before the host vehicle passes the target vehicle.

Optionally, the one or more characteristics of the target vehicle comprise one or more of a size of the target vehicle, a speed of the target vehicle, a lateral displacement between the host vehicle and the target vehicle and a minimum distance between the host vehicle and the target vehicle.

In embodiments, the method may comprise implementing the one or more stability parameters of the host vehicle only when the size and speed of the target vehicle exceed predetermined values and the lateral displacement is equal to or less than a predetermined value.

The method may comprise monitoring, from the environment data, a spatial relationship io between the host vehicle and target vehicle during passing of the host vehicle and the target vehicle.

The method may comprise determining, in dependence on the spatial relationship, one or more of whether the target vehicle is currently laterally offset from the host vehicle, the lateral displacement between the host vehicle and target vehicle and whether the passing is complete.

In embodiments, the method comprises updating the one or more stability parameters when it is determined that the target vehicle is no longer present, the lateral displacement between the host vehicle and target vehicle exceeds a predetermined value or the passing is complete.

Updating the one or more stability parameters may comprise reverting to a prior stability parameter.

The method may comprise receiving updated environment data and identifying, from the data, the presence of a further target vehicle.

The updated environment data may be received during a passing of the host vehicle and target vehicle.

The method may comprise identifying if a further target vehicle is on a common longitudinal axis with the target vehicle and if so, determining a gap described between the target vehicle and further target vehicle.

Optionally, the method comprises maintaining the determined stability parameters when it is determined that the gap described between the target vehicle and further target vehicle is below a predetermined threshold.

The method may comprise determining an activation point prior to a passing and a de-activation point after a passing has taken place, the activation point being a point at which the one or more determined stability parameters are implemented and the de-activation point being a point at which the one or more stability parameters are updated.

The method may comprise determining an activation zone described between the activation point and de-activation point.

In embodiments, the method comprises determining one or more of the activation point and de-activation point in dependence on the one or more characteristics of the target vehicle.

The method may comprise determining that the de-activation point is that at which the passing is complete.

Optionally, the method comprises determining, from the environment data, whether the target vehicle is to be overtaken by the host vehicle, the target vehicle is to overtake the host vehicle, or the target vehicle is an oncoming vehicle.

According to another aspect of the invention there is provided a vehicle comprising a control system as described above or arranged to perform a method as described above According to another aspect of the invention there is provided a computer program product executable on a processor so as to implement the method described above.

According to another aspect of the invention there is provided a non-transitory computer readable medium carrying computer readable code which when executed causes a vehicle to carry out the method described above.

According to yet another aspect of the invention there is provided a processor arranged to implement the method described above, or the computer program product described above.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the invention will now be described by way of example only with reference to the accompanying drawings in which: Figure 1 is a schematic of a control system for controlling a vehicle suspension; Figure 2 is a flow chart illustrating a method of implementing a stability parameter according to an embodiment of the invention; Figure 3 is a flow chart illustrating a method of implementing a stability parameter according to another embodiment of the invention; Figure 4 is a flow chart illustrating a method of implementing a stability parameter according to another embodiment of the invention; Figure 5 is a plan view schematically showing a host vehicle and target vehicle; Figure 6 is a plan view schematically showing a host vehicle and target vehicle; and Figure 7 is a plan view schematically showing a host vehicle, a target vehicle and a further target vehicle; and Figure 8 is a vehicle according to an embodiment of the present invention.

DETAILED DESCRIPTION

Referring now to Figure 1, there is shown a schematic system diagram of a control system 100 according to an embodiment of the invention for implementing one or more stability parameters. The control system 100 includes an electrical input 122 of controller 120 that in use receives an electrical signal 110. The electrical input 122 may be in the form of an electrical pin connection to an input means of the controller 120 which may comprise one or more electrical devices for receiving the electrical signal 110. The controller 120 has a processor 130 and memory 135 for storing data therein. The processor 130 is an electronic processor for executing computer-readable instructions. The processor 130 is configured to access memory 135 to execute computer-readable instructions stored therein. The memory 135 may also be used to store data for operation thereon by the processor 130.

