RU2678416C2 - Cruise control system of vehicle and method for operation thereof - Google Patents

Abstract

FIELD: motor industry.SUBSTANCE: invention relates to auxiliary vehicle systems. Vehicle's cruise control system contains a computer in the vehicle. Computer contains a processor and a storage device and is configured to control the speed of the vehicle within the first threshold speed value in accordance with a predetermined value, entered into the cruise control system, to determine whether the current slope value is within the first threshold slope value, adjust the setpoint for controlling the vehicle speed within the second speed threshold value, beyond the first speed threshold, determine whether the current grade value is within the second threshold grade, and adjust the set value to return the vehicle speed to the first speed threshold.EFFECT: higher safety of vehicle driving is achieved.20 cl, 3 dwg

Description

FIELD OF THE INVENTION

The present invention relates to a cruise control system of a vehicle, in particular to an adaptive cruise control system that minimizes fuel consumption in a vehicle during its operation.

State of the art

One of the priorities considered in the design of many existing popular passenger vehicles is energy efficiency. The energy efficiency when a vehicle performs various maneuvers can be improved in various ways, including by reducing fuel consumption and (or) consumption of electric energy, depending on the configuration of the power unit of the vehicle. However, layout and other design considerations may limit the ability to install additional components in a vehicle. In addition, popular passenger vehicles have one or more, at least partially automatic or computer-controlled operating modes, such as cruise control. Although this is currently difficult, it is preferable to optimize energy consumption in at least partially automatic or computer-controlled vehicle operating modes, such as cruise control, using existing standard control systems.

Disclosure of invention

A vehicle cruise control system is proposed, including a vehicle computer with a processor and a storage device, configured to:

maintain the vehicle speed within the first threshold value corresponding to a predetermined value entered into the cruise control system;

determine whether the current slope value of the road is within the first slope threshold value;

adjust a predetermined value to maintain vehicle speed within a second speed threshold value that is outside the first speed threshold value;

determine whether the current slope value is within the second slope threshold value, and

adjust the setpoint to return the vehicle speed value to the first speed threshold value.

Adjusting the setpoint to maintain vehicle speed within the second speed threshold may include:

the implementation of the coasting mode of the cruise control system until the vehicle speed is within the third speed threshold, including selectively switching the vehicle gearbox to neutral or selectively starting the fuel cut-off system in deceleration mode;

determining whether the current slope value is outside the second slope threshold value, and

maintaining the vehicle speed at a value that is outside the first threshold speed value.

The computer may further be configured to change a predetermined value in accordance with a detection signal of a vehicle in front.

The computer may further be configured to determine at least the first and second threshold speed values and the first and second slope threshold values in accordance with the estimated fuel efficiency.

The computer may further be configured to invert the torque change signal to adjust the setpoint.

The computer may also be configured to determine whether the predicted slope value is within the first probabilistic slope threshold value.

The computer may also be configured to:

determine the value of torque to return to its original state in accordance with the current value of the slope of the road and the estimated value of fuel efficiency, and

adjust the set value to return the vehicle speed value to the first speed threshold value in accordance with the torque to return to the initial state.

The method of operation of the cruise control system is proposed, in which:

maintain the vehicle speed within the first threshold value corresponding to a predetermined value entered into the cruise control system using a driver or a vehicle forward vision sensor;

determining whether the current road slope value is within the first slope threshold value;

adjusting a predetermined value to maintain vehicle speed within a second speed threshold value that is outside the first speed threshold value;

determining whether the current road slope value is within the second slope threshold value, and

adjust the set value to return the vehicle speed value within the first speed threshold value.

When adjusting the set value to maintain the vehicle speed within the second threshold speed value can:

carry out the coastal cruise control system until the vehicle speed is within the third threshold speed value;

determine whether the current slope value is outside the second slope threshold value, and

maintain the vehicle speed at a value that is outside the first speed threshold.

In the coastal cruise control mode, cruise control systems can shift the vehicle’s gearbox into neutral or start the fuel cut-off system in deceleration mode.

