Speed control system and method of operating the same

• US 10,501,076 B2
• Filed: 08/16/2013
• Issued: 12/10/2019
• Est. Priority Date: 08/16/2012
• Status: Active Grant

• Current Assignee: Jaguar Land Rover Limited (TATA Motors Limited)
• Original Assignee: Jaguar Land Rover Limited (TATA Motors Limited)
• Inventors: Kelly, James, Fairgrieve, Andrew, Woolliscroft, Daniel
• Primary Examiner(s): Elchanti, Hussein
• Assistant Examiner(s): Castro, Paul A
• Application Number:
  US14/421,862
• Publication Number:
  US 20150217766A1
• Time in Patent Office: 2,307 Days
• Field of Search: None
• CPC Class Codes: B60T 2201/04 Hill descent control
• CPC Class Codes: B60T 2210/14 Rough roads, bad roads, gravel roads
• CPC Class Codes: B60T 2210/16 Off-road driving conditions
• CPC Class Codes: B60T 2220/04 Pedal travel sensor, stroke sensor; Sensing brake request
• CPC Class Codes: B60T 2260/06 Active Suspension System
• CPC Class Codes: B60T 8/175 Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control safety devices for propulsion unit control responsive to, or preventing, skidding of wheels B60K28/16
• CPC Class Codes: B60W 10/11 Stepped gearings
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2530/16 Driving resistance
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2710/1005 Transmission ratio engaged
• CPC Class Codes: B60W 2710/182 Brake pressure, e.g. of fluid or between pad and disc
• CPC Class Codes: B60W 2720/30 Wheel torque
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/18109 Braking
• CPC Class Codes: B60W 50/08 Interaction between the driver and the control system
• CPC Class Codes: B60Y 2200/20 Off-Road Vehicles
• CPC Class Codes: F16H 2061/0234 Adapting the ratios to special vehicle conditions
• CPC Class Codes: F16H 59/66 Road conditions, e.g. slope, slippery
• CPC Class Codes: F16H 61/0213 : characterised by the method for generating shift signals

Abstract

A method for operating an off-road speed control system of a vehicle is provided. The method comprises identifying a pattern or change in at least one component of vehicle drag. The method further comprises monitoring vehicle speed to predict where a change in the at least one component of vehicle drag may result in a speed overshoot event or a speed undershoot event. The method still further comprises, in response to the predicted speed overshoot event or speed undershoot event, automatically commanding the application of an appropriate opposing torque to one or more wheels of the vehicle to counteract the predicted speed overshoot or undershoot. An off-road speed control system for a vehicle comprising an electronic control unit (ECU) configured to perform the above-described methodology is also provided.

Claims

1. A method of operating an off-highway speed control system of a vehicle, the method comprising:

identifying a terrain type;

identifying a pattern or change in at least one component of vehicle drag based at least in part on the terrain type, wherein the identifying of the pattern or change in at least one component of vehicle drag based at least in part on the terrain type comprises determining that the vehicle is transitioning from one surface type having a first surface coefficient of friction and rolling resistance to a further surface type having a second surface coefficient of friction and rolling resistance;

monitoring vehicle speed to predict where a change in said at least one component of vehicle drag as a result of the determined transition from the one surface type to the further surface type may result in a speed overshoot event or a speed undershoot event; and

in response to said predicted speed overshoot event or speed undershoot event, automatically commanding an application of an appropriate opposing torque to one or more wheels of the vehicle to counteract said predicted speed overshoot event or undershoot event.

2. The method according to claim 1, wherein the predicted speed overshoot event is identified as a predicted temporary over-supply of torque from a powertrain subsystem of the vehicle.

3. The method according to claim 1, further comprising:

identifying that at least one wheel of the vehicle is experiencing an increased drag;

determining a magnitude of the opposing torque to apply to the at least one wheel of the vehicle; and

commanding the application of said opposing torque at said determined magnitude.

4. The method according to claim 1, further comprising:

identifying that at least one wheel of the vehicle is experiencing a reduced drag;

determining a magnitude of the opposing torque to apply to the at least one wheel of the vehicle; and

commanding the application of said opposing torque at said determined magnitude.

5. The method according to claim 1, further comprising monitoring one or more vehicle parameters and determining a magnitude of the opposing torque to apply to the one or more wheels of the vehicle, wherein determining the magnitude comprises determining a net required opposing torque corresponding to an amount of positive or negative excess torque in a powertrain as a result of a reduced or increased drag less a determined amount of opposing torque on the powertrain caused by retarding forces acting on the vehicle, said determined amount of opposing torque based at least in part on said one or more monitored vehicle parameters, and

wherein said one or more monitored vehicle parameters include one or more of rolling resistance of at least one wheel of the vehicle, direct drag on a body of the vehicle, and gravitational drag.

6. The method according to claim 1, further comprising receiving a user input off-road set-speed and regulating the vehicle speed up to the user input off-road set-speed and, in response to an increase in the user input off-road set-speed, accelerating the vehicle to the increased user input off-road set-speed and, in response to a predicted speed overshoot event, temporarily maintaining a prevailing vehicle speed or suspending vehicle acceleration.

7. The method according to claim 1, further comprising:

detecting drag at one or more leading wheels or one or more following wheels of the vehicle; and

in response to predicting that a change in said detected drag will result in the speed overshoot event or the speed undershoot event, shifting torque from one or more wheels experiencing a lower drag to one or more wheels experiencing a higher drag;

wherein the step of predicting where a change in said at least one component of vehicle drag may result in a speed overshoot event or a speed undershoot event further comprises predicting a window of time of torque overshoot, the method comprising shifting torque from the one or more wheels experiencing a lower drag to the one or more wheels experiencing a higher drag during the torque overshoot window.