The electrical signal 110 is indicative of, or represents, environment data. The environment data being indicative of an environment of, or representative of the surroundings of, a host vehicle 800, such as shown in Figure 8, i.e. the vehicle 800 being a vehicle 800 within which the control system 100 is installed or implemented. The environment data is collected or received from one or more sensing means which may be associated with the vehicle 800. The one or more sensing means are arranged to determine one or more aspects of the io environment of the vehicle 800 and may comprise one or more sensing devices which may be in the form of one or more of lidar, radar, imaging means, for example imaging devices, stereo cameras (not shown), in this embodiment. The memory 135 is arranged to store the environment data represented by the electrical signal 110. The memory 135 may also store information and parameters relating to the control system 100.

The processor 130 is arranged to process the electrical signal 110 and to produce an output signal 121 at output means 123 which may be an electrical output 123 of the controller 120, which may comprise one or more electrical devices for outputting the electrical signal 121. The output signal 121 is received by an electrical input 141 of a suspension controller 140 of a vehicle suspension 150 in this embodiment.

The output signal 121 provides a suspension control signal in this embodiment. The suspension control signal is arranged so as to implement one or more stability parameters determined by the processor 130. The output signal 121 from the controller 120 is received at the electrical input 141 of suspension controller 140. The suspension controller 140 is arranged to calibrate or adjust the vehicle suspension 150 to implement the one or more stability parameters in dependence on the signal received at the electrical input 141. The calibration of the vehicle suspension 150 affects or adjusts the dynamics experienced by host vehicle 800 through wheel 160, for example so as to affect the comfort and composure of the host vehicle 800 in the event of a disturbance, i.e. during an interaction between the host vehicle 800 and target vehicle T. The one or more stability parameters may be one or more suspension control parameters, for example a suspension controller gain, suspension damping, ride height and suspension stiffness. The one or more stability parameters is/are arranged to adjust the calibration of the vehicle suspension 150. The one or more stability parameters may be implemented individually or in combination. Each stability parameter may have a different effect on the vehicle suspension 150. Each of the aforementioned, or any other, stability parameter or suspension control parameter may be represented by suspension control signal, in the form of output signal 121.

Referring now to Figure 2 there is shown a method 200 of operation of the control system 100 according to an embodiment of the invention. The method 200 begins at 210, in which the host vehicle 800 is travelling along a navigable path such as a stretch of road. The method 200 then proceeds to step 220 in which environment data is received by the controller 120 via the electrical input 110 described above. The environment data is indicative of the environment or surroundings of the host vehicle 800.

At step 230, the processor 130 determines, based on the environment data, a presence of a target vehicle T as shown in Figures 5 to 7. The target vehicle T is another vehicle in the vicinity of the host vehicle 800, i.e. within the range of the one or more sensors of the host vehicle 800. The target vehicle T may be travelling in the same direction as the host vehicle 800, or in an opposite direction to that of the host vehicle 800.

If the presence of the target vehicle T is not identified, the method 200 reverts back to step 220 in which environment data is received by the controller 120. That is, the method waits at step 220 for the target vehicle T to be identified or detected.

If the target vehicle T is identified, at step 240 the processor 130 determines one or more characteristics of the target vehicle T in dependence on the environmental data. In the present embodiment one or more of the size of the target vehicle T, the speed of the target vehicle T and the lateral displacement between the host vehicle 800 and target vehicle T may be identified in step 240.

At step 250 of the method 200 a stability parameter of the host vehicle 800 is determined in dependence on the determined characteristics of the target vehicle T. The stability parameter may be determined with the aim that the comfort and composure of the host vehicle 800 is maintained or maximised during an interaction between the host vehicle 800 and target vehicle T, for example a passing of the host vehicle 800 and target vehicle T, i.e. during an aerodynamic interaction between the host vehicle 800 and target vehicle T. The stability parameter is one or more suspension control parameter, for example one or more of a suspension controller gain, suspension damping, ride height and suspension stiffness. The one or more suspension control parameters is/are arranged to adjust the calibration of the vehicle suspension 150 of the host vehicle 800, for example so as to affect the comfort and composure of the host vehicle 800, i.e. during an interaction between the host vehicle 800 and target vehicle T. A change in the suspension controller gain may have an effect on the response of the vehicle suspension 150 to a disturbance, for example during an interaction between the host vehicle 800 and target vehicle T. For example, an increase in the suspension controller gain may result in a greater response or a response of greater magnitude/amplitude in the vehicle suspension 150 to a disturbance.

A change in suspension damping or stiffness may have an effect on the dynamic response of the vehicle suspension 150 to a disturbance. For example, an increase in suspension stiffness may result in a vehicle suspension 150 which is more resistant to displacement in the event of a disturbance, i.e. during an interaction.

