JP2009507702A - Method and apparatus for controlling clutch in vehicle - Google Patents

Abstract

The displacement in the throttle controller (13) remains within the preset slow speed range of the throttle controller, or the displacement in the brake controller (9) is within the preset slow speed range of the brake controller. The first displacement position relative to the first vehicle slowing speed is selected in one of the ranges as long as the vehicle stays in the control range, and as long as the throttle controller or brake controller stays substantially in the first displacement position The unit (10, 12, 14, 16) is a method and apparatus for controlling the clutch (3) in a vehicle that maintains the first vehicle slowing speed by controlling at least one of a brake actuator, an engine, and a clutch actuator. It is.
[Selection] Figure 1

Description

The present invention relates to control of an automatic clutch related to a power transmission system of a vehicle, and more particularly, to improve low-speed operation (direction change) of a vehicle including an automatic clutch and an automatic mechanical transmission in which the automatic clutch is incorporated in the transmission. For control.
In particular, the present invention relates to a method and apparatus that simplifies vehicle maneuvering in vehicle turning, i.e., if the clutch slip is not activated, the engine at vehicle speed is at idling speed. A vehicle operating under circumstances, the vehicle preferably comprising an automatic transmission as claimed in claim 1, whose features are well known in the art.
The invention also relates to a computer program for executing such a method on a computer.

  An automatic master friction clutch for a vehicle including an automatic clutch for starting from a stop and an automatic mechanical transmission using the automatic clutch are well known in the prior art. Such a device, when used for a large vehicle such as a truck, a tractor semi-trailer, and a bus, has 9 to 18 or more stages, for example, WO 2004/023003 (Patent Document 1), It is common to provide a transmission having a front gear ratio of the type shown in WO 03/038314 (Patent Document 2). If there is an automatic transmission for two pedals (accelerator pedal and brake pedal), the rotational speed of the shift input axle is preferred even if the speed is less than or equal to the synchronous engine idling speed, i.e., the transmission operates at the lowest gear. Even if the speed is lower than the idling speed, the vehicle can be driven at a slow speed and the speed of the vehicle can be controlled.

  The driver of such a vehicle, for example, when moving at a slow speed (also below the synchronous engine idle speed) when reversing close to an unloadable loading device / container, loading dock, trailer, etc. It was difficult to control the speed. According to the prior art, as one method of controlling the slow speed of a vehicle equipped with a two-pedal automatic transmission, the vehicle is decelerated to a desired slow speed, at which time the accelerator pedal and brake pedal are simultaneously weakened and the desired speed is reduced. Each pedal is modulated to various degrees according to the required driving force. Since the lowest gear is activated and the vehicle speed is reduced below the speed corresponding to the synchronous engine idling speed, the system controls the clutch slip accordingly. When a driver performs steering in the direction of the steering wheel and the vehicle in a vehicle to which a trailer having, for example, two axles (the axle on the front side of the trailer can change direction) is connected, the brake pedal and the accelerator pedal are It is not easy to use to control clutch slip. If the road surface is bumpy, soft, or given various driving resistances in some state, the problem of maneuvering the vehicle further increases. The problem is that it is difficult to control the vehicle speed to the desired constant slowing speed. The speed will increase and the vehicle will move in the desired manner and there is a risk of colliding with the nearby trailer or the like, or it will stop before the vehicle reaches the desired position.

European Patent No. 0731294 (Patent Document 3) describes a vehicle system for an enhanced slow-down controller in a vehicle equipped with an automatic clutch controller that performs a stop-start operation. The enhanced slow speed controller operates via the axle selector 60 or button 62. When the enhanced slowdown controller operates, the clutch slips such that the input axle speed is equal to the engine speed multiplied by the accelerator pedal position (T) divided by the reference accelerator pedal position (T _REF ). cause. In order to provide easier control of low-speed vehicle operation in enhanced slowdown mode, the slowdown controller has an extended range of accelerator pedal positions, such as an accelerator pedal displacement of about 0% to 75%. It is effective over the range. The throttle position is proportional to the fuel engine (eg driving force), which means that the driver must continuously adapt the throttle displacement position and cause negative driving faults. This means that the driver must apply the brakes.