8. The method according to claim 1 wherein identifying a change in vehicle drag comprises determining a required drive torque to maintain the vehicle at a current vehicle speed on the further surface type, and a current applied drive torque, and when the required drive torque and the currently applied drive torque differ by a predetermined amount, determining the change in vehicle drag.

9. An off-highway speed control system for a vehicle, comprising an electronic control unit (ECU), the ECU configured to:

identify a terrain type;

identify a pattern or change in at least one component of vehicle drag based at least in part on the terrain type, wherein the identifying of the pattern or change in at least one component of vehicle drag based at least in part on the terrain type comprises determining that the vehicle is transitioning from one surface type having a first surface coefficient of friction and rolling resistance to a further surface type having a second surface coefficient of friction and rolling resistance;

monitor vehicle speed;

predict where a change in said at least one component of vehicle drag may result in a speed overshoot event or a speed undershoot event as a result of the determined transition from the one surface type to the further surface type; and

in response to said predicted speed overshoot event or speed undershoot event, automatically command an application of an appropriate opposing torque to one or more wheels of the vehicle to counteract said predicted speed overshoot event or undershoot event.

10. The system according to claim 9, wherein the predicted speed overshoot event is identified as a predicted temporary over-supply of torque from a powertrain subsystem of the vehicle.

11. The system according to claim 9, wherein the ECU is configured to:

identify that at least one wheel of the vehicle is experiencing an increased drag;

determine a magnitude of the opposing torque to apply to the at least one wheel of the vehicle; and

command the application of said opposing torque at said determined magnitude.

12. The system according to claim 11, wherein the ECU is configured to:

monitor one or more vehicle parameters;

determine, based at least in part on said one or more monitored vehicle parameters, a determined amount of opposing torque on a powertrain caused by retarding forces acting on the vehicle; and

determine the magnitude by determining a net required opposing torque corresponding to an amount of positive or negative excess torque in the powertrain as a result of a detected reduced or increased drag less the determined amount of opposing torque on the powertrain caused by retarding forces acting on the vehicle.

13. The system according to claim 12, wherein the ECU is configured to monitor one or more vehicle parameters and determine, based at least in part on said one or more monitored vehicle parameters, a determined amount of opposing torque on the powertrain caused by retarding forces acting on the vehicle.

14. The system according to claim 13, wherein the one or more monitored vehicle parameters include one or more of rolling resistance of at least one wheel of the vehicle, direct drag on a body of the vehicle, and gravitational drag.

15. The system according to claim 9, wherein the ECU is configured to:

identify that at least one wheel of the vehicle is experiencing a reduced drag;

determine a magnitude of the opposing torque to apply to the at least one wheel of the vehicle; and

command the application of said opposing torque at said determined magnitude.

16. The system according to claim 9, wherein the ECU is configured to receive a user input off-road set-speed and automatically command the regulation the vehicle speed up to the user input off-road set-speed, and wherein the ECU is configured to, in response to an increase in the user input off-road set-speed, automatically command acceleration of the vehicle to the increased user input off-road set-speed and, in response to a predicted speed overshoot event, temporarily maintain a prevailing vehicle speed or suspend vehicle acceleration.

17. The system according to claim 9, wherein the ECU is configured to:

detect drag at one or more leading wheels or one or more following wheels of the vehicle;

in response to determining that a change in said detected drag will result in the speed overshoot event or the speed undershoot event, automatically command a shift of torque from one or more wheels at which a reduced drag is determined to one or more wheels experiencing a higher drag; and

predict where a change in said at least one component of vehicle drag may result in a speed overshoot event or a speed undershoot event by predicting a window of time of torque overshoot, and automatically command a shift of torque from the one or more wheels experiencing a lower drag to the one or more wheels experiencing a higher drag during the torque overshoot window.

18. The system according to claim 17, wherein:

when a reduced drag is detected at one or more of the leading wheels, the ECU is configured to automatically command an increase in torque to one or more of the following wheels in response thereto and to identify a subsequent reduction in the drag to one or more of the following wheels, and automatically command a reduction in the torque to the one or more of the following wheels in response thereto.

19. The system according to claim 17, wherein:

when an increased drag is detected at one or more of the leading wheels, the ECU is configured to automatically command an increase in torque to one or more of the leading wheels in response thereto and to identify a subsequent increase in the drag to one or more of the following wheels, and automatically command an increase in torque to the one or more of the following wheels in response thereto.

20. The system according to claim 9 wherein the ECU is configured to identify a change in drag by determining a required drive torque to maintain the vehicle at a current vehicle speed on the further terrain type, and a current applied drive torque, and when the required drive torque and the currently applied drive torque differ by a predetermined amount, determine a change in vehicle drag.

21. A vehicle comprising an off-highway speed control system, wherein said speed control system comprises an electronic control unit (ECU), the ECU configured to:

identify a terrain type;

identify a pattern or change in at least one component of vehicle drag based at least in part on the terrain type, wherein the identifying of the pattern or change in at least one component of vehicle drag based at least in part on the terrain type comprises determining that the vehicle is transitioning from one surface type having a first surface coefficient of friction and rolling resistance to a further surface type having a second surface coefficient of friction and rolling resistance;

monitor vehicle speed;

predict where a change in said at least one component of vehicle drag may result in a speed overshoot event or a speed undershoot event as a result of the determined transition from the one surface type to the further surface type; and

in response to said predicted speed overshoot event or speed undershoot event, automatically command an application of an appropriate opposing torque to one or more wheels of the vehicle to counteract said predicted speed overshoot event or undershoot event.