An increase in suspension damping may have the effect that the oscillatory response of the vehicle suspension 150, for example in response to a disturbance during an interaction, is shortened.

A change in ride height, for example an increase in ride height, may affect the comfort and composure of the host vehicle 800 during an interaction, i.e. due to a raising of the centre of gravity of the host vehicle 800.

The one or more stability parameters of the host vehicle 800 may be determined with respect to one or more thresholds. In some embodiments, one or more stability parameters of the host vehicle 800 are determined only if the one or more characteristics determined at step 240 fall above or below predetermined thresholds. For example, one or more stability parameters of the host vehicle 800 may be determined only if one or more of the overall height of the target vehicle T is greater than a predetermined height, for example greater than 2.0m, for example, 2.2m, 2.4m, 2.6m, 2.8m or 2.9m, the overall width of the target vehicle T is greater than 2.1m and the lateral displacement between the host vehicle 800 and target vehicle T is less than 3.55m and the speed of the target vehicle T is greater than a predetermined speed such as 30mph.

In some embodiments, the stability parameter is determined using a reference-based structure in the memory 135 of the controller 120. The reference-based structure may be a look-up table based on one or more of the characteristic(s) of target vehicle T determined at step 240. The one or more characteristic(s) of the target vehicle may be used as a key to the reference-based structure to retrieve the stability parameter. However, any suitable equation or algorithm for determining the stability parameter(s) based on the characteristic(s) of the target vehicle T is envisaged.

Once the stability parameter is determined at step 250, the method 200 proceeds to step 260 where it is determined, by the processor 130, whether the host vehicle 800 and target vehicle T are to interact, which may be to pass one another. The passing may be any of the host vehicle 800 overtaking the target vehicle T, the target vehicle T overtaking the host vehicle 800 or the host vehicle 800 and target vehicle T passing each other as they travel in opposing directions.

The determination of whether the host vehicle 800 and target vehicle T are to pass is achieved in some embodiments by the controller 120 receiving environment data at respective points in time i.e. intervals, and the processor 130 determining, from the environment data at respective points in time, the location of the target vehicle T relative to the host vehicle 800. From the change of location of the target vehicle T relative to the host vehicle 800, the determination of whether the vehicles are to pass one another can be made by the processor 130.

Although it is described that the controller 120 receives environment data at time intervals, it is also envisaged that the controller 120 may receive environment data continuously, i.e. as a time varying signal. In which case, a value of the signal may be determined at respective time intervals in some embodiments.

Additionally or alternatively, the determination of whether the host vehicle 800 and target vehicle T are to pass may be achieved in dependence on a user input. The user input may be for example, the use of an indicator control of the host vehicle 800 to signify a change of direction or a steering input to control movement of the vehicle from a current lane to an adjacent lane of the host vehicle 800. The user input may be used in combination with the environment data.

If it is determined at step 260 that the host vehicle 800 and target vehicle T are not to pass one another, the method 200 reverts back to step 220 in which environment data is received by the controller 120. It will be appreciated that the environment data may be received continuously whilst other steps of the method 200 are performed.

If it is determined at step 260 that the host vehicle 800 and target vehicle T are to pass one another, the method 200 proceeds to step 270 where the controller 120 sends a suspension control signal 121 at the electrical output 123 to the suspension controller 140 to implement the stability parameter determined at step 250 into the suspension 150. Step 270 is carried out prior to the interaction, i.e. passing, of the host vehicle 800 and target vehicle T such that the stability parameter is implemented throughout the duration of the interaction, i.e. passing, of the host vehicle 800 and target vehicle T, i.e. prior to the aerodynamic interaction between the host vehicle 800 and target vehicle T, for example such that comfort and composure are maintained or maximised At step 280 either the existing stability parameter is maintained throughout the interaction, i.e. passing, or method 200 continues as per method 300 shown in Figure 3.

Referring now to Figure 3, there is shown a method 300 according an embodiment of the invention. The method 300 may be considered as a continuation of method 200 i.e. performed subsequently to the method 200.

Method 300 takes place during an interaction, such as a passing of the host vehicle 800 and target vehicle T. In the present embodiment method 300 takes place from the point in which the stability parameter is implemented at step 270 of method 200.