The method can further determine at least the first and second threshold speed values and the first and second slope threshold values in accordance with the estimated fuel efficiency.

In the method, a torque change signal can additionally be inverted to adjust the setpoint.

The method may further determine whether the predicted slope value is within the first probabilistic slope threshold value.

In the method may additionally:

determine the value of torque to return to its original state in accordance with the current value of the slope of the road and the estimated value of fuel efficiency;

adjust the set value to return the vehicle speed value to the first speed threshold value in accordance with the torque to return to the initial state.

A non-volatile machine-readable medium is proposed on which physically executable computer instructions are stored, with which the processor will perform the following actions:

maintaining the vehicle speed within the first threshold value corresponding to a predetermined value entered into the cruise control system;

determining whether the current road slope value is within the first slope threshold value;

the implementation of the coastal cruise control system in as long as the vehicle speed is within the second threshold speed value;

determining whether the current road slope value is outside the second slope threshold value, and

maintaining the vehicle speed in a value that is outside the first threshold speed value;

adjusting a predetermined value to maintain vehicle speed within a third speed threshold value at a value that is outside the first speed threshold value;

determining whether the current road slope value is within the second slope threshold value, and

adjusting a predetermined value to return a vehicle speed value to a first speed threshold value.

The instructions may relate to the processor performing operations further including changing a setpoint in accordance with a detection signal of a vehicle in front.

Instructions may relate to the processor performing operations that further include determining at least the first and second threshold speed values and the first and second slope threshold values in accordance with the estimated fuel efficiency, wherein the coastal cruise control may include Selectively shifting the vehicle gearbox to neutral or selectively starting the fuel cut-off system in deceleration mode.

The instructions may relate to the processor performing operations that further include inverting the torque change signal to adjust the setpoint.

The instructions may relate to the processor performing operations that further include determining whether the predicted slope value is within the first probabilistic slope threshold value.

Instructions may relate to the processor performing operations that further include:

determining the value of the torque to return to its original state in accordance with the current value of the slope of the road and the estimated value of fuel efficiency, and

adjusting the set value to return the vehicle speed value to the first speed threshold value in accordance with the torque to return to the initial state.

Brief Description of the Drawings

In FIG. 1 illustrates an example vehicle system of the present invention.

In FIG. 2 is a schematic illustration of an example cruise control system according to the present invention.

In FIG. 3 is a flow chart of one example of a method implemented by a cruise control system in accordance with the present invention.

The implementation of the invention

The cruise control system according to the present invention can use the adaptive cruise control controller of a passenger vehicle to implement deviations from the set value entered by the driver in order to minimize fuel consumption over a certain time interval in accordance with, for example, vehicle speed, slope roads and the setpoint entered by the driver. Such a cruise control system may include information about the current (determined or measured) and future (simulated or predicted) value of the road slope, as well as the passenger comfort level, assessed using a set of criteria that are the basis of the rules for determining when and termination of operation in coastal mode, speed maintenance mode and return to initial state (acceleration) mode. In addition, in the coastal mode, the system can be switched to neutral gear and (or) shut off the fuel supply to minimize fuel consumption during deceleration. Accordingly, this system allows to further reduce fuel consumption during cruise control operation based on existing measuring devices and actuators of the vehicle.

For example, the cruise control system, its operation method and / or non-volatile machine-readable medium on which computer-executable instructions are physically stored can maintain the vehicle speed within the first threshold value corresponding to the set value entered into the cruise control system by the vehicle driver or a sensor, for example, a front-view radar device, and determine if the current slope value is within the first slope threshold value. The predetermined value may be adjusted to maintain the vehicle speed within the second speed threshold value outside the first speed threshold value. It can be determined that the current incline value is within the second incline threshold value, and the set value may be to return the vehicle speed value to the first speed threshold value. In accordance with some embodiments, adjusting a vehicle speed within a second speed threshold using a system, method, and / or instructions includes operating the coast mode of the cruise control system as long as the vehicle speed is within the third speed threshold value, determining that the current slope value is outside the second slope threshold value, and maintaining the vehicle speed, the value of which It is outside the first threshold. In addition, the operation of the coast mode of the cruise control system may include switching the vehicle gearbox to neutral and / or starting the fuel cut-off system in deceleration mode.