International Publication No. 2004/023003 Pamphlet International Publication No. 03/038314 Pamphlet European Patent No. 0731294

  One object of the present invention is to make it easier for the driver to control the vehicle speed during slow-down mode, and thus, for example, to facilitate maneuvering the vehicle during a turn. Is to do. Another object of the present invention is to fully automate the operation and release of the slow mode in a vehicle with a two-pedal automatic transmission, and thus to steer the vehicle for the driver. It is to simplify.

  The solution to the problem in the present invention is described in claim 1 for the method and claim 7 for the apparatus. Preferred embodiments and applications of the solution according to the invention are described in claims 2-6 and claims 8-16.

  A clutch control method for a vehicle according to the present invention includes a fuel-controlled internal combustion engine, a throttle controller that is manually controlled to be displaceable between a displacement position of 0% and 100%, and a brake for controlling the brake. A brake system that is manually controlled to be displaceable between 0% and 100% displacement positions, a multi-speed transmission having an input axle, and an engine output axle. A clutch drivingly interposed between the input axle, a clutch actuator for fully operating, completely releasing or partially releasing the clutch, vehicle speed, operating rate of the transmission, the engine Receiving an input signal including a signal indicating a rotation speed of the vehicle, a rotation speed of the input axle, and a displacement of the throttle controller or the brake controller. And at least one control unit for processing said signal in accordance with programmed logic rules for transmitting command output signals to said engine, a system actuator including at least said clutch actuator and brake actuator for torque demand; , Consisting of. The method is such that the displacement of the throttle controller stays within a preset slow speed range of the throttle controller, or the brake controller displacement is a preset slow speed range of the brake controller. As long as it stays within, the first displacement position relative to the first vehicle slowing speed is selected within one of the ranges, and as long as the throttle controller or brake controller stays substantially at the first displacement position, At least one control unit maintains the first vehicle slowing speed by controlling at least one of the engine, the brake actuator, and the clutch actuator.

  The main advantage of the means according to the invention is that the driver does not have to control the displacement of the throttle controller or brake controller in order to maintain the selected speed. On the contrary, the control unit according to the invention automatically controls and adjusts the fuel of the engine, clutch actuator and brake actuator and operates the vehicle at the slow speed while the selected slow speed, the vehicle's running fault. Control and adjust in the best way to maintain independence and responsiveness to vehicle driving disturbances. In order to obtain a specific vehicle speed, the driver need only maintain a constant displacement position for the throttle controller or brake controller. This simplifies the handling of the vehicle, for example during turning.

In a preferred embodiment of the method according to the invention,
The at least one control unit is:
The speed on the output axle, clutch and input axle is not synchronized,
Operation at the lowest effective gear ratio,
The selected displacement in the throttle controller is within a slow speed range of the throttle controller that is extended between 0% and a first predetermined limit value;
This is detected and the slow speed control mode is activated.

  This advantage is that when the condition is met, the system in the invention allows the system in the invention to select the position of the throttle controller and the vehicle slow speed associated with the position of such a particular throttle controller. The mode is automatically activated and the driver controls the vehicle. The slow speed range of the throttle controller is between 0% and a first predetermined limit value, in which the first predetermined limit value is preferably between 30% and 50%.

In another preferred embodiment of the method in the invention,
The at least one control unit is:
The speed on the output axle, clutch and input axle is synchronized,
Operation at the lowest effective gear ratio,
The vehicle speed decelerating approaches the rotational engine idling speed,
The selected displacement in the brake controller is within the braking speed range of the brake controller extended between 0% and a second predetermined limit value;
This is detected and operates in the slow speed control mode.

  This advantage is that when the condition is met, the system in the invention allows the system in the invention to select the position of the brake controller and the vehicle slow speed associated with the position of such a particular brake controller. The mode is automatically activated and the driver controls the vehicle. The slow speed range of the brake controller is between 0% and a second predetermined limit value, in which the second predetermined limit value is preferably between 30% and 50%.

Furthermore, in another preferred embodiment of the method in the invention,
The at least one control unit is:
Zero vehicle speed,
A displacement of the throttle controller or the brake controller is newly selected at a value outside the slow speed range of the throttle controller or the slow speed range of the brake controller.
One of them is detected, and the slowing down control mode is stopped.

  This advantage is that when one of the states is satisfied, the slow mode is stopped and the vehicle is driven in a generally known operation mode.