At step 310, environment data is received by the controller 120 at the electrical input 122 described above and stored in memory 135. The environment data, as per above, is indicative of the environment or surroundings of the host vehicle 800. In the present embodiment, the environment data includes data indicative of a region sideward and a region rearward of the host vehicle 800 received from one or more side sensors and one or more rear sensors of the host vehicle 800.

Once the environment data is received, the method 300 proceeds to step 320 where the processor 130 determines the spatial relationship between the host vehicle 800 and the target vehicle T. At step 330, the processor 130 determines from the spatial relationship whether the target vehicle T is laterally offset, i.e. present and spaced laterally, from the host vehicle 800. If it is determined that the target vehicle T is not or is no longer laterally offset from the host vehicle 800, the stability parameter is updated at per step 370. In the present embodiment, io updating the stability parameter comprises reverting back to a prior stability parameter, i.e. a stability parameter in place prior to step 270 of method 200.

If it is determined that the target vehicle T is laterally offset from the host vehicle 800, the method 300 proceeds to step 340 where the processor 130 determines the lateral displacement between the host vehicle 800 and target vehicle T. If it is determined that the lateral displacement exceeds a predetermined value, the stability parameter is updated as per step 370. In the present embodiment, as per step 330 described above, updating the stability parameter comprises reverting back to a prior stability parameter, i.e. a stability parameter in place prior to step 270 of method 200.

Determining the lateral displacement in step 340 allows the control system 100 to determine whether either of the host vehicle 800 or target vehicle T change lanes, travel along a slip road or take an alternative route from one another. The outcome of step 340 is that the stability parameter can be updated if it is determined that there is no longer an aerodynamic interaction between the host vehicle 800 and target vehicle T, i.e. the host vehicle 800 is travelling outside of the aerodynamic environment created by or surrounding the target vehicle T or no longer influenced or affected by the aerodynamic environment created by or surrounding the target vehicle T. In the present embodiment, step 350 is carried out in parallel, i.e. concurrently, with steps 330 and 340. At step 350 the processor 130 determines from the spatial relationship whether the interaction, i.e. passing, is complete, for example in the event of the host vehicle 800 overtaking the target vehicle T, whether the target vehicle T is behind, trailing or to the rear of the host vehicle 800, i.e. such that the host vehicle 800 is no longer influenced or affected by the aerodynamic environment created by or surrounding the target vehicle T. If it is determined that the interaction, i.e. passing, is complete, the stability parameter(s) is updated as per step 370 in a similar manner to steps 330 & 340 discussed above.

If it is determined at step 330 that the target vehicle T is laterally offset from the host vehicle 800, it is determined at step 340 that the lateral displacement of the target vehicle T from the host vehicle 800 is below a predetermined value and it is determined at step 350 that the interaction, i.e. passing, of the host vehicle 800 and target vehicle T is not complete, the stability parameter implemented at step 270 of method 200 is maintained.

In the present embodiment, the method 300 reverts back to step 310 in which environment data is received by the controller 120 and the steps 320-350 are repeated. Method 300 allows for monitoring of the spatial relationship between the host vehicle 800 and target vehicle T during an interaction, i.e. passing, such that the stability parameters implemented at step 270 of method 200 are maintained or updated as required, i.e. method 300 allows the control system 100 to be responsive to changes in trajectory or navigable path of the host vehicle 800 and/or target vehicle T. Referring now to Figure 4, there is shown a method 400 according to an embodiment of the invention. Method 400 may be considered as a continuation of method 200.

Method 400 takes place during an interaction, such as a passing of the host vehicle 800 and target vehicle T, in particular from the point in which the stability parameter is implemented at step 270 of method 200.

The method 400 may be carried out concurrently with method 300. However, it is also envisaged that method 300 and method 400 may switch therebetween, such that they are applied a different times.

At step 410, environment data is received by the controller 120 via the electrical input 122 described above and stored in memory 135. The environment data, as per above, is indicative of the environment or surroundings of the host vehicle 800.