To achieve additional fuel economy, the first and second threshold speed values and the first and second slope threshold values can be determined in accordance with the estimated fuel efficiency, target or calculated value. To use the base controller of the cruise control system in this system, method and (or) instructions for adjusting the set value, the torque change signal can be inverted and transmitted to the base controller of the cruise control system. The system, method, and / or instructions may also include predicted slope values and corresponding probabilistic slope thresholds.

In FIG. 1 schematically shows an example of a vehicle 100. A vehicle may take various forms and include additional and (or) alternative components and systems. It should be understood that the presented examples of the components should not be construed as limitations and that additional or alternative components and / or applications can be used. For example, vehicle 100 may be any passenger or commercial vehicle, including a passenger car, truck, SUV, bus, train, boat, or plane.

As in FIG. 1, a vehicle 100 includes a computing device or computer 105, which typically has a processor and a storage device, the storage device including one or more types of computer-readable media and stores instructions executed by the processor to perform various operations including operations disclosed herein. The computer 105 of the vehicle 100 receives information, for example, collected data from one or more data collection devices 110 about various components or operating conditions of the vehicle 100, for example, components such as an accelerometer sensor system, a torque measurement system, a brake system, a system steering, powertrain, etc., and / or about conditions such as requested torque, speed, acceleration, pitch, roll, yaw of vehicle 100, etc. In addition, the computer 105 may include several computing devices, for example, controllers or other similar devices installed in the vehicle 101 for monitoring and (or) controlling various components of the vehicle, for example, a controller module 106, a cruise control system, or a module 108, engine control unit (ECU), gearbox control unit (TCU), etc. Computer 105 is typically configured to exchange data using a local area network (CAN) bus or equivalent. The computer can also be connected to the on-board diagnostic system (OBD-II). Using a CAN bus, OBD-II and (or) other wired or wireless systems, a computer can send messages to various devices in the vehicle and (or) receive messages from various devices, for example, from controllers, actuators, sensors, etc. d. As an alternative or addition, in cases where the computer 105 includes several devices, the CAN bus or its analogue can be used to exchange data between several devices that are part of the computer. In addition, the computer may be configured to exchange data with a network that can use various wired and / or wireless network protocols, for example, cellular, Bluetooth, wired and / or wireless packet-switched networks, etc.

The controller module 106, as a rule, is part of the stored instructions executed by the computer 105. Using the data received by the computer 105, for example, data from the data collection devices 110, data determined based on the stored parameter values 116, etc., module 106 can control various systems or equipment of vehicle 100. For example, module 106 can be used to accelerate, slow down, or maintain a constant speed for vehicle 100, which can be performed in conjunction with a request of torque from the system 108 of the vehicle 100 The cruise control.

Data acquisition devices 110 may include various devices. For example, various controllers in a vehicle can act as data collection devices 110 that transmit data 115 via a CAN bus, for example, data 115 about requested or effective torque, speed, vehicle acceleration, road incline, etc. In addition, sensors or other similar devices, global positioning system (GPS) equipment, etc., that can operate as data collection devices 110 and transmit data directly to computer 105, for example, wired or wireless, can be installed in the vehicle communication channel. Sensor data acquisition devices 110 may include communication devices for transmitting and receiving information from other vehicles, in particular, information about the planned paths of vehicles surrounding the vehicle 100. Sensor data collection devices 110 may be mechanisms such as radar devices, lidars, sonars and other sensors that can be installed to measure the distance between the vehicle 100 and other vehicles with means or objects and (or) their speeds. Other sensory acquisition devices 110 may be accelerometer sensors. Moreover, the data collection device 110 may be sensors for determining the position, magnitude of the change in position, rate of change of position of the components of the vehicle 100, etc., for example, a steering wheel, brake pedal, gas pedal, gear lever, etc. .