  Furthermore, in another preferred embodiment of the method according to the invention, said at least one control unit receives an input indication signal of the power consumption of one or more accessory units arranged in the vehicle. In this embodiment, the at least one control unit controls the fuel to control power consumption in one or more accessory units as one of the input signals for maintaining the first vehicle slowing speed. The input display signal is used. An advantage of this is that the control unit calculates the power consumed from other consumables than the vehicle propulsion. The system can still maintain that the vehicle slow speed is selected during slow speed operation.

  The above-described embodiments are also shown corresponding to the claims in the apparatus. Further embodiments which are useful for the invention are indicated as subordinate claims to each of the following claims 1 and 7.

  The invention will now be described in more detail, by way of example, with reference to the following accompanying drawings, which illustrate further preferred embodiments and technical background of the invention.

FIG. 1 shows a schematic diagram in an embodiment of the invention.
FIG. 2 shows a schematic graph representing how much the vehicle slowdown speed is involved in the displacement of each of the brake controller or the throttle controller.
FIG. 3 is a table showing an example of the output speed of the transmission at each displacement of the controller.
FIG. 4 illustrates an apparatus in which at least one embodiment of the invention is utilized.

  FIG. 1 shows a vehicle equipped with a fuel control internal combustion engine 2, a clutch 3, a multi-speed transmission 4 having an input axle not shown, a propeller axle 5, and a pair of drive wheels 6. 1 is shown. The driving force from the engine 2 is transmitted to the clutch 3, the gear box 4, and the propeller axle 5 that are output to the driving wheels 6 by a known method. The vehicle 1 is also provided with a pair of front wheels 7, which are preferably controlled so that they can be steered by a driver of the vehicle via a steering system in a known manner.

  Furthermore, the vehicle 1 includes a foot brake system for braking the vehicle. The foot brake with the brake actuator 8 is controlled by the driver in a known manner via a brake controller 9 which is manually controlled to a displacement position which can be displaced between 0% and 100%. 0% means that the brake controller 9 is released and the brake is released, and 100% applies maximum force to the brake controller and the vehicle is braked with maximum brake force. Means that. In the embodiment shown, the brake controller 9 is a foot brake pedal. In order to brake the vehicle, the driver applies a force to the brake controller 9 and a brake signal is generated and transmitted to the brake control unit 10. Immediately then, the brake control unit requests a braking force by actuating the brake actuator 8 in order to control the braking. The transmission of the brake signal from the brake control unit to the brake actuator is shown by wire 11 in FIG. 1, but the connection of wire 11 outside the brake and brake actuator 8 is not shown.

  The fuel of the engine 2 is controlled by an engine control unit 12 that controls an engine fuel device (not shown). When the driver requests more thrust, the driver can request thrust by applying pressure to the throttle controller at a displacement position between 0% and 100%. 100% displacement enables maximum response from the engine 2. When the displacement is 0%, the engine 2 is controlled by refueling with an idling speed regulator (not shown) in a known manner. In the embodiment shown, the throttle controller signal reaches the engine control unit 12 via the vehicle control unit 14 and the vehicle data network 15. In the vehicle, the network 15 accumulates communication information between different control units in a known manner.

  The clutch 3, its clutch actuator 17 and the transmission 4 are controlled by the transmission control unit 16. The clutch 3 is a dry disk clutch type, and the transmission 4 is an automatic mechanical transmission type, both of which are related to the prior art (for example, International Publication No. 2004/023003 pamphlet (Patent Document 1) and International Publication No. 03/038314). No. pamphlet (see Patent Document 2). The clutch actuator 17 is operatively paired with one of the clutch disks not shown for clutch control from full release to full actuation through partial actuation. In typical vehicle applications, the clutch actuator 17 is electrical, hydraulic, mechanical, compressed air, or some combination thereof, and is typically position or pressure controlled. The clutch actuator 17 is a closed loop type that controls the degree of clutch operation by the clutch operation signal from the transmission control unit 16 and preferably provides a feedback signal to the transmission control unit 16. The difference in operating position of the clutch is selected depending on the transmission of torque required from the engine 2 to the transmission 4.

  All the aforementioned control units are connected to the data network 15, so that information is shared between different units.

