WO2012080429A1 - Vehicle control system - Google Patents

Vehicle control system Download PDF

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Publication number
WO2012080429A1
WO2012080429A1 PCT/EP2011/072986 EP2011072986W WO2012080429A1 WO 2012080429 A1 WO2012080429 A1 WO 2012080429A1 EP 2011072986 W EP2011072986 W EP 2011072986W WO 2012080429 A1 WO2012080429 A1 WO 2012080429A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
wading
control system
control
change
Prior art date
Application number
PCT/EP2011/072986
Other languages
French (fr)
Inventor
Thuy-Yung Tran
Edward Hoare
Nigel Clarke
Original Assignee
Land Rover
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from GB1021268.6A external-priority patent/GB2486452A/en
Priority claimed from GB1021297.5A external-priority patent/GB2486459A/en
Priority claimed from GB1021278.5A external-priority patent/GB2486453A/en
Priority claimed from GBGB1021272.8A external-priority patent/GB201021272D0/en
Priority claimed from GBGB1021296.7A external-priority patent/GB201021296D0/en
Priority claimed from GB1021295.9A external-priority patent/GB2486458A/en
Application filed by Land Rover filed Critical Land Rover
Priority to EP11811337.2A priority Critical patent/EP2652454B1/en
Priority to US13/994,504 priority patent/US9884555B2/en
Publication of WO2012080429A1 publication Critical patent/WO2012080429A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Arrangement of adaptations of instruments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C1/00—Tyres characterised by the chemical composition or the physical arrangement or mixture of the composition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B60G17/01908—Acceleration or inclination sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K35/28—
    • B60K35/60—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R99/00—Subject matter not provided for in other groups of this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
    • F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
    • F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
    • F02D11/105—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the function converting demand to actuation, e.g. a map indicating relations between an accelerator pedal position and throttle valve opening or target engine torque
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
    • G01F23/14—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measurement of pressure
    • G—PHYSICS
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    • G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
    • G01F23/14—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measurement of pressure
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    • G—PHYSICS
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    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
    • G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
    • G01F23/24—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring variations of resistance of resistors due to contact with conductor fluid
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
    • G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
    • G01F23/24—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring variations of resistance of resistors due to contact with conductor fluid
    • G01F23/241—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring variations of resistance of resistors due to contact with conductor fluid for discrete levels
    • G01F23/242—Mounting arrangements for electrodes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
    • G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
    • G01F23/26—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring variations of capacity or inductance of capacitors or inductors arising from the presence of liquid or fluent solid material in the electric or electromagnetic fields
    • G01F23/263—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring variations of capacity or inductance of capacitors or inductors arising from the presence of liquid or fluent solid material in the electric or electromagnetic fields by measuring variations in capacitance of capacitors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
    • G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
    • G01F23/26—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring variations of capacity or inductance of capacitors or inductors arising from the presence of liquid or fluent solid material in the electric or electromagnetic fields
    • G01F23/263—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring variations of capacity or inductance of capacitors or inductors arising from the presence of liquid or fluent solid material in the electric or electromagnetic fields by measuring variations in capacitance of capacitors
    • G01F23/265—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring variations of capacity or inductance of capacitors or inductors arising from the presence of liquid or fluent solid material in the electric or electromagnetic fields by measuring variations in capacitance of capacitors for discrete levels
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    • G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
    • G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
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    • G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
    • G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
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    • G—PHYSICS
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    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
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    • G—PHYSICS
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    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
    • G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
    • G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
    • G01F23/296—Acoustic waves
    • G—PHYSICS
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    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
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    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
    • G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/84—Data processing systems or methods, management, administration
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S367/00—Communications, electrical: acoustic wave systems and devices
    • Y10S367/908—Material level detection, e.g. liquid level
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/93—Conjoint control of different elements