Once the environment data is received the method 400 proceeds to step 420 where the processor 130 determines whether there is a further target vehicle F present, as shown in Figure 7. In the present embodiment, if there is no further target vehicle F present, method 400 ends or terminates at step 470. Method 300 may continue to apply in respect of the target vehicle T. If it is determined at step 420 that there is a further target vehicle F present, the method 400 proceeds to step 430 in which the processor 130 determines, from the environment data, whether the target vehicle T and further target vehicle F are travelling on a common io longitudinal axis, i.e. within the same lane of a road or motorway. If it is determined that the target vehicle T and further target vehicle F are not travelling on a common longitudinal axis, i.e. travelling in different lanes to one another, the method 400 reverts back to step 220 of method 200 in which environment data is received and method 200 proceeds on the basis of the further target vehicle F, i.e. the target vehicle T and further target vehicle F are treated as two separate or individual vehicles each having method 200 applied in respect thereof.

If it is determined that the target vehicle T and further target vehicle F are travelling on a common longitudinal axis, the method 400 proceeds to step 440 where a gap therebetween is determined, i.e. the distance between the front of the target vehicle T and the rear of the further target vehicle F. At step 450, if the gap between the target vehicle T and further target vehicle F is above a predetermined threshold, the method 400 reverts back to step 220 of method 200 in which the target vehicle T and further target vehicle F are treated as two separate individual vehicles, each having method 200 applied in respect thereof.

If it is determined at step 450 that the gap is below the predetermined threshold, method 300 applies during the passing of the host vehicle 800 and both the target vehicle T and further target vehicle F, i.e. the target vehicle T and further target vehicle F are effectively treated as a single vehicle.

Although step 310 of method 300 and step 410 of method 400 are illustrated as separate steps above, this need not be the case. Steps 310 and 410 may be the same step of receiving environment data. In such a case, respective methods 300 and 400 continue on separate, parallel branches after that step.

Further, although it is described above in respect of method 400 that once it is determined at step 420 that a further target vehicle F is present the method 400 proceeds to step 430 in which it is determined whether the further target vehicle F is on a common longitudinal axis, this need not be the case.

Instead, step 240 of method 200 may lie between steps 420 and 430 of method 400, such that if it determined that there is a further target vehicle F present, one or more characteristics of the further target vehicle F may be identified. This step would allow the further target vehicle F to be disregarded if the one or more characteristics fall above or below predetermined thresholds, as discussed above.

Additionally, step 250 of method 200 may lie between step 240 and step 430, such that a stability parameter of the host vehicle 800 may be determined in dependence on the determined characteristics of the further target vehicle F. This provides for dynamic adjustment of the stability parameter based on the presence of and one or more characteristics of the further target vehicle F. Referring to Figure 5, there is shown a schematic 500 of a host vehicle 800 approaching a target vehicle T. The front mounted sensor 810 of the host vehicle 800 receives environment data picked up by the sensor beam 811.

In the embodiment shown in Figure 5, method 200 will proceed on the basis of the identification of target vehicle T. Referring to Figure 6, there is shown a schematic 600 of a host vehicle 800 being approached by a target vehicle T such that the host vehicle 800 will be overtaken by the target vehicle T. In this case, the rear mounted sensor 820 of the host vehicle 800 receives environment data picked up by the sensor beam 821.

The processor 130 will determine the lateral displacement X between the host vehicle 800 and target vehicle T. Referring to Figure 7 there is shown a schematic 700 of a host vehicle 800 during a passing of a target vehicle T. During the passing of target vehicle T, side mounted sensor 830 receives environment data picked up by the sensor beam 831.

The processor 130 of the control system 100 determines the lateral displacement X from the environment data picked up by the sensor beam 831 by virtue of application of method 300.

Further, during the passing of host vehicle 800 and target vehicle T. front mounted sensor 810 receives environment data picked up by sensor beam 811. The processor 130 of the control system 100 determines the presence of further target vehicle F by virtue of application of method 400.

Additionally, the gap Y described between the target vehicle T and further target vehicle F is determined from the environment data picked up by front mounted sensor 810.

It will also be appreciated by those skilled in the art that any number of combinations of the aforementioned features and/or those shown in the appended drawings provide clear advantages over the prior art and are therefore within the scope of the invention described zo herein.

All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and/or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and/or steps are mutually exclusive.

Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature disclosed is one example only of a generic series of equivalent or similar features.

The invention is not restricted to the details of any foregoing embodiments. The invention extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed. The claims should not be construed to cover merely the foregoing embodiments, but also any embodiments which fall within the scope of the claims.