  When the vehicle is stationary or nearly stationary (i.e., the speed of the output axle, clutch and input axle is not synchronized) and the vehicle driver needs to drive at the vehicle slow speed In order to start, the driver can preferably manually select the lowest effective gear speed ratio. In the invention, the driver applies a force to the throttle controller in a position within the slow speed range of the throttle controller, and when the position is held for a predetermined time, the slow speed mode is activated, the vehicle is started, and a specific selection is made. The vehicle is accelerated to a vehicle slowing speed corresponding to the position of the throttle controller. If the slow speed range of the throttle controller is, for example, between the displacement position 0% and 50%, and the throttle controller moves to a position within the range, the vehicle control unit 14 records the position.

  At that time, the vehicle control unit 14 outputs the position information to the data network 15, and thus generates valid information for other control units connected to the network 15, for example, the transmission control unit 16 Receives displacement information of the throttle controller. Using a manually selected lowest effective starting gear and a throttle controller within the range, the transmission control unit in the present invention operates the throttle controller position and the selected gear at a specific vehicle slowing speed. As a request for. The shift control unit 16 requests the torque required by the engine control unit 12 to start the vehicle, and accelerates the vehicle to the requested slow speed, which is equal to or lower than the engine idling speed. It corresponds to. The engine control unit 12 controls the fuel of the engine 2 by a known method. When the engine 2 is idling, the fuel is controlled by an idling speed regulator (not shown). The transmission control unit 16 controls the clutch actuator 17 to control the operation of the clutch in order to input a signal display of the vehicle speed, the operation rate of the transmission, the rotation speed of the engine, and the rotation speed of the input axle. To do. Furthermore, in the invention, the transmission control unit also sends a signal to the brake control unit 10 requesting a braking force when it is necessary to maintain the requested slowing speed. In order to brake the vehicle, the brake control unit 10 sends a signal to the brake actuator 8. If the vehicle travels on a substantially horizontal ground and suddenly moves over the raised object, a first pair of wheels (eg, wheels 6 moving behind the raised object over the raised object) collide with the raised object. The running resistance in the vehicle 1 increases.

  In the invention, if the running resistance suddenly increases, the vehicle aims to maintain the required slow speed. The shift control unit 16 increases the amount of torque transmitted to the transmission 4 and the drive wheels 6 by increasing the slight clutch operation. When the first pair of front wheels approaches the top of the protrusion, the vehicle resistance speed is reduced and the vehicle starts to accelerate. When the first acceleration of the vehicle 1 is detected, the transmission control unit 16 sends a signal to the clutch actuator 17 to reduce the amount of torque transmitted to the transmission, and at the same time a brake control unit to brake the vehicle. 10 to send a signal. The effect of braking adjusts the vehicle speed faster than the increase in release of the clutch 3, and thus the required slow speed is maintained. While the slow mode is operating, the engine 2 operates at an idling speed. As an exception to the above, when the vehicle is started, it depends on the running resistance of the vehicle when the vehicle 1 is started.

  While operating the slow speed mode, the driver changes the position of the throttle controller to another position within the speed range of the throttle controller, thereby obtaining another vehicle slow speed.

  To release the slow speed mode, the driver only needs to apply a force to the throttle controller to exceed the slow speed range of the throttle controller, i.e., to exceed the displacement position of the throttle controller, for example, 50%. . Thus, if the driver requests a vehicle speed faster than the vehicle slowing speed, the driver can do the above. Alternatively, if the driver wishes to stop the vehicle, the driver need only stop the vehicle and apply force to the brake controller to release the slow speed mode.

  In another embodiment, the automatic gear selection mode is selected by the driver via a gear selection lever not shown. At that time, the shift control unit 16 receives information on the position of the throttle controller selected by the driver from the network 15, and if the position of the throttle controller is within the range, the shift control unit 16 Interpret the signal as requiring slow speed. At that time, the shift control unit automatically selects the lowest effective gear ratio such as the start gear and the slow speed gear. In slow speed mode, to maintain the requested and selected vehicle slow speed during vehicle start-up and operation, the actuator and fuel of the engine 2 are controlled as in the embodiment shown above. The