Definitions

  • the present invention relates to a vehicle control system and particularly, but not exclusively, to a system adapted to a wading vehicle. Aspects of the invention relate to a system, to a method and to a vehicle.
  • Road vehicles are designed to wade through water at a prescribed depth, according to the vehicle make and model Vehicles with off-road capability may be designed to wade in a depth of water (e.g. over 300 mm), and are typically provided with appropriate protection of the vehicle engine, electrical systems and the like.
  • WO-A-03/002378 discloses a system relevant to the present invention.
  • a control system of a vehicle having a wading sensor adapted to identify wading above a predetermined depth of water, said control system being adapted to implement one or more of the following vehicle control strategies upon detection of wading by said sensor:
  • HVAC heating, ventilation and air conditioning system
  • control system is adapted to be manually enabled and disabled by the driver.
  • control system is adapted to be automatically enabled and disabled.
  • the vehicle control system may be further adapted to re-implement a standard control strategy upon a failure to detect wading by said sensor.
  • a plurality of wading sensors may be provided, and may operate individually or in conjunction to indicate wading.
  • the mode of operation of the sensor may be adapted to a selected operational mode of the vehicle. For example an off-road traction mode may elicit a different sensor response as compared with an on-road (normal) traction mode, and enable an alternative control strategy.
  • a standard control strategy includes any control strategy appropriate to vehicle operation when wading is not indicated.
  • a suitable sensor is any sensor capable of detecting water at wading depth, and includes sensors responsive to contact with water; sensors operate to sense water by transmission and reflection of a waveform; camera detectors, including computer vision apparatus; and GPS or like geographical data sensors.
  • Such sensors may be used in combination if required. Such sensors are typically vehicle mounted.
  • control strategies implemented by the control system are typically retained in a memory of the vehicle control system, and may be in a look-up table with reference to other vehicle control inputs.
  • a change of control strategy may be dependent upon the depth of wading, for which purpose a wading depth sensor of any suitable kind may be provided on the vehicle.
  • the wading depth sensor may be enabled only whilst wading is indicated by a wading sensor.
  • a change of control strategy may be implemented immediately or progressively. Progressive implementation allows a driver to become familiar with, for example, a change in response to a given driver input.
  • the control system may acquire historical data concerning wading events, and apply that data to a new wading event so as to improve decision making and implementation of a control strategy.
  • a change in control strategy may also be implemented with delay according to the parameters retained in a memory, or according to other vehicle control inputs.
  • the HVAC system may remain enabled for a period after a failure to detect wading.
  • Such an arrangement may be useful in passage through successive stretches of shallow water, or to allow the effects of wading to be fully cleared before resumption of a standard control strategy.
  • the time delay is dependent upon the strategy to be implemented.
  • the rate of change of control strategy is dependent upon the strategy to be implemented.
  • control system comprises a wading depth sensor, said control system being responsive to said depth sensor to implement said one or more control strategies dependent upon depth of wading.
  • the control system may be arranged to vary a control strategy according to step changes in depth of wading.
  • control strategies are defined in a read only memory. According to another aspect of the present invention there is provided a vehicle having a control system as described hereinabove.
  • a vehicle comprising a control system and a sensor adapted to identify wading above a predetermined depth of water, the control system being adapted to implement a change in one or more vehicle control strategies upon detection of wading by said sensor.
  • a method for a vehicle comprising receiving data from a sensor adapted to indicate wading above a predetermined depth of water, determining that the vehicle is wading; and implementing one or more vehicle control strategies in response to determining that the vehicle is wading, said strategies being selected from:
  • HVAC heating, ventilation and air conditioning system
  • the method comprises implementing an alternative control strategy selected from:
  • the method comprises receiving data from the sensor, determining that the vehicle is not wading and resuming, automatically, a standard or different control strategy,
  • the sensor(s) used in the invention are mounted appropriately on the vehicle.
  • a water contact sensor is typically provided at a lower vehicle extremity, at the front and at the rear.
  • a GPS receiver is typically upward facing.
  • a vehicle with off-road capability may have a driver switchable control for automatically placing the vehicle in best operating mode according to the terrain over which the vehicle is travelling.
  • a driver may be able to switch between road, mud and snow, sand, and rock crawl modes, each of which will modify the vehicle response so as to enable the vehicle to best perform within the full available operating envelope.
  • the control system may automatically implement a Terrain Response mode, such as rock crawl.
  • a Terrain Response mode such as rock crawl.
  • This arrangement provides better vehicle performance for the inexperienced driver, and may protect the vehicle from damage.
  • the cost of implementation is minimal where Terrain Response is already provided on the vehicle.
  • control system may present the driver with a choice of modes, for example rock crawl and sand, or default to the best mode indicated by other vehicle sensors.
  • wheel slip sensors may provide information on wheel grip, and thus whether rock climb mode or mud and snow mode is appropriate.
  • the control system may include a driver override.
  • the control system may implement a throttle map better suited to driving in water.
  • the throttle map may limit maximum engine revolutions and/or increase throttle pedal travel for a given engine response.
  • Minimum engine speed may be raised to ensure positive exhaust pressure whilst under water.
  • control system may inhibit the selection of certain gear ratios, alter the speeds at which automatic ratio changes occur, or select an appropriate (low) ratio. This arrangement can avoid loss of drive as gear ratios change, or are changed, during wading, and also promotes driver confidence.
  • An indicator to the driver may show, for example, a locked or selected gear ratio.
  • a manual or automatic change of speed range may be inhibited or prohibited, or a range may be automatically selected, typically low range in a dual range transmission.
  • Headlights may be activated upon detection of wading.
  • a higher air intake path may be selected for the engine and/or HVAC system.
  • the intake path may for example comprise upper and lower paths and an electronically controlled flap or butterfly valve to select one or other path on demand.
  • Tyre pressure may for example be reduced upon detection of wading so as to improve traction and footprint.
  • the electronic tyre pressure monitoring system (TPMS) provides an electronic signal of real time tyre pressure, and a suitable release valve operated by e.g. radio or infrared signal may be provided on each vehicle wheel.
  • Many vehicles can in whole or in part adapt steering response and feel electronically. For example electric power assistance may be increased upon detection of wading, and or steering damping rates may be changed. This arrangement permits the vehicle to provide an unchanged steering response notwithstanding the commencement of wading. In other words the steering response and feel may resemble that of driving on dry land. Alternatively it may be desirable to deliberately introduce a variation of response and/or feel in order for example to prevent sudden or large steering wheel inputs.
  • the angle of steering wheel input and or rate of turning may change in relation to road wheel movement so as to improve driver control in water.
  • control system may lock or provide limited slip in one or more differential gears of the vehicle in order to improve traction. Such locking may be in conjunction with a limitation of vehicle speed.
  • Torque vectoring that is to say wheel to wheel differentiation of driving torque, may be altered upon detection of wading to counter side slip of the vehicle or drift in a stream path.
  • the control system may for example switch to an alternative torque vectoring map.
  • Torque vectoring may be provided between wheels of each axle, or between individual wheels of each axle, or differentiate each wheel individually so as to best apply available drive torque.
  • an engine lock sensor may be enabled so as to switch off the engine upon detection of moisture in the engine inlet tract.