The storage device of the computer 105, as a rule, stores the collected data 115. The collected data 115 can be various data received about the vehicle 100. In addition to the data 115 mentioned above, we can cite as an example the data 115 collected by one or more devices 110 data collection, as well as the calculated data obtained using them, stored in the computer 105. In general, the collected data 115 may be data that can be obtained by the device 110 data collection and (or) calculation us on the basis of such data. Accordingly, the collected data 115 may include data on the operations and / or performance of the vehicle 100, data received from another vehicle, as well as data on environmental conditions, road conditions and other conditions affecting the operation of the vehicle 100. For example, the collected data 115 may include data about the requested torque, measured or determined torque, location, speed, acceleration, pitch, roll, yaw, braking of the trans sports equipment 100, presence or absence of precipitation, tire pressure, tire condition, etc.

Parameters 116 may also be stored on the storage device of computer 105. Parameter 116 typically controls the control of the system or component of the vehicle 100. These parameters may vary according to environmental conditions, road conditions, state of the vehicle 100, mode of operation, or the state of the system of the vehicle 100 etc. For example, parameter 116 may specify threshold values for speed and incline for one or more modes of cruise control system 108 and vehicle conditions 100. These parameters 116 can also be stored and updated by computer 105.

In FIG. 2 illustrates an example cruise control system 108 of the present invention that includes a base controller 130 that transmits a torque request, which is schematically depicted as a block 132, for example, to a computer 105 and / or a controller 106 of a vehicle 100. The system Cruise control 108 also includes a rule-based controller 134 that determines the amount of torque needed to provide a particularly preferred level of performance, for example, to provide you in accordance with specific data 115, and (or) parameters 116 to optimize fuel consumption. In accordance with one embodiment, the controller 134, operating on the basis of the rules, can use the following data obtained on the basis of the collected data 115, which are shown in blocks 140, 142, 144, 146, respectively: the set value entered by the driver, the vehicle speed, road gradient and torque data.

It should be understood that the base controller 130 may be a standard cruise control controller for existing popular passenger vehicles that adjusts the requested torque based on vehicle speed and commands from the driver. Installing the base controller 130 in the cruise control system 108 of the present invention allows for several operating modes, including normal mode, in which the mode controller 148 connects the controller 134 based on the rules to the base controller 130, after which the controller 134 operating based on the rules, transmits any change in the driver’s entered value 140 to block 150. In block 150, any difference between the driver’s entered value 140 and the speed value can be detected and 142 of the vehicle, after which the base controller 130 may make appropriate adjustments to the requested torque 132.

In accordance with the present invention, in other modes of operation of the cruise control system 108, for example, in coasting mode, maintaining speed and reset, the mode controller 148 connects signal processing components or controller components between the controller 134 based on the rules, and the base controller 130, while the controller 134, based on the rules, transmits a torque control signal to such components and, ultimately, to the base controller 130. In accordance with one var In an embodiment, using the torque control signal from the controller 134 based on the rules and the torque data 144, the amount of torque change for the vehicle 100 is determined in block 152.

The magnitude of the torque change determined in step 152 can be converted into a torque control signal using a proportional-integral (PI) controller 154. In turn, the torque control signal can also be converted to a setpoint change signal by inverting the signal the base controller 156. In accordance with the present invention, the inverted base controller 156 converts the torque control signal from the PI controller 154 into a calculated predetermined value for the base controller 130 based on the operating parameters of the base controller 130 to allow the torque adjustment determined by the controller 134, operating on the basis of the rules, using the base controller 130 in the same way as when making changes to the value specified by the driver of the vehicle 100. In particular, in block 158, the calculated setpoint change can be determined using the calculated setpoint and vehicle speed 142. The mode controller 148 determines the calculated change in the setpoint in block 150 in the same way as it determines the change in the setpoint entered by the driver during normal operation of the cruise control system 108. Thus, the cruise control system 108 can use the base controller 130 to implement the deviation from the driver-entered setpoint determined by the controller 134, based on the rules, these deviations can be based, for example, on the value of the vehicle speed, the value of the road gradient and entered the driver a predetermined value, and can allow you to achieve certain performance targets, for example, minimizing fuel consumption over a given period of time.