  Further, when the vehicle travels at a speed higher than the slow speed and is controlled by the brake controller 9, the vehicle slow speed mode is activated. In a state where the brake controller 9 is operated at a slow speed, the engine output axle, the clutch 3 and the speed change input axle must be synchronized with each other at the lowest effective speed change rate. Deceleration approaching the speed, the selected displacement of the brake controller must be held for a predetermined time within the brake speed range of the brake controller. The displacement is extended between 0% and a first predetermined limit value. The input signal in the state is measured in the same manner as in the known method and the throttle controller embodiment shown above. If the slow speed range of the brake controller is, for example, a displacement position between 0% and 30%, and the brake controller moves to a position within the range, the brake control unit 10 records the position. . At that time, the brake control unit 10 transmits the information on the position of the brake controller to the external data network 15, and therefore the brake control unit 10 is effective for the shift control unit 16 that receives the displacement information of the brake controller. Information is generated. In the present invention, the shift control unit 16 interprets the position and the state of the brake controller as a request to operate at a specific slow speed by the detected state and the brake controller within the range. The transmission control unit 16 controls the actuator and engine fuel during the slow speed mode in the same manner as the throttle controller in the above-described embodiment. Also, in an embodiment, the driver can change the position of the brake controller within the braking speed range of the brake controller, thus obtaining another slowing speed. Preferably, the automatic mode is selected for the transmission. On the other hand, the driver may manually select the lowest effective gear.

  To release the slow speed mode, the driver applies force to the brake controller so that it exceeds the slow speed range of the brake controller 9, i.e. exceeds the displacement position of the given 30% brake controller, for example. All that has to be done is to stop the vehicle 1. On the other hand, when the driver releases the brake controller and the clutch 3 is fully actuated, i.e., the speeds at the engine output axle, the clutch 3 and the shift input axle are synchronized, the vehicle is at a vehicle speed corresponding to the engine idling speed. To accelerate.

  FIG. 2 shows, by curve A, a preferred relationship between vehicle slowdown speed and throttle controller position. In FIG. 2, a curve B shows a preferable relationship between the vehicle slowing speed and the position of the brake controller. When the clutch 3 is fully operated, that is, when the engine output axle, the clutch 3 and the speed change input axle are synchronized, the vehicle speed corresponding to the engine idling speed is indicated by a horizontal dotted line. X% and the vertical dotted line indicate the upper limit of the slow speed range of the throttle controller or the slow speed range of the brake controller.

  The displacement of the throttle controller selected within the slow speed range of the throttle controller extends between 0% and a first predetermined limit value.

  FIG. 3 shows in two tables examples of transmission output axle speed that the vehicle 1 obtains when a particular throttle controller displacement or a particular brake controller displacement is selected within the slow speed range. For example, a brake controller displacement of 20% selected by the driver gives a transmission output axle speed of 5 pm.

  FIG. 4 shows a device 500 in one embodiment of the invention comprising a non-volatile memory 520, a processor 510 and a read / write memory (RWM) 560, the memory 520 having a first memory area 530, The first memory area 530 stores a computer program for controlling the device 500. The computer program in the memory area 530 for controlling the device 500 is an activation system.

  The device 500 is included in a control unit such as, for example, the control unit 16. The data processing unit 510 is composed of, for example, a microcomputer.

  The memory 520 also has a second memory area 540, and a program for controlling the slow mode function in the invention is stored in the second memory area 540. In other possible embodiments, the program for controlling the slow mode function is stored in a separate volatile data storage medium 550, such as a CD or a replaceable semiconductor memory. The program is stored in an executable format or in a compressed state.

  When the data processing unit 510 operates a specific function, the data processing unit 510 may operate a program stored in the memory 540 or a specific area of the program stored in the nonvolatile recording medium 550. it is obvious.

  In the data processing unit 510, communication with the memory 550 is coordinated via the data bus 514. In the data processing unit 510, communication with the memory 520 is adjusted via the data bus 512. Further, in the data processing unit 510, communication with the memory 560 is adjusted via the data bus 511. In the data processing unit 510, communication with the data port 590 is adjusted by using the data bus 515.

  The method in the present invention is executed by the data processing unit 510 that operates a program stored in the memory 540 or a specific area of the program stored in the non-volatile recording medium 550.

  The invention is applicable to both front and rear gears.

  In one embodiment, only the throttle controller can be operated as start control for slow speed mode according to the invention. In other embodiments, instead, only the brake controller may be the start control of the slow speed mode according to the invention.