  • Any suitable moisture sensor may be used, typically in the air filter housing and optionally on the upstream side thereof.
  • the moisture sensor will be able to distinguish from damp or humid air, and be sensitive to a threshold indicative of wading.
  • the moisture sensor may detect accumulation of liquid in a trap within the air inlet tract.
  • the engine lock sensor optionally re-enables the engine upon the moisture level falling below a pre-determined level.
  • control system may be enabled to switch off an internal combustion engine, and so that the vehicles relies upon an alternative drive, such as an electric drive.
  • an alternative drive such as an electric drive.
  • the control system may disable the internal combustion engine so that the alternative drive automatically takes over without further measures, or the control system may actively enable the alternative drive in a wading mode, which may for example limit vehicle speed, engage an alternative throttle map and make other desirable changes to vehicle response.
  • the HVAC system may start or switch to a wading mode which is best suited to air with a high moisture content.
  • the HVAC system may immediately enable electrically heated screens, in particular the windscreen, and may blow air over the screens in de-misting mode.
  • the air-conditioning system may be engaged or enabled to blow a high volume of dry air over the interior of the screens, so as to prevent misting and to clear the screens of moisture.
  • the HVAC system may also switch to a higher level air inlet, so as to limit the risk of moisture/water ingestion.
  • an engine fuel saving mode may be deactivated so as to minimize the risk of stranding in water.
  • a vehicle may have a fuel saving mode which normally turns off a vehicle engine when the vehicle is stationary, and for example restarts the engine automatically upon throttle pedal movement.
  • This strategy can be temporarily disabled during wading so as to avoid any risk of the vehicle engine failing to re-start in water, and to give confidence to the driver that control of the vehicle is being maintained.
  • Regeneration occurs when required, for example by reference to increasing back pressure, and may be temporarily suspended upon detection of wading.
  • the control system for example flags the engine control unit to block regeneration during the wading event, and thereby avoid the engine working in a temporarily adjusted mode, avoid unnecessary thermal shock to the particle filter and/or exhaust system, and avoid the risk of incomplete regeneration.
  • Regeneration is generally indicated when the particle filter is at rather less than full capacity, and accordingly there is no significant disadvantage in delaying regeneration during a wading event.
  • Sealed vehicles may become dangerously buoyant when wading as the water level reaches the underside of the vehicle body. Accordingly it may be desirable to raise the vehicle body with respect to the wheels upon detection of wading, and this is a useful solution where adjustable height suspension is fitted to the vehicle. Raising the vehicle ride height reduces the buoyancy effect and increases traction between the wheels and the ground. The buoyancy effect may also be countered by partially flooding the vehicle upon detection of wading, in particular detection of wading at a pre-determined depth of water.
  • the vehicle may for example be fitted with actuators to open flaps to admit water into normally closed compartments of the vehicle, such as a spare wheel well.
  • One or more vehicle doors may be unlatched to admit water into the interior of the vehicle body - for example to allow flooding of the vehicle floor. Controlled ingress of water into such compartments or the vehicle cabin increases the weight of the vehicle, thereby reducing buoyancy and increasing vehicle traction.
  • control system may also automatically unlock one or more vehicle doors and open one or more windows and/or the or each sunroof (if fitted) so as to permit the occupants a ready means of escape in the event of difficulty. For example upon sudden entry of deeper water there may be a risk of an unpredicted engine malfunction, loss of traction and the like, as a consequence of which the occupants may require to escape quickly.
  • This aspect of the invention places the vehicle in escape ready mode, without substantially increasing the risk of water entering the vehicle body in an uncontrolled manner.
  • control system may be arranged to re-enable the relevant vehicle protocols when wading is no longer detected.
  • Implementation may be partial or progressive depending upon the control strategy. Thus, for example, headlights may be immediately returned to normal operation, whereas the HVAC system may resume normal operation gradually.
  • the severity of the control system protocol may be dependent upon the sensed wading depth.
  • some changes of vehicle state will automatically be implemented, for example unlocking doors.
  • Other vehicle states may progressively move to a more altered state depending on water depth, for example change of steering response and feel.
  • FIGURE 1 is a schematic side view of a wading off-road vehicle according to embodiments of the present invention; the vehicle having a wading sensor and a wading depth sensor..
  • a vehicle 10 has ultrasonic sensors 1 1 , 12 of the parking distance type mounted in the front and rear bumpers and having respective output cones 13, 14.
  • the sensors both transmit and receive, and are accordingly capable of being used in a system for detecting obstructions, for example bollard 15.
  • the response of such a sensor will change, and can accordingly be used to sense wading at the depth of the sensor 1 1 , 12.
  • the response may for example exploit the different signal propagation speed for water and air, or the different diaphragm settling time for air and water immersion.
  • different vehicle control strategies may be implemented.
  • a high mounted parking distance sensor 16, 17, for example mounted on a bonnet or tailgate can be used to detect the ground surface by means of a downwardly directed output cone 18, 19.
  • the downward facing sensors 16, 17 also receive a reflection from the surface of water, and can thus be used to indicate depth of water since the mounting location on the vehicle is known in relation to ground level, or can be interpolated from a suspension height sensor of a variable height suspension.
  • Front and rear mounted sensors allow detection for both forward and rearward vehicle motion, and can also give an indication of vehicle inclination.
  • the vehicle 10 may comprise a change of terrain response mode; the vehicle 10 may have off-road capability and may have a driver switchable control for automatically placing the vehicle 10 in best operating mode according to the terrain over which the vehicle 10 is travelling.
  • a driver may be able to switch between road, mud and snow, sand, and rock crawl modes, each of which will modify the vehicle response so as to enable the vehicle 10 to best perform within the full available operating envelope.
  • control system may automatically implement a terrain response mode, such as rock crawl.
  • a terrain response mode such as rock crawl. This arrangement provides better vehicle performance for the inexperienced driver, and may protect the vehicle 10 from damage. The cost of implementation is minimal where terrain response functionality is already provided on the vehicle 10.
  • control system may present the driver with a choice of modes, for example rock crawl and sand, or default to the best mode indicated by other vehicle sensors.
  • wheel slip sensors may provide information on wheel grip, and thus whether rock climb mode or mud and snow mode is appropriate.
  • the control system may include a driver override.
  • vehicle 10 may comprise an apparatus which allows the throttle mapping to be changed, the apparatus may vary the vehicle response to a users request when pressing the accelerator or throttle pedal of the vehicle 10.
  • the control system may implement a throttle map better suited to driving in water.
  • the throttle map may limit maximum engine revolutions and/or increase throttle pedal travel for a given engine response. Minimum engine speed may be raised to ensure positive exhaust pressure whilst under water.
  • the vehicle 10 may comprise an apparatus which controls or restricts the selection of the gears provided in the vehicles gearbox. Upon detection of wading the control system may inhibit the selection of certain gear ratios, alter the speeds at which automatic ratio changes occur, or select an appropriate (low) ratio. This arrangement can avoid loss of drive as gear ratios change, or are changed, during wading, and also promotes driver confidence.
  • An indicator to the driver may show, for example, a locked or selected gear ratio.
  • the vehicle 10 may comprise an apparatus which controls or limits selection of high gear ratio and/or low gear ratio mode in a vehicle 10 having a dual range transmission. Similarly a manual or automatic change of speed range may be inhibited or prohibited, or a range may be automatically selected, typically low range in a dual range transmission.
  • the vehicle 10 may comprise headlights and an apparatus which allows the headlights to be activated upon detection of wading.