In accordance with some embodiments, a rule-based controller 134 may be coupled to the controller 106 of the vehicle 100 to issue a neutral shift command by which the vehicle 100 switches to a neutral gear, which is schematically indicated by block 160. For example, in in coastal mode, the controller 134, based on the rules, can determine that the vehicle 100 is able to move most efficiently during the next time period Yeni with the gearbox being in neutral position, and the work can be done without the use of a standard module normal operation of the cruise control system. Based on the determination of cruise control system 108 that the coasting mode should change to a speed maintenance mode or a reset mode, a torque control signal from a controller 134 operating on the basis of the rules initiates the transmission of the vehicle 100.

It should be understood that the units 150, 152 and 158 may be independent hardware of the cruise control system 108 or may be part of one of the other components of the cruise control system 108 or vehicle 100, for example, a base controller 130, a controller 134 operating on based on the rules, the mode controller 148 and the inverted base controller 156.

In accordance with some embodiments, a cruise control system 108, a computer 105, or a controller 106 may include a slope prediction module 162. As an example of a technology for predicting a road slope, which can be used by a module for predicting a road slope 162 to determine probabilistic information about a slope relative to the horizon of the vehicle 100, you can specify Markov modeling and (or) predictive modeling methods, i.e. recursively updated dynamic models (RLS). The probabilistic information about the slope and the corresponding threshold values, for example, for the normal mode, coasting mode, cruise control mode and reset mode 108, can be stored among parameters 116. According to embodiments in which information there is simply no predicted bias or in which it is not available for another reason, this information can simply be recorded, for example, all probability indicators can be set to a certain value speed (e.g. 1 or 100%).

To change the setpoint 140 entered by the driver (or the target speed), the cruise control system 108 can also use the signal from the front-view radar device from the stored data 115. In other words, the vehicle 100 can detect another vehicle in front and change the target speed so as to maintain a safe distance.

To optimize the operation of cruise control system 108, for example, from a fuel economy point of view, computer 105, controller 106 and / or cruise control system 108 can determine threshold values for vehicle speed, road incline, and / or predicted road incline for each the operation mode of cruise control system 108 using genetic algorithms, sensitivity models (real-time updates), dynamic programming, stochastic dynamic programming, user experience and (or) Markovsky decision-making processes, etc. In accordance with some embodiments, other methods of optimizing the simulated data may be used, the results of which can also be confirmed in the vehicle. Thresholds for vehicle speed, road incline, and / or predicted road incline for normal mode, coasting mode, maintain speed mode, and reset mode can be stored among parameters 116 and can be dynamically changed or updated in accordance with operating conditions vehicle 100, including, in accordance with the speed of the vehicle, the presence or absence of precipitation, the level of ambient light, etc.

In general, computing systems and / or devices such as computer 105, controller module 106, and / or components of cruise control system 108 of vehicle 100 may use an operating system, including, but not limited to, versions and (or) variations of the Ford SYNC® operating system, the Microsoft Windows® operating system, the Unix operating system (for example, the Solaris® operating system distributed by Oracle Corporation, Redwood Shores, California), the AIX UNIX operating system distributed by International Business Machines, BUT rmonk, New York, the Linux operating system, Mac OS X and iOS operating systems distributed by Apple Inc. of Cupertino, California, and the Android operating system developed by the Open Handset Alliance. Examples of computing devices include, but are not limited to, a computer or vehicle control unit, a computer workstation, a server, a desktop computer, a laptop, a laptop computer or PDA, or some other computing system and / or device.