  The upper limit value of the slow speed range in the throttle controller and the brake controller is determined in advance and is preferably between 30% and 50%. The lower limit of the range preferably starts at a displacement position exceeding 0%.

  In another embodiment of the invention, the new displacement of the throttle controller or brake controller is selected to a value that is outside the throttle controller range or the slow speed range of the brake controller, and the vehicle is moved to the new displacement. After that, it is selected to travel a predetermined distance, for example 10 meters, and the slow mode is first stopped.

  The throttle controller is an accelerator pedal or some manually regulated controller (eg, buttons, knobs, levers) that is controlled using the driver's legs. The brake controller is an accelerator pedal or some manually regulated controller (eg, buttons, knobs, levers) that is controlled by the driver's legs.

  In another embodiment of the invention, the driver starts in slowdown mode according to the above-described embodiment, i.e., using a throttle controller or brake controller, and selects a specific vehicle slowdown speed. When the vehicle slowing speed is selected, the driver fixes the selected slowing speed using, for example, another controller that is an automatic speed control device of the vehicle. Therefore, in order to maintain a specific slow speed, the driver does not need to keep at a specific displacement of the throttle controller or brake controller, and can then concentrate entirely on vehicle maneuvering. To stop the vehicle and disable the slow mode, the driver can preferably apply force to the brake pedal.

  Different functions of the control units disclosed in the embodiments are allocated between the control units in a variety of different ways. The number of control units is also changed, which means that the connection between different components in the system can be changed in various ways. The invention is not limited to the exemplary embodiments described above, and further possible changes and modifications that do not depart from the scope of the following claims are considered as the invention.

It is the schematic in the Example of invention. It is a schematic graph which shows how much the vehicle slowing speed is concerned in the displacement of each of a brake controller or a throttle controller. It is a table | surface which shows an example of the output speed of the transmission in each displacement of a controller. FIG. 1 illustrates an apparatus in which at least one embodiment of the invention is utilized.

Claims (16)