  • the vehicle 10 may comprise an additional air intake for providing air to the engine and/or vehicle cabin, which intake comprises orifice located at a higher elevation with respect to the vehicle body, an apparatus may be provided which enables selection of the higher air intake.
  • a higher air intake path may be selected for the engine and/or HVAC system.
  • the intake path may for example comprise upper and lower paths and an electronically controlled flap or butterfly valve to select one or other path on demand. This may be advantageous if the lower intake path is submerged below water, since air can still be provided to the vehicle cabin and/or engine.
  • the vehicle 10 may comprise an electronic tyre pressure monitoring system (TPMS) and a suitable release valve for adapting the tyre pressure.
  • TPMS electronic tyre pressure monitoring system
  • the tyre pressure may for example be reduced upon detection of wading so as to improve traction and footprint, the surface area of the vehicle in contact with the ground; this may reduce or prevent sinking into a soft surface on which the vehicle 10 is travelling.
  • the electronic tyre pressure monitoring system (TPMS) provides an electronic signal of real time tyre pressure, and a suitable release valve operated by e.g. radio or infrared signal may be provided on each vehicle wheel.
  • the vehicle 10 may comprise an adaptive steering system capable of adjusting the response of the steering following a user demand or feel the feel of the steering experienced by the user.
  • the vehicles may adapt in whole or in part steering response and feel electronically. For example electric power assistance may be increased upon detection of wading, and or steering damping rates may be changed.
  • This arrangement permits the vehicle 10 to provide an unchanged steering response notwithstanding the commencement of wading. In other words the steering response and feel may resemble that of driving on dry land.
  • the angle of steering wheel input and or rate of turning may change in relation to road wheel movement so as to improve driver control in water.
  • the vehicle 10 may comprise a system for controlling a one or more differential gearboxes. Upon detection of wading, the control system may lock or provide limited slip in one or more differential gears of the vehicle 10 in order to improve traction. Such locking may be in conjunction with a limitation of vehicle speed.
  • the vehicle 10 may comprise a system for controlling the torque delivered to the wheels. Torque vectoring, that is to say wheel to wheel differentiation of driving torque, may be altered upon detection of wading to counter side slip of the vehicle 10 or drift in a stream path. The control system may for example switch to an alternative torque vectoring map. Torque vectoring may be provided between wheels of each axle, or between individual wheels of each axle, or differentiate each wheel individually so as to best apply available drive torque.
  • the vehicle 10 may comprises a water ingestion sensor.
  • a water ingestion sensor When wading there is a danger of water ingestion in the engine air inlet, and consequent damage due to a hydraulic lock in the engine cylinders.
  • an engine lock may be enabled so as to switch off the engine upon detection of moisture in the engine inlet tract.
  • Any suitable moisture sensor may be used, typically in the air filter housing and optionally on the upstream side thereof. The moisture sensor will be able to distinguish from damp or humid air, and be sensitive to a threshold indicative of wading.
  • the moisture sensor may detect accumulation of liquid in a trap within the air inlet tract.
  • the control system optionally re-enables the engine upon the moisture level falling below a pre-determined level.
  • the vehicle 10 may comprises an alternative drive mechanism such as an electric drive system as found in hybrid vehicles.
  • the control system may be enabled to switch off an internal combustion engine, and so that the vehicle relies upon an alternative drive, such as an electric motor.
  • an alternative drive such as an electric motor.
  • the control system may disable the internal combustion engine so that the alternative drive automatically takes over without further measures, or the control system may actively enable the alternative drive in a wading mode, which may for example limit vehicle speed, engage an alternative throttle map and make other desirable changes to vehicle response.
  • control system may be coupled to a heating, ventilation, and air conditioning (HVAC) System provided on the vehicle 10.
  • HVAC heating, ventilation, and air conditioning
  • the HVAC system may start or switch to a wading mode which is best suited to air comprising a high moisture content.
  • the HVAC system may immediately enable electrically heated screens, in particular the windscreen, and may blow air over the screens in de-misting mode.
  • the air-conditioning system may be engaged or enabled to blow a high volume of dry air over the interior of the screens, so as to prevent misting and to clear the screens of moisture.
  • the HVAC system may also switch to a higher level air inlet, so as to limit the risk of moisture/water ingestion.
  • the vehicle 10 may comprise a fuel saving mode which in normal operation turns off a vehicle engine when the vehicle 10 is stationary for a predefined period of time.
  • a vehicle 10 may have a fuel saving mode which turns off the vehicles engine when the vehicle 10 is stationary, and restarts the engine automatically for example upon detection of movement of the throttle pedal.
  • an engine fuel saving mode may be deactivated so as to minimize the risk of the vehicle becoming stranded in water.
  • This fuel saving strategy can be temporarily disabled during wading so as to avoid any risk of the vehicle engine failing to re-start in water, and to give confidence to the driver that control of the vehicle 10 is being maintained.
  • Regeneration occurs when required, for example by reference to increasing back pressure, and may be temporarily suspended upon detection of wading.
  • the control system may instruct the engine control unit to block regeneration during the wading event, and thereby avoid a situation in which the engine is working in a temporarily adjusted mode, this would help avoid unnecessary thermal shock to the particle filter and/or exhaust system, and avoid the risk of incomplete regeneration.
  • Regeneration is generally indicated when the particle filter is at rather less than full capacity, and accordingly there is no significant disadvantage in delaying regeneration during a wading event.
  • Sealed vehicles may become dangerously buoyant when wading as the water level reaches the underside of the vehicle body. Accordingly it may be desirable in some embodiments to raise the vehicle body with respect to the wheels upon detection of wading, and this is a useful solution where adjustable height suspension is fitted to the vehicle 10. Raising the vehicle ride height reduces the buoyancy effect and increases traction between the wheels and the ground.
  • the buoyancy effect may also be countered by partially flooding the vehicle 10 upon detection of wading, in particular detection of wading at a pre-determined depth of water.
  • the vehicle 10 may for example be fitted with actuators to open flaps to admit water into normally closed compartments of the vehicle 10, such as a spare wheel well.
  • One or more vehicle doors may be unlatched to admit water into the interior of the vehicle body - for example to allow flooding of the vehicle floor. Controlled ingress of water into such compartments or the vehicle cabin increases the weight of the vehicle 10, thereby reducing buoyancy and increasing vehicle traction.
  • control system is coupled to the vehicle locking system and/or configured to interact with a sunroof.
  • the control system may automatically unlock one or more of the vehicle's doors, one or more of the vehicle's windows and/or open the or each sunroof (if fitted) so as to permit the occupants a ready means of escape in the event of difficulty.
  • This embodiment places the vehicle 10 in escape ready mode, without substantially increasing the risk of water entering the vehicle body in an uncontrolled manner.
  • control system may be arranged to re-enable the relevant vehicle protocols when wading is no longer detected.
  • Implementation may be partial or progressive depending upon the control strategy. Thus, for example, headlights may be immediately returned to normal operation, whereas the HVAC system may resume normal operation gradually.
  • severity of the control system protocol may be dependent upon the sensed wading depth. Thus upon sensing a minimum wading depth some changes of vehicle state will automatically be implemented, for example unlocking doors. Other vehicle states may progressively move to a more altered state depending on water depth, for example change of steering response and feel.
  • an action consequent upon wading may be indicated to the driver via the HMI (Human-Machine Interface).
  • HMI Human-Machine Interface
  • This may be in the form of a graphic, for example headlights-on indicator, or in the form of a message, for example 'low range engaged'.