Claims

CLAIMS1. A control system for a vehicle, the control system comprising one or more controllers, the control system configured to: receive environment data indicative of an environment of a host vehicle; identify, from the environment data, the presence of a target vehicle; identify, from the environment data, one or more characteristics of the target vehicle; determine one or more stability parameters of the host vehicle in dependence on the one or more characteristics of the target vehicle; and implement the one or more stability parameters of the host vehicle before the host vehicle passes the target vehicle.
2. A control system according to claim 1 wherein the one or more controllers comprise: an electrical input configured to receive an electrical signal indicative of the environment data; one or more processors configured to identify, from the environment data: the presence of a target vehicle; one or more characteristics of the target vehicle; and determine one or more stability parameters of the host vehicle in dependence on the one or more characteristics of the target vehicle; an electrical output configured to output one or more electrical signals to implement the one or more stability parameters.
3. A control system according to any preceding claim wherein the passing of the host vehicle and the target vehicle comprises an aerodynamic interaction between the host vehicle and target vehicle.
4. A control system according to any preceding claim wherein the one or more characteristics comprise one or more of a size of the target vehicle, a speed of the target vehicle, a lateral displacement between the host vehicle and the target vehicle and a minimum distance between the host vehicle and the target vehicle.
5. A control system according to claim 4 configured to implement the one or more stability parameters of the host vehicle only when the size and speed of the target vehicle exceed predetermined values and the lateral displacement is equal to or less than a predetermined value.
6. A control system according to any preceding claim configured to monitor, from the environment data, a spatial relationship between the host vehicle and target vehicle during the passing of the host vehicle and the target vehicle.
7. A control system according to claim 6 configured to determine, in dependence on the spatial relationship, one or more of whether the target vehicle is currently laterally offset from the host vehicle, the lateral displacement between the host vehicle and target vehicle and whether the passing is complete.
S. A control system according to claim 7 configured to update the one or more stability parameters when it is determined that the target vehicle is no longer present, the lateral displacement between the host vehicle and target vehicle exceeds a predetermined value or the passing is complete.
9. A control system according to claim 7 or claim 8 arranged to receive updated environment data and identify, from the data, the presence of a further target vehicle.
10. A control system according to claim 9 wherein if a further target vehicle is identified on a common longitudinal axis with the target vehicle, the system is configured to determine a gap described between the target vehicle and further target vehicle.
11. A control system according to claim 10 configured to maintain the determined stability parameters when it is determined that the gap described between the target vehicle and further target vehicle is below a predetermined threshold.
12. A control system according to any preceding claim configured to determine an activation point prior to a passing and a de-activation point after a passing has taken place, the activation point being a point at which the one or more determined stability parameters are implemented and the de-activation point being a point at which the one or more determined stability parameters are updated.
13. A control system according to claim 12 configured to determine one or more of the activation point and de-activation point in dependence on the one or more characteristics of the target vehicle.
14. A control system according to claim 12 or 13 configured to determine that the de-activation point is that at which a passing is complete.
15. A control system according to any preceding claim configured to determine, from the environment data, whether the target vehicle is to be overtaken by the host vehicle, the target vehicle is to overtake the host vehicle, or the target vehicle is an oncoming vehicle.
16. A control system according to any preceding claim wherein the one or more stability parameters comprise one or more suspension control parameters.
17. A control system according to claim 16 wherein the one or more suspension control parameters comprises one or more of a suspension controller gain, suspension damping, ride height and suspension stiffness.
18. A control system according to any preceding claim, wherein determining one or more stability parameters comprises determining one or more of vehicle yaw stability and vehicle roll stability.
19. A control system according to any preceding claim comprising: a suspension controller for a vehicle suspension comprising one or more suspension actuators, the suspension controller being arranged to receive the one or more stability parameters and control the one or more suspension actuators to implement the one or more stability parameters.
20. A vehicle comprising a system according to any one of claims 1-19.
21. A method of controlling a suspension system of a vehicle, the method comprising: identifying, from environment data indicative of an environment of a host vehicle, the presence of a target vehicle; identifying, from the environment data, one or more characteristics of the target vehicle; determining one or more stability parameters of the host vehicle in dependence on the one or more characteristics of the target vehicle; implementing the one or more stability parameters of the host vehicle before the host vehicle passes the target vehicle.
22. A computer program product executable on a processor so as to implement the method according to claim 21.
23. A non-transitory computer readable medium carrying computer readable code io which when executed causes a vehicle to carry out the method according to claim 21.
24. A processor arranged to implement the method according to claim 21, or the computer program product according to claim 22.