A fuel-controlled internal combustion engine (2), a throttle controller (13) manually controlled to be displaceable between 0% and 100% displacement positions, and a brake and brake actuator (8 ), A brake controller (9) manually controlled to be displaceable between 0% and 100% displacement positions, a multi-speed transmission (4) having an input axle, and an engine A clutch (3) that is drivingly interposed between the output axle of (2) and the input axle; and a clutch actuator for fully operating, completely releasing, or partially releasing the clutch (3) 17) and a signal indicating the vehicle speed, the operating rate of the transmission, the rotational speed of the engine, the rotational speed of the input axle, and the displacement of the throttle controller or brake controller. In order to receive a force signal and send a command output signal to the engine, a system actuator including at least the clutch actuator (17) and a brake actuator (8) for torque request, the signal is transmitted according to a programmed logic rule. A control method for a clutch (3) in a vehicle comprising at least one control unit (10, 12, 14, 16) for processing,
The displacement of the throttle controller (13) stays within a preset range of the slow speed of the throttle controller, or the displacement of the brake controller (9) is the slow speed of the preset brake controller. As long as it stays within the speed range, the first displacement position for the first vehicle slowing speed is selected in one of the ranges, and the throttle controller or brake controller stays substantially at the first displacement position. As long as the at least one control unit (10, 12, 14, 16) maintains the first vehicle slowing speed by controlling at least one of the engine, the brake actuator, and the clutch actuator. A method for controlling a clutch in a vehicle. The at least one control unit is:
The speed on the output axle, clutch and input axle is not synchronized,
Operation at the lowest effective gear ratio,
The selected displacement in the throttle controller is within a slow speed range of the throttle controller that is extended between 0% and a first predetermined limit value;
2. The clutch control method for a vehicle according to claim 1, wherein the slow-down control mode is activated by detecting this. The at least one control unit is:
The speed on the output axle, clutch and input axle is synchronized,
Operation at the lowest effective gear ratio,
The vehicle speed decelerating approaches the rotational engine idling speed,
The selected displacement in the brake controller is within the braking speed range of the brake controller extended between 0% and a second predetermined limit value;
The clutch control method for a vehicle according to claim 1, wherein the control is performed in a slow speed control mode. The at least one control unit is:
Zero vehicle speed,
A displacement of the throttle controller or brake controller that is outside the slow speed range of the throttle controller or outside the slow speed range of the brake controller is newly selected;
The method of controlling a clutch in a vehicle according to any one of the preceding claims, wherein any one of them is detected to stop the slow drive control mode. A method for receiving an input indication signal of power consumption in one or more accessory units arranged in a vehicle, wherein the at least one control unit comprises:
The at least one control unit controls the fuel to provide the input display signal of power consumption in one or more accessory units as one of the input signals for maintaining the first vehicle slowing speed. The method for controlling a clutch in a vehicle according to any one of the preceding claims, wherein the method is used.   The method for controlling a clutch in a vehicle according to any one of the preceding claims, wherein both the first and second predetermined limit values are 30% to 50%. A fuel-controlled internal combustion engine (2), a throttle controller (13) manually controlled to be displaceable between 0% and 100% displacement positions, and a brake and brake actuator (8 ), A brake controller (9) manually controlled so as to be displaceable between 0% and 100% displacement positions, a multi-speed transmission mechanism having an input axle, and an engine (2) A clutch (3) that is drivingly interposed between the output axle and the input axle, and a clutch actuator (17) for fully operating, completely releasing, or partially releasing the clutch (3) Including signals indicating vehicle speed, operating rate of the transmission mechanism, rotational speed of the engine, rotational speed of the input axle, and displacement of the throttle controller or brake controller. Receiving signals and processing said signals according to programmed logic rules to send command output signals to said engine, system actuators including at least said clutch actuator (17) and brake actuator (8) for torque demand A vehicle (1) comprising at least one control unit (10, 12, 14, 16) for
The throttle controller (13) or the brake controller (9) is configured so that each displacement position within the slow speed range becomes a preset slow speed range corresponding to a specific vehicle slow speed, and the throttle controller or brake As long as the controller remains substantially at a displacement position within the range, the at least one control unit (10, 12, 14, 16) controls at least one of the engine, the brake actuator, and the clutch actuator. Thus, the vehicle is arranged to maintain the selected vehicle slowing speed corresponding to the displacement position within the range. The at least one control unit is:
The speed on the output axle, clutch and input axle is not synchronized,
Operation at the lowest effective gear ratio,
The selected displacement in the throttle controller is within the slow speed range extended between 0% and a predetermined limit value;
The vehicle according to claim 1, wherein the vehicle is arranged so as to detect this and activate the slow-motion control mode. The at least one control unit is:
The speed on the output axle, clutch and input axle is synchronized,
Operation at the lowest effective transmission rate,
The vehicle speed decreases towards the rotary engine idling speed corresponding to the vehicle,
The selected displacement in the brake controller is within the slow speed range extended between 0% and a predetermined limit value;
The vehicle according to claim 7, wherein the vehicle is arranged to detect this and operate in a slow-down control mode. The at least one control unit is:
Zero vehicle speed,
A displacement of the throttle controller or the brake controller is newly selected at a value outside the slow speed range of the throttle controller or the slow speed range of the brake controller.
The vehicle according to any one of claims 7 to 9, wherein the vehicle is arranged so as to detect any one of them and stop the slow drive control mode. A vehicle comprising at least one control unit for receiving an input indication signal of power consumption of one or more accessory units arranged in the vehicle,
The at least one control unit controls the fuel to provide the input display signal of power consumption in one or more accessory units as one of the input signals for maintaining the first vehicle slowing speed. 11. The vehicle according to claim 7, wherein the vehicle is arranged to be used.   The vehicle according to any one of claims 7 to 11, wherein the predetermined limit value is 30% to 50%.   The vehicle according to any one of claims 7 to 12, wherein the slow speed range takes a different value depending on a limit range in which the control slow speed range depends on a throttle controller or a brake controller. A computer program comprising program code,
A computer program comprising program code, wherein the computer program is executed by the method according to claim 1 when the computer program is executed by a computer. A computer program product stored on a computer readable medium,
A computer program product comprising program code, wherein the computer program is executed by the method of claim 1 when the computer program is executed by a computer. A computer program product that can be stored directly in the internal memory of a computer,
A computer program product comprising a computer program, wherein the computer program in the computer program product is executed by the method of claim 1 when the computer program is executed by a computer.

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