Abstract

A vehicle having a wading sensor may include a control unit adapted to implement an alternative or modified vehicle control strategy during wading. The wading strategy may change many vehicle functions, alone or in combination, and may be further responsive to depth of wading.

Description

Vehicle Control System
Technical Field
The present invention relates to a vehicle control system and particularly, but not exclusively, to a system adapted to a wading vehicle. Aspects of the invention relate to a system, to a method and to a vehicle.
Background
Road vehicles are designed to wade through water at a prescribed depth, according to the vehicle make and model Vehicles with off-road capability may be designed to wade in a depth of water (e.g. over 300 mm), and are typically provided with appropriate protection of the vehicle engine, electrical systems and the like.
It may be advantageous to take some actions consequent upon detection of wading, so as to place the vehicle in a state better suited to wading. WO-A-03/002378 discloses a system relevant to the present invention.
Summary
Aspects of the invention relate to a vehicle, a method and a control system as claimed in the appended claims.
According to one aspect of the present invention for which protection is sought, there is provided a control system of a vehicle having a wading sensor adapted to identify wading above a predetermined depth of water, said control system being adapted to implement one or more of the following vehicle control strategies upon detection of wading by said sensor:
change of traction mode
change of throttle mapping
change of gear selection mode
change of high/low range mode
- activate headlights
select higher air intake path
adapt tyre pressures to wading
change steering response/feel
change differential control
- change torque-vectoring control
change hybrid vehicle drive mode
activate heating, ventilation and air conditioning system (HVAC) delay regeneration of exhaust particle filter
partially flood a pre-determined portion of the vehicle
unlock one or more door locks
open one or more windows
open sun roof.
In an embodiment the control system implements an alternative control strategy selected from:
activate hydraulic lock sensor of engine, and
de-activate engine fuel saving mode.
Optionally, the control system is adapted to be manually enabled and disabled by the driver. Alternatively, the control system is adapted to be automatically enabled and disabled.
The vehicle control system may be further adapted to re-implement a standard control strategy upon a failure to detect wading by said sensor. A plurality of wading sensors may be provided, and may operate individually or in conjunction to indicate wading. The mode of operation of the sensor may be adapted to a selected operational mode of the vehicle. For example an off-road traction mode may elicit a different sensor response as compared with an on-road (normal) traction mode, and enable an alternative control strategy. In this specification a standard control strategy includes any control strategy appropriate to vehicle operation when wading is not indicated.
A suitable sensor is any sensor capable of detecting water at wading depth, and includes sensors responsive to contact with water; sensors operate to sense water by transmission and reflection of a waveform; camera detectors, including computer vision apparatus; and GPS or like geographical data sensors.
Such sensors may be used in combination if required. Such sensors are typically vehicle mounted.
The control strategies implemented by the control system are typically retained in a memory of the vehicle control system, and may be in a look-up table with reference to other vehicle control inputs. Thus, for example, a change of control strategy may be dependent upon the depth of wading, for which purpose a wading depth sensor of any suitable kind may be provided on the vehicle. The wading depth sensor may be enabled only whilst wading is indicated by a wading sensor.
A change of control strategy may be implemented immediately or progressively. Progressive implementation allows a driver to become familiar with, for example, a change in response to a given driver input. The control system may acquire historical data concerning wading events, and apply that data to a new wading event so as to improve decision making and implementation of a control strategy.
A change in control strategy may also be implemented with delay according to the parameters retained in a memory, or according to other vehicle control inputs. Thus for example the HVAC system may remain enabled for a period after a failure to detect wading. Such an arrangement may be useful in passage through successive stretches of shallow water, or to allow the effects of wading to be fully cleared before resumption of a standard control strategy.
Optionally, the time delay is dependent upon the strategy to be implemented. In some embodiments the rate of change of control strategy is dependent upon the strategy to be implemented.
Optionally, the control system comprises a wading depth sensor, said control system being responsive to said depth sensor to implement said one or more control strategies dependent upon depth of wading. The control system may be arranged to vary a control strategy according to step changes in depth of wading.
In embodiments of the invention the control strategies are defined in a read only memory. According to another aspect of the present invention there is provided a vehicle having a control system as described hereinabove.
According to a further aspect of the present invention there is provided a vehicle comprising a control system and a sensor adapted to identify wading above a predetermined depth of water, the control system being adapted to implement a change in one or more vehicle control strategies upon detection of wading by said sensor. According to a yet another aspect of the present invention there is provided a method for a vehicle comprising receiving data from a sensor adapted to indicate wading above a predetermined depth of water, determining that the vehicle is wading; and implementing one or more vehicle control strategies in response to determining that the vehicle is wading, said strategies being selected from:
change of traction mode;
change of throttle mapping;
change of gear selection mode;
change of high/low range mode;
activate headlights;
select higher air intake path;
adapt tyre pressures to wading;
change steering response/feel;
change differential control;
change torque-vectoring control;
change hybrid vehicle drive mode;
activate heating, ventilation and air conditioning system (HVAC); delay regeneration of exhaust particle filter;
partially flood a pre-determined portion of the vehicle;
unlock one or more door locks;
open one or more windows; and
open sun roof. In an embodiment the method comprises implementing an alternative control strategy selected from:
activate hydraulic lock sensor of engine, and
de-activate engine fuel saving mode. Optionally, the method comprises receiving data from the sensor, determining that the vehicle is not wading and resuming, automatically, a standard or different control strategy,
The sensor(s) used in the invention are mounted appropriately on the vehicle. Thus a water contact sensor is typically provided at a lower vehicle extremity, at the front and at the rear. A GPS receiver is typically upward facing. Within the scope of this application it is envisaged that the various aspects, embodiments, examples, features and alternatives set out in the preceding paragraphs, in the claims and/or in the following description and drawings may be taken independently or in any combination thereof. For example, features described with reference to one embodiment are applicable to all embodiments unless there is incompatibility of features.
Further aspects of the invention are now described independently of each other aspect. The aspects may be combined, as desired. Change of Terrain Response Mode
A vehicle with off-road capability may have a driver switchable control for automatically placing the vehicle in best operating mode according to the terrain over which the vehicle is travelling. Thus a driver may be able to switch between road, mud and snow, sand, and rock crawl modes, each of which will modify the vehicle response so as to enable the vehicle to best perform within the full available operating envelope.
According to this aspect of the invention, upon detection of wading, the control system may automatically implement a Terrain Response mode, such as rock crawl. This arrangement provides better vehicle performance for the inexperienced driver, and may protect the vehicle from damage. The cost of implementation is minimal where Terrain Response is already provided on the vehicle.
In an enhancement, the control system may present the driver with a choice of modes, for example rock crawl and sand, or default to the best mode indicated by other vehicle sensors. For example wheel slip sensors may provide information on wheel grip, and thus whether rock climb mode or mud and snow mode is appropriate. The control system may include a driver override.
Change Throttle Mapping
Upon detection of wading, the control system may implement a throttle map better suited to driving in water. Thus, to permit better control of engine revolutions, the throttle map may limit maximum engine revolutions and/or increase throttle pedal travel for a given engine response. Minimum engine speed may be raised to ensure positive exhaust pressure whilst under water.
Change Gear Selection Upon detection of wading the control system may inhibit the selection of certain gear ratios, alter the speeds at which automatic ratio changes occur, or select an appropriate (low) ratio. This arrangement can avoid loss of drive as gear ratios change, or are changed, during wading, and also promotes driver confidence. An indicator to the driver may show, for example, a locked or selected gear ratio.
High/Low Range Mode
Similarly a manual or automatic change of speed range may be inhibited or prohibited, or a range may be automatically selected, typically low range in a dual range transmission.
Headlight Activation
Headlights may be activated upon detection of wading.
Select Higher Intake Path
Upon detection of wading, a higher air intake path may be selected for the engine and/or HVAC system. The intake path may for example comprise upper and lower paths and an electronically controlled flap or butterfly valve to select one or other path on demand.
Adapt Tyre Pressure to Wading
Tyre pressure may for example be reduced upon detection of wading so as to improve traction and footprint. The electronic tyre pressure monitoring system (TPMS) provides an electronic signal of real time tyre pressure, and a suitable release valve operated by e.g. radio or infrared signal may be provided on each vehicle wheel.
Change Steering Response/Feel
Many vehicles can in whole or in part adapt steering response and feel electronically. For example electric power assistance may be increased upon detection of wading, and or steering damping rates may be changed. This arrangement permits the vehicle to provide an unchanged steering response notwithstanding the commencement of wading. In other words the steering response and feel may resemble that of driving on dry land. Alternatively it may be desirable to deliberately introduce a variation of response and/or feel in order for example to prevent sudden or large steering wheel inputs.
Where an adjustable steering ratio is provided, the angle of steering wheel input and or rate of turning may change in relation to road wheel movement so as to improve driver control in water. Change of Differential Control
Upon detection of wading, the control system may lock or provide limited slip in one or more differential gears of the vehicle in order to improve traction. Such locking may be in conjunction with a limitation of vehicle speed.
Torque Vectoring Control
Torque vectoring, that is to say wheel to wheel differentiation of driving torque, may be altered upon detection of wading to counter side slip of the vehicle or drift in a stream path. The control system may for example switch to an alternative torque vectoring map. Torque vectoring may be provided between wheels of each axle, or between individual wheels of each axle, or differentiate each wheel individually so as to best apply available drive torque.
