System and method for automated off-road speed control for a vehicle

Patent metadata

Field	Value
Publication number	US-11511744-B2
Application number	US-202017000971-A
Country	US
Kind code	B2
Filing date	Aug 24, 2020
Priority date	Aug 24, 2020
Publication date	Nov 29, 2022
Grant date	Nov 29, 2022

Abstract

A method of providing automated control of vehicle speed in a driver assist mode may include receiving an operator selection of the driver assist mode and a target speed, monitoring vehicle speed, and generating a propulsive torque request and a braking torque request based on a difference between the target speed and the vehicle speed. The method may further include, responsive to vehicle speed being in a selected range from zero to about three miles per hour, initiating a low speed correction to automatically provide a variable modification to the propulsive torque request or the braking torque request.

First claim

That which is claimed:

1. A vehicle control system comprising:
a controller operably coupled to components and/or sensors of a vehicle to receive information including vehicle speed;
a user interface via which an operator is enabled to enter a target speed, the target speed being provided to the controller; and
a torque control module configured to generate both a propulsive torque request and a braking torque request based on a difference between the target speed and the vehicle speed,
wherein the controller is configured to control vehicle operation in any of a plurality of operator selectable modes of operation, and
wherein, in one of the operator selectable modes of operation, a low speed correction module is activated over a selected range of vehicle speeds to automatically provide a variable modification to the propulsive torque request or the braking torque request in response to a trigger event.

2. The vehicle control system of claim 1 , wherein the torque control module comprises a propulsive torque determiner configured to determine the propulsive torque request and a braking torque determiner configured to determine the braking torque request, and
wherein the trigger event comprises the vehicle speed being in the selected range from zero to a first threshold speed.

3. The vehicle control system of claim 2 , wherein the variable modification is a maximum value at zero and reduces to zero by the first threshold speed.

4. The vehicle control system of claim 3 , wherein the variable modification reduces to zero by a second threshold speed that is less than the first threshold speed.

5. The vehicle control system of claim 4 , wherein the first threshold speed is about three miles per hour and the second threshold speed is about one mile per hour, and
wherein the variable modification comprises a torque correction propulsive torque added to a base propulsion torque determined by the propulsive torque determiner.

6. The vehicle control system of claim 3 , wherein the variable modification comprises an overlay braking torque added to a base braking torque determined by the braking torque determiner, and an offsetting propulsive torque added to a base propulsion torque determined by the propulsive torque determiner.

7. The vehicle control system of claim 2 , wherein the trigger event comprises vehicle stopping, and
wherein the variable modification comprises an obstacle build term that includes a torque boost value that increases as time stopped increases.

8. The vehicle control system of claim 7 , wherein the obstacle build term decreases responsive to vehicle motion above a threshold.

9. The vehicle control system of claim 1 , further comprising a driveline state control module operably coupled to the torque control module to reduce the propulsive torque request and monitor a direction of vehicle speed responsive to a driveline state change request while in the one of the operator selectable modes of operation.

10. The vehicle control system of claim 9 , wherein the driveline state control module is configured to enable the torque control module to apply braking torque to stop the vehicle responsive to a change of direction in vehicle speed until the state change is complete.

11. A vehicle control system comprising a driveline state control module and a torque control module, the driveline state control module comprising processing circuitry configured to:
communicate a driveline state change request to the torque control module; and
monitor a direction of vehicle speed responsive to the driveline state change request to enable the torque control module to apply braking torque to stop the vehicle responsive to a change of direction in vehicle speed until a driveline state change is complete;
wherein, in a first selectable mode of operation, the torque control module is configured to generate both a first propulsive torque request and a first braking torque request based on a difference between a target speed set by an operator and a measured vehicle speed; and
wherein, in the first selectable mode of operation, a low speed correction module that is operably coupled to the torque control module is activated over a selected range of vehicle speeds to automatically provide a variable modification to the propulsive torque request or the braking torque request in response to a trigger event.

12. The vehicle control system of claim 11 , wherein the torque control module comprises:
a propulsive torque determiner configured to determine a normal mode propulsive torque request based on accelerator pedal position in a normal mode of operation; and
a braking torque determiner configured to determine a normal mode braking torque request based on a brake pedal position during the normal mode of operation.

13. The vehicle control system of claim 12 , wherein the trigger event comprises vehicle stopping, and
wherein the variable modification comprises an obstacle build term that includes a torque boost value that increases as time stopped increases.

14. The vehicle control system of claim 13 , wherein the obstacle build term decreases responsive to vehicle motion at a speed above a threshold.

15. The vehicle control system of claim 11 , wherein the trigger event comprises vehicle speed in the selected range from zero to a first threshold speed, and wherein the variable modification is a maximum value at zero and reduces to zero by the first threshold speed.

16. The vehicle control system of claim 15 , wherein the variable modification reduces to zero by a second threshold speed that is less than the first threshold speed.

17. The vehicle control system of claim 16 , wherein the first threshold speed is about three miles per hour and the second threshold speed is about one mile per hour, and
wherein the variable modification comprises a torque correction propulsive torque added to a base propulsion torque determined by the propulsive torque determiner.

18. The vehicle control system of claim 15 , wherein the variable modification comprises an overlay braking torque added to a base braking torque determined by the brake torque determiner, and an offsetting propulsive torque added to a base propulsion torque determined by the propulsive torque determiner.

19. The vehicle control system of claim 11 , wherein the driveline state control module is operably coupled to the torque control module to reduce the propulsive torque request and monitor a direction of vehicle speed responsive to the driveline state change request while in the first selectable mode of operation or a normal mode of operation.

20. A method of providing automated control of vehicle speed in a driver assist mode;
the method comprising:
receiving an operator selection of the driver assist mode and a target speed;
monitoring vehicle speed;
generating a propulsive torque request and a braking torque request based on a difference between the target speed and the vehicle speed; and
responsive to vehicle speed being in a selected range from zero to about three miles per hour, initiating a low speed correction to automatically provide a variable modification to the propulsive torque request or the braking torque request.

Assignees

• Ford Global Tech Llc

Inventors

• Brewer Michael Edward
• Cameron Brandon
• Grewe Brian

Classifications

• B60W40/105 Primary

  Speed · CPC title

• B60W2510/0657

  Engine torque · CPC title

• B60W2710/0666

  Engine torque · CPC title

• B60K31/00

  Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator · CPC title

• B60W2540/12

  Brake pedal position · CPC title