In general, computing devices may include machine-readable instructions, and these instructions may be executed by one or more processors, for example, the processors described above. Machine-readable instructions can be compiled or translated from computer programs created using various languages and / or programming technologies, including, but not limited to, Java, C, C ++, Visual Basic, Java Script, Perl, etc. . or combinations thereof. In general, a processor (e.g., a microprocessor) receives instructions, for example, from a storage device or computer-readable medium, etc., and executes these instructions, thereby realizing one or more processes, which include one or more processes from the present description . Such instructions and other data may be stored and transmitted using various computer-readable media.

A machine-readable medium (this also includes media readable by a processor) can be any non-volatile medium (e.g., tangible medium) that provides data (e.g., instructions) that can be processed by a computer (e.g., a computer processor). Such a medium may take many forms, including, but not limited to, read-only and read-only memory devices. Permanent storage devices can be, for example, optical or magnetic disks, as well as other types of non-volatile media. Random access memory can be, for example, dynamic random access memory (DRAM), which are usually part of the main storage device. Such instructions may be transmitted using one or more data transmission means, for example, coaxial cables, copper cables, and fiber optic cables including wires that are part of a system bus connected to a computer processor. The standard forms of machine-readable media are floppy disk, hard disk, magnetic tape, any other type of magnetic medium, CD-ROM, DVD, any other optical media, perforated tape, paper tape, any other physical media with holes, RAM, PROM, EPROM, FLASH-EEPROM, other chips or memory cards, as well as any other media that the computer can work with.

Databases, archives, or other described data warehouses can include various mechanisms for storing, accessing and reading various data, for example, hierarchical databases, file sets in the file system, application databases in the appropriate format, relational database management systems (RDBMS ) etc. Each such data warehouse is usually embedded in a computing device with an operating system, for example, in one of the above systems, and access to them is carried out through the network in one or more of any of the existing ways. Access to the file system can be performed from the operating system, while such a system can support various file formats. RDBMS typically uses Structured Query Language (SQL) along with the language for creating, storing, editing, and executing stored procedures.

In some embodiments of the invention, system elements may be computer-readable instructions (e.g., software) on one or more computer devices (e.g., servers, personal computers, etc.) and may be stored on appropriate computer-readable media (e.g., memory disks) devices, etc.). A computer program may consist of such instructions stored on a computer-readable medium for performing the described functions.

In FIG. 3 is a flowchart of an example method 300 that may be executed by computer 105, controller module 106, and cruise control system 108 of vehicle 100 to use cruise control system 108.

The method starts at step 305, in which the driver activates the cruise control system 108 and enters the initial setpoint. At step 310, the cruise control system 108 operates in normal mode to set the speed of the vehicle 100 to an initial predetermined value or to a value that is within the threshold speed values for normal operation stored among parameters 116 relative to the set value entered by the driver. When the vehicle 100 reaches a sufficient speed relative to the set value entered by the driver and the speed thresholds for the normal mode, the method 300 proceeds to step 315, in which the method determines whether the vehicle is moving along a road whose incline is within the threshold values for the normal modes stored among parameters 116. For example, when the vehicle 100 includes a slope prediction module 162, slope thresholds for a normal mode may Determines whether a threshold value for the current measured deviation and the probability threshold value to determine the probability that the predicted slope value at the next section of the route is also likely to be within the threshold slope value. If not, the method 300 returns to step 305, and the vehicle 100 is controlled by the cruise control system 108 in normal mode until sufficient speed and slope are reached.

If at step 315 the slope thresholds for the normal mode are acceptable, the method 300 proceeds to step 320, where the cruise control system of the vehicle 100 will operate in coast mode. As for step 325, cruise control system 108 will remain coasting as long as vehicle 100 is traveling at a speed within threshold speed values for coasting stored among parameters 116. In accordance with some embodiments, threshold the speed values for the coastal mode will be higher than the threshold speed values for the normal mode. For example, in the coastal mode, including when the vehicle 100 is moving downhill, the transmission of torque from the engine to maintain the speed of the vehicle 100 within the threshold speed values for the coastal mode may not be performed. Moreover, the threshold values may be greater than the values commonly used by the base controller 130. Using a relatively large tolerance for speed deviation allows the vehicle 100 to maximize fuel economy during coasting. As mentioned above, in accordance with some embodiments, to switch the vehicle 100 to a neutral gear in coastal mode, the controller 134, based on the rules, can communicate directly with the controller 106 of the vehicle 100.