Engine Lock Sensor
When wading there is a danger of water ingestion in the engine air inlet, and consequent damage due to a hydraulic lock in the engine cylinders. Upon detection of wading, an engine lock sensor may be enabled so as to switch off the engine upon detection of moisture in the engine inlet tract. Any suitable moisture sensor may be used, typically in the air filter housing and optionally on the upstream side thereof. The moisture sensor will be able to distinguish from damp or humid air, and be sensitive to a threshold indicative of wading. The moisture sensor may detect accumulation of liquid in a trap within the air inlet tract. The engine lock sensor optionally re-enables the engine upon the moisture level falling below a pre-determined level.
Hybrid Vehicle Drive Mode
Upon detection of wading, the control system may be enabled to switch off an internal combustion engine, and so that the vehicles relies upon an alternative drive, such as an electric drive. Such an arrangement avoids the risk of water ingestion to the engine, whilst maintaining drive to the vehicle wheels. Suitable waterproofing of the alternative drive is of course required.
The control system may disable the internal combustion engine so that the alternative drive automatically takes over without further measures, or the control system may actively enable the alternative drive in a wading mode, which may for example limit vehicle speed, engage an alternative throttle map and make other desirable changes to vehicle response.
HVAC System Upon detection of wading the HVAC system may start or switch to a wading mode which is best suited to air with a high moisture content. Thus the HVAC system may immediately enable electrically heated screens, in particular the windscreen, and may blow air over the screens in de-misting mode. The air-conditioning system may be engaged or enabled to blow a high volume of dry air over the interior of the screens, so as to prevent misting and to clear the screens of moisture.
The HVAC system may also switch to a higher level air inlet, so as to limit the risk of moisture/water ingestion.
Engine Fuel Saving Mode
Upon detection of wading, an engine fuel saving mode may be deactivated so as to minimize the risk of stranding in water. Thus a vehicle may have a fuel saving mode which normally turns off a vehicle engine when the vehicle is stationary, and for example restarts the engine automatically upon throttle pedal movement. This strategy can be temporarily disabled during wading so as to avoid any risk of the vehicle engine failing to re-start in water, and to give confidence to the driver that control of the vehicle is being maintained.
Particle Filter Regeneration
Many internal combustion engines have a particle filter in the exhaust system, which is periodically re-generated by raising the temperature thereof to cause combustion of the contents. Regeneration occurs when required, for example by reference to increasing back pressure, and may be temporarily suspended upon detection of wading. The control system for example flags the engine control unit to block regeneration during the wading event, and thereby avoid the engine working in a temporarily adjusted mode, avoid unnecessary thermal shock to the particle filter and/or exhaust system, and avoid the risk of incomplete regeneration. Regeneration is generally indicated when the particle filter is at rather less than full capacity, and accordingly there is no significant disadvantage in delaying regeneration during a wading event.
Partially Flood Vehicle
Sealed vehicles may become dangerously buoyant when wading as the water level reaches the underside of the vehicle body. Accordingly it may be desirable to raise the vehicle body with respect to the wheels upon detection of wading, and this is a useful solution where adjustable height suspension is fitted to the vehicle. Raising the vehicle ride height reduces the buoyancy effect and increases traction between the wheels and the ground. The buoyancy effect may also be countered by partially flooding the vehicle upon detection of wading, in particular detection of wading at a pre-determined depth of water. The vehicle may for example be fitted with actuators to open flaps to admit water into normally closed compartments of the vehicle, such as a spare wheel well. One or more vehicle doors may be unlatched to admit water into the interior of the vehicle body - for example to allow flooding of the vehicle floor. Controlled ingress of water into such compartments or the vehicle cabin increases the weight of the vehicle, thereby reducing buoyancy and increasing vehicle traction.
Unlock Doors and Open Sunroof
Upon detection of wading the control system may also automatically unlock one or more vehicle doors and open one or more windows and/or the or each sunroof (if fitted) so as to permit the occupants a ready means of escape in the event of difficulty. For example upon sudden entry of deeper water there may be a risk of an unpredicted engine malfunction, loss of traction and the like, as a consequence of which the occupants may require to escape quickly. This aspect of the invention places the vehicle in escape ready mode, without substantially increasing the risk of water entering the vehicle body in an uncontrolled manner.
In all of the aforementioned aspects, the control system may be arranged to re-enable the relevant vehicle protocols when wading is no longer detected. Implementation may be partial or progressive depending upon the control strategy. Thus, for example, headlights may be immediately returned to normal operation, whereas the HVAC system may resume normal operation gradually.
In some cases the severity of the control system protocol may be dependent upon the sensed wading depth. Thus upon sensing a minimum wading depth some changes of vehicle state will automatically be implemented, for example unlocking doors. Other vehicle states may progressively move to a more altered state depending on water depth, for example change of steering response and feel.
Not all actions need be implemented at the same wading depth, provided that several wading depths can be indicated to the control system. Thus partial vehicle flooding will not be implemented until deep water is encountered, whereas change of throttle mapping may occur at a much lower depth of water. In each case an action consequent upon wading may be indicated to the driver via the HMI (Human-Machine Interface). This may be in the form of a graphic, for example headlights-on indicator, or in the form of a message, for example 'low range engaged'. Brief Description of the Drawings
Embodiments of the present invention will now be described, by way of example only, with reference to the accompanying Figures in which:
FIGURE 1 is a schematic side view of a wading off-road vehicle according to embodiments of the present invention; the vehicle having a wading sensor and a wading depth sensor..
Detailed Description
With reference to Figure 1 , a vehicle 10 has ultrasonic sensors 1 1 , 12 of the parking distance type mounted in the front and rear bumpers and having respective output cones 13, 14. The sensors both transmit and receive, and are accordingly capable of being used in a system for detecting obstructions, for example bollard 15.
If immersed, the response of such a sensor will change, and can accordingly be used to sense wading at the depth of the sensor 1 1 , 12. The response may for example exploit the different signal propagation speed for water and air, or the different diaphragm settling time for air and water immersion. Upon detection of wading, different vehicle control strategies may be implemented.
A high mounted parking distance sensor 16, 17, for example mounted on a bonnet or tailgate can be used to detect the ground surface by means of a downwardly directed output cone 18, 19.
The downward facing sensors 16, 17 also receive a reflection from the surface of water, and can thus be used to indicate depth of water since the mounting location on the vehicle is known in relation to ground level, or can be interpolated from a suspension height sensor of a variable height suspension.
Front and rear mounted sensors allow detection for both forward and rearward vehicle motion, and can also give an indication of vehicle inclination.
Other means of detecting wading and depth of wading may be used. In one embodiment the vehicle 10 may comprise a change of terrain response mode; the vehicle 10 may have off-road capability and may have a driver switchable control for automatically placing the vehicle 10 in best operating mode according to the terrain over which the vehicle 10 is travelling. Thus a driver may be able to switch between road, mud and snow, sand, and rock crawl modes, each of which will modify the vehicle response so as to enable the vehicle 10 to best perform within the full available operating envelope.
Upon detection of wading, the control system may automatically implement a terrain response mode, such as rock crawl. This arrangement provides better vehicle performance for the inexperienced driver, and may protect the vehicle 10 from damage. The cost of implementation is minimal where terrain response functionality is already provided on the vehicle 10.
In an alternative embodiment, the control system may present the driver with a choice of modes, for example rock crawl and sand, or default to the best mode indicated by other vehicle sensors. For example wheel slip sensors may provide information on wheel grip, and thus whether rock climb mode or mud and snow mode is appropriate. The control system may include a driver override. In another embodiment the vehicle 10 may comprise an apparatus which allows the throttle mapping to be changed, the apparatus may vary the vehicle response to a users request when pressing the accelerator or throttle pedal of the vehicle 10. Upon detection of wading, the control system may implement a throttle map better suited to driving in water. Thus, to permit better control of engine revolutions, the throttle map may limit maximum engine revolutions and/or increase throttle pedal travel for a given engine response. Minimum engine speed may be raised to ensure positive exhaust pressure whilst under water.
In yet another embodiment the vehicle 10 may comprise an apparatus which controls or restricts the selection of the gears provided in the vehicles gearbox. Upon detection of wading the control system may inhibit the selection of certain gear ratios, alter the speeds at which automatic ratio changes occur, or select an appropriate (low) ratio. This arrangement can avoid loss of drive as gear ratios change, or are changed, during wading, and also promotes driver confidence. An indicator to the driver may show, for example, a locked or selected gear ratio.
In still another embodiment the vehicle 10 may comprise an apparatus which controls or limits selection of high gear ratio and/or low gear ratio mode in a vehicle 10 having a dual range transmission. Similarly a manual or automatic change of speed range may be inhibited or prohibited, or a range may be automatically selected, typically low range in a dual range transmission. In an alternative embodiment the vehicle 10 may comprise headlights and an apparatus which allows the headlights to be activated upon detection of wading.
In a further embodiment, the vehicle 10 may comprise an additional air intake for providing air to the engine and/or vehicle cabin, which intake comprises orifice located at a higher elevation with respect to the vehicle body, an apparatus may be provided which enables selection of the higher air intake. Upon detection of wading, a higher air intake path may be selected for the engine and/or HVAC system. The intake path may for example comprise upper and lower paths and an electronically controlled flap or butterfly valve to select one or other path on demand. This may be advantageous if the lower intake path is submerged below water, since air can still be provided to the vehicle cabin and/or engine.
In yet a further embodiment, the vehicle 10 may comprise an electronic tyre pressure monitoring system (TPMS) and a suitable release valve for adapting the tyre pressure. The tyre pressure may for example be reduced upon detection of wading so as to improve traction and footprint, the surface area of the vehicle in contact with the ground; this may reduce or prevent sinking into a soft surface on which the vehicle 10 is travelling. The electronic tyre pressure monitoring system (TPMS) provides an electronic signal of real time tyre pressure, and a suitable release valve operated by e.g. radio or infrared signal may be provided on each vehicle wheel.
In still a further embodiment, the vehicle 10 may comprise an adaptive steering system capable of adjusting the response of the steering following a user demand or feel the feel of the steering experienced by the user. The vehicles may adapt in whole or in part steering response and feel electronically. For example electric power assistance may be increased upon detection of wading, and or steering damping rates may be changed. This arrangement permits the vehicle 10 to provide an unchanged steering response notwithstanding the commencement of wading. In other words the steering response and feel may resemble that of driving on dry land. Alternatively it may be desirable to deliberately introduce a variation of response and/or feel in order for example to prevent sudden or large steering wheel inputs. Where an adjustable steering ratio is provided, the angle of steering wheel input and or rate of turning may change in relation to road wheel movement so as to improve driver control in water. In an alternative embodiment the vehicle 10 may comprise a system for controlling a one or more differential gearboxes. Upon detection of wading, the control system may lock or provide limited slip in one or more differential gears of the vehicle 10 in order to improve traction. Such locking may be in conjunction with a limitation of vehicle speed. In another embodiment the vehicle 10 may comprise a system for controlling the torque delivered to the wheels. Torque vectoring, that is to say wheel to wheel differentiation of driving torque, may be altered upon detection of wading to counter side slip of the vehicle 10 or drift in a stream path. The control system may for example switch to an alternative torque vectoring map. Torque vectoring may be provided between wheels of each axle, or between individual wheels of each axle, or differentiate each wheel individually so as to best apply available drive torque.
In some embodiments the vehicle 10 may comprises a water ingestion sensor. When wading there is a danger of water ingestion in the engine air inlet, and consequent damage due to a hydraulic lock in the engine cylinders. Upon detection of wading, an engine lock may be enabled so as to switch off the engine upon detection of moisture in the engine inlet tract. Any suitable moisture sensor may be used, typically in the air filter housing and optionally on the upstream side thereof. The moisture sensor will be able to distinguish from damp or humid air, and be sensitive to a threshold indicative of wading. The moisture sensor may detect accumulation of liquid in a trap within the air inlet tract. The control system optionally re-enables the engine upon the moisture level falling below a pre-determined level.
In some embodiments the vehicle 10 may comprises an alternative drive mechanism such as an electric drive system as found in hybrid vehicles. Upon detection of wading, the control system may be enabled to switch off an internal combustion engine, and so that the vehicle relies upon an alternative drive, such as an electric motor. Such an arrangement avoids the risk of water ingestion to the engine, whilst maintaining drive to the vehicle wheels. Suitable waterproofing of the alternative drive may be required. The control system may disable the internal combustion engine so that the alternative drive automatically takes over without further measures, or the control system may actively enable the alternative drive in a wading mode, which may for example limit vehicle speed, engage an alternative throttle map and make other desirable changes to vehicle response.
In other embodiments the control system may be coupled to a heating, ventilation, and air conditioning (HVAC) System provided on the vehicle 10. Upon detection of wading the HVAC system may start or switch to a wading mode which is best suited to air comprising a high moisture content. Thus the HVAC system may immediately enable electrically heated screens, in particular the windscreen, and may blow air over the screens in de-misting mode. The air-conditioning system may be engaged or enabled to blow a high volume of dry air over the interior of the screens, so as to prevent misting and to clear the screens of moisture.
The HVAC system may also switch to a higher level air inlet, so as to limit the risk of moisture/water ingestion.
In a further embodiment the vehicle 10 may comprise a fuel saving mode which in normal operation turns off a vehicle engine when the vehicle 10 is stationary for a predefined period of time. Thus a vehicle 10 may have a fuel saving mode which turns off the vehicles engine when the vehicle 10 is stationary, and restarts the engine automatically for example upon detection of movement of the throttle pedal. Upon detection of wading, an engine fuel saving mode may be deactivated so as to minimize the risk of the vehicle becoming stranded in water. This fuel saving strategy can be temporarily disabled during wading so as to avoid any risk of the vehicle engine failing to re-start in water, and to give confidence to the driver that control of the vehicle 10 is being maintained.
Many internal combustion engines have a particle filter in the exhaust system, which is periodically re-generated by raising the temperature thereof to cause combustion of the contents. Regeneration occurs when required, for example by reference to increasing back pressure, and may be temporarily suspended upon detection of wading. In an embodiment comprising a particle filter which can be regenerated, the control system may instruct the engine control unit to block regeneration during the wading event, and thereby avoid a situation in which the engine is working in a temporarily adjusted mode, this would help avoid unnecessary thermal shock to the particle filter and/or exhaust system, and avoid the risk of incomplete regeneration. Regeneration is generally indicated when the particle filter is at rather less than full capacity, and accordingly there is no significant disadvantage in delaying regeneration during a wading event. Sealed vehicles may become dangerously buoyant when wading as the water level reaches the underside of the vehicle body. Accordingly it may be desirable in some embodiments to raise the vehicle body with respect to the wheels upon detection of wading, and this is a useful solution where adjustable height suspension is fitted to the vehicle 10. Raising the vehicle ride height reduces the buoyancy effect and increases traction between the wheels and the ground.
Alternatively, the buoyancy effect may also be countered by partially flooding the vehicle 10 upon detection of wading, in particular detection of wading at a pre-determined depth of water. The vehicle 10 may for example be fitted with actuators to open flaps to admit water into normally closed compartments of the vehicle 10, such as a spare wheel well. One or more vehicle doors may be unlatched to admit water into the interior of the vehicle body - for example to allow flooding of the vehicle floor. Controlled ingress of water into such compartments or the vehicle cabin increases the weight of the vehicle 10, thereby reducing buoyancy and increasing vehicle traction.
In yet another embodiment the control system is coupled to the vehicle locking system and/or configured to interact with a sunroof. Upon detection of a wading event the control system may automatically unlock one or more of the vehicle's doors, one or more of the vehicle's windows and/or open the or each sunroof (if fitted) so as to permit the occupants a ready means of escape in the event of difficulty. For example upon sudden entry of deeper water there may be a risk of an unpredicted engine malfunction, loss of traction and the like, as a consequence of which the occupants may require to escape quickly. This embodiment places the vehicle 10 in escape ready mode, without substantially increasing the risk of water entering the vehicle body in an uncontrolled manner.
The above embodiments may be combined, as desired.
In all of the aforementioned embodiments, the control system may be arranged to re-enable the relevant vehicle protocols when wading is no longer detected. Implementation may be partial or progressive depending upon the control strategy. Thus, for example, headlights may be immediately returned to normal operation, whereas the HVAC system may resume normal operation gradually. In some cases the severity of the control system protocol may be dependent upon the sensed wading depth. Thus upon sensing a minimum wading depth some changes of vehicle state will automatically be implemented, for example unlocking doors. Other vehicle states may progressively move to a more altered state depending on water depth, for example change of steering response and feel.
Not all actions need be implemented at the same wading depth, provided that several wading depths can be indicated to the control system. Thus partial vehicle flooding will not be implemented until deep water is encountered, whereas change of throttle mapping may occur at a much lower depth of water.
In each case an action consequent upon wading may be indicated to the driver via the HMI (Human-Machine Interface). This may be in the form of a graphic, for example headlights-on indicator, or in the form of a message, for example 'low range engaged'.
The present application claims priority to UK patent application numbers filed by the present applicant on 15th December 2010 having the application numbers GB1021268.6, GB1021278.5, GB1021272.8, GB1021297.5, GB1021295.9 and GB1027296.7, the contents of each of which are expressly incorporated by reference in their entirety.
The present application is related to the PCT applications, and to UK Patent Applications, filed concurrently with the present application, by the applicant of the present application, which are listed below:
PCT application to Thuy-Yung TRAN and Edward HOARE filed 15 December
201 1 , entitled "System for a Vehicle 1 " (agent Ref PW01 1 10716/ JLR10-042WO1 );
PCT application to Thuy-Yung TRAN and Edward HOARE, filed 15
December 201 1 , entitled "System for a Vehicle 2" (agent Ref PW01 1 10717 / JLR10- 042WO2);
PCT application to Thuy-Yung TRAN, Edward HOARE and Nigel CLARKE, filed 15 December 2011 , entitled "Wading Depth Estimation" (agent Ref PW01 1 10719 / JLR10-044WO);
PCT application to "Thuy-Yung TRAN, Edward HOARE and Nigel CLARKE", filed 15 December 2011 , entitled "Wading Vehicle Depth Measurement Apparatus 1 " (agent Ref PW01 1 10720 / JLR10-045WO1 ");
PCT application to Thuy-Yung TRAN, Edward HOARE and Nigel CLARKE, filed 15 December 2011 , entitled "Vehicle Orientation Device and Method" (agent Ref PW01 1 10721 / JLR10-045WO2); 6. PCT application to Thuy-Yung TRAN, Edward HOARE and Nigel CLARKE, filed 15 December 201 1 , entitled "Wading Vehicle Depth Measurement Apparatus 2" (agent Ref PW01 1 10722 / JLR10-046WO);
7. PCT application to Thuy-Yung TRAN, Edward HOARE, Anthony JONES,
Simon THOMSON and Ashutosh TOMAR , filed 15 December 201 1 , entitled "Wading Vehicle Display 1" (agent Ref PW01 1 10723 / JLR10-047WO1 );
8. PCT application to Thuy-Yung TRAN, Edward HOARE, Anthony JONES,
Simon THOMSON and Ashutosh TOMAR, filed 15 December 2011 , entitled "Wading Vehicle Display 2" (agent Ref PW01 1 10724 / JLR10-047WO2);
9. PCT application to Thuy-Yung TRAN, Edward HOARE, Anthony JONES,
Simon THOMSON and Ashutosh TOMAR, filed 15 December 2011 , entitled "Wading Vehicle Display 3" (agent Ref PW01 1 10725 / JLR10-047WO3);
The contents of the above referenced PCT applications (and corresponding UK applications, filed concurrently and having the same ownership, inventorship and Title as the above listed PCT applications) are hereby expressly incorporated by reference in their entirety into the present application.

Claims

Claims
1 . A control system for a vehicle having a sensor adapted to indicate wading above a pre-determined depth of water, said control system being adapted to implement one or more vehicle control strategies upon detection of wading by said sensor, said strategies being selected from:
change of traction mode;
change of throttle mapping;
change of gear selection mode;
change of high/low range mode;
activate headlights;
select higher air intake path;
adapt tyre pressures to wading;
change steering response/feel;
change differential control;
change torque-vectoring control;
change hybrid vehicle drive mode;
activate heating, ventilation and air conditioning system (HVAC); delay regeneration of exhaust particle filter;
partially flood a pre-determined portion of the vehicle;
unlock door locks; and
open sun roof.
2. A control system according to claim 1 comprising an alternative control strategy selected from:
activate hydraulic lock sensor of engine, and
de-activate engine fuel saving mode.
3. A control system according to claim 1 or claim 2 adapted to be manually enabled and disabled by the driver.
4. A control system according to claim 1 or claim 2 adapted to be automatically enabled and disabled.
5. A control system according to claim 4 arranged to automatically resume a standard control strategy upon failure to detect wading by said sensor.
6. A control system according to any preceding claim comprising a plurality of wading sensors operable individually and in combination to detect wading, wherein said control system is adapted to implement an alternative control strategy, dependent on several sensors indicating wading.
7. A control system according to any preceding claim arranged to implement said one or more control strategies immediately upon detection of wading.
8. A control system according to any of claims 1 -6 arranged to implement said one or more control strategies after a pre-determined time delay.
9. A control system according to claim 8, wherein the time delay is dependent upon the strategy to be implemented.
10. A control system according to any preceding claim arranged to implement said one or more control strategies progressively.
1 1 . A control system according to claim 10, wherein the rate of change of control strategy is dependent upon the strategy to be implemented.
12. A control system according to any preceding claim comprising a wading depth sensor, said control system being responsive to said depth sensor to implement said one or more control strategies dependent upon depth of wading.
13. A control system according to claim 12 arranged to vary a control strategy according to step changes in depth of wading.
14. A control system according to any preceding claim, wherein said control strategies are defined in a read only memory.
15. A control system according to any preceding claim wherein the control system implements a control strategy which is dependent upon the mode of operation of the vehicle, sensor may be adapted to a selected operational mode of the vehicle.
16. A control system for a vehicle having a wading sensor adapted to indicate wading above a pre-determined depth of water, said control system being adapted to implement one or more vehicle control strategies upon detection of wading by said sensor, said strategies being selected from:
activate hydraulic lock sensor of engine, and
de-activate engine fuel saving mode.
17. A vehicle having a control system according to any of claims 1 -16.
18. A vehicle comprising control system and having a sensor adapted to identify wading above a predetermined depth of water, the control system being adapted to implement a change in one or more vehicle control strategies upon detection of wading by said sensor.
19. A method for a vehicle comprising determining that the vehicle is wading and implementing one or more vehicle control strategies in response to determining that the vehicle is wading, said strategies being selected from:
change of traction mode;
change of throttle mapping;
change of gear selection mode;
change of high/low range mode;
activate headlights;
select higher air intake path;
adapt tyre pressures to wading;
change steering response/feel;
change differential control;
change torque-vectoring control;
change hybrid vehicle drive mode;
activate heating, ventilation and air conditioning system (HVAC); delay regeneration of exhaust particle filter;
partially flood a pre-determined portion of the vehicle;
unlock door locks; and
open sun roof.
20. A method according to claim 18 comprising implementing an alternative control strategy selected from:
activate hydraulic lock sensor of engine, and
de-activate engine fuel saving mode.
21 . A method according to either of claims 18 or 19 wherein determining that the vehicle is wading comprises receiving data from a sensor adapted to detect a wading condition of the vehicle.
22. A method according to any of claims 18 to 20, comprising receiving data from a sensor adapted to detect a wading condition of the vehicle, determining that the vehicle is not wading in dependence on said data, and resuming, automatically, a standard or different control strategy.
22. A system, a vehicle or a method constructed and/or arranged substantially as described herein with reference to and/or as illustrated by the accompanying Figures.
PCT/EP2011/072986 2010-12-15 2011-12-15 Vehicle control system WO2012080429A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP11811337.2A EP2652454B1 (en) 2010-12-15 2011-12-15 Vehicle control system
US13/994,504 US9884555B2 (en) 2010-12-15 2011-12-15 Vehicle control system

Applications Claiming Priority (12)

Application Number Priority Date Filing Date Title
GB1021268.6A GB2486452A (en) 2010-12-15 2010-12-15 A wading indicator for a vehicle
GB1021295.9 2010-12-15
GB1021297.5 2010-12-15
GB1021297.5A GB2486459A (en) 2010-12-15 2010-12-15 Wading vehicle depth measurement apparatus
GB1021268.6 2010-12-15
GB1021296.7 2010-12-15
GB1021278.5 2010-12-15
GB1021278.5A GB2486453A (en) 2010-12-15 2010-12-15 A vehicle control system including a wading sensor
GBGB1021272.8A GB201021272D0 (en) 2010-12-15 2010-12-15 Wading depth estimation
GB1021272.8 2010-12-15
GBGB1021296.7A GB201021296D0 (en) 2010-12-15 2010-12-15 Wading vehicle display
GB1021295.9A GB2486458A (en) 2010-12-15 2010-12-15 Wading vehicle depth measurement apparatus

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WO2012080429A1 true WO2012080429A1 (en) 2012-06-21

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PCT/EP2011/072997 WO2012080438A1 (en) 2010-12-15 2011-12-15 Wading depth estimation for a vehicle
PCT/EP2011/072990 WO2012080431A1 (en) 2010-12-15 2011-12-15 Vehicle orientation device and method
PCT/EP2011/072999 WO2012080440A1 (en) 2010-12-15 2011-12-15 Wading detection system for a vehicle
PCT/EP2011/072991 WO2012080432A1 (en) 2010-12-15 2011-12-15 Wading vehicle depth measurement apparatus
PCT/EP2011/072998 WO2012080439A1 (en) 2010-12-15 2011-12-15 Ultrasonic wading detection for a vehicle
PCT/EP2011/072996 WO2012080437A1 (en) 2010-12-15 2011-12-15 Wading vehicle advisory speed display
PCT/EP2011/072986 WO2012080429A1 (en) 2010-12-15 2011-12-15 Vehicle control system
PCT/EP2011/072994 WO2012080435A1 (en) 2010-12-15 2011-12-15 Wading vehicle water level display
PCT/EP2011/072992 WO2012080433A1 (en) 2010-12-15 2011-12-15 Wading vehicle water level display

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PCT/EP2011/072990 WO2012080431A1 (en) 2010-12-15 2011-12-15 Vehicle orientation device and method
PCT/EP2011/072999 WO2012080440A1 (en) 2010-12-15 2011-12-15 Wading detection system for a vehicle
PCT/EP2011/072991 WO2012080432A1 (en) 2010-12-15 2011-12-15 Wading vehicle depth measurement apparatus
PCT/EP2011/072998 WO2012080439A1 (en) 2010-12-15 2011-12-15 Ultrasonic wading detection for a vehicle
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