With regard to step 330, if, in the coastal mode, the speed of the vehicle 100 reaches a value outside the threshold speed values for the coastal mode, the method 300 determines whether the slope value of the road along which the vehicle 100 is moving is within the threshold values slope for coasting mode stored among parameters 116. For example, when vehicle 100 includes a slope prediction module 162, slope thresholds for motion mode coasting can include a threshold value for the current measured slope and a probabilistic threshold value for determining the probability that the predicted slope value on the next leg of the route is also likely to be within the slope threshold value.

If it is determined in step 335 that the incline value of the road on which the vehicle 100 is traveling is outside the incline threshold values for the coast mode, for example, if the vehicle 100 advances up a fairly steep hill in accordance with the incline threshold values for cruise control system 108 cruise control controls the vehicle 100 in the mode of maintaining speed. To enter the speed maintenance mode, the vehicle 100 increases the speed to a level that exceeds the speed thresholds for the coastal mode and exceeds, in accordance with some embodiments, the speed thresholds for the normal mode. Instead of increasing the speed of the vehicle 100 to a value close to the set value entered by the driver, the cruise control system 108 maintains a constant speed of the vehicle 100 until the slope value requires effective acceleration. In other words, at step 340, in which the cruise control system 108 is in the speed maintenance mode, it remains in the speed maintenance mode until the method 300 determines that the gradient of the road along which the vehicle 100 is traveling is in within the threshold slope of the road for the mode of maintaining speed.

When the vehicle 100 detects that the slope of the next section is within the threshold values of the road slope for the speed maintenance mode, the method 300 proceeds to step 345, and the cruise control system 108 starts controlling the vehicle in the reset mode. Then, at 350, the method 300 determines whether the vehicle 100 is moving at a speed whose value is within the threshold speed values for the reset mode, i.e. determines whether the speed of the vehicle 100 has reached the set value entered by the driver. Upon receipt of a positive response, method 300 returns to step 305, and cruise control system 108 returns to normal operation. If it is determined in step 350 that the vehicle speed 100 is not within the speed thresholds for the reset mode, the method 300 returns to step 340. If the slope of the road the vehicle is traveling is within the threshold values slope for the reset mode, the cruise control system 108 continues to control the vehicle in the reset mode. If not, the method 300 returns to step 335, and the cruise control system 108 returns to driving the vehicle 100 in a speed maintenance mode, as described above.

The reset mode of the cruise control system 108 is the only mode in which the required torque is greater than the value used by the base controller 130. Therefore, the more efficiently the reset mode is used, the more efficient the cruise control system 108 . The most effective torque for increasing speed to a normal level depends on the slope of the road, and the relationship between these values can be determined and / or modeled experimentally. In accordance with one embodiment, the values of the ratios obtained experimentally can be stored in the vehicle 100, for example, among parameters 116, and can be updated in real time, for example, using a computer 105. Knowing these values, during operation system 108 cruise control in the reset mode, you can select the optimal value of the torque to return to its original state, based on the received / measured value of the slope of the road.

According to another embodiment, when the cruise control system 108 operates in the reset state, the torque value for resetting can be selected in accordance with the model used by the predictive controller. To determine the optimal change in torque in order to achieve maximum fuel economy, such a predictive controller can use a vehicle model, for example, an adaptive model. This predictive controller allows you to determine the change in torque for minimum fuel consumption, taking into account the minimum distance to the vehicle in front, deviation from the set value entered by the driver, and maximum torque to prevent the torque converter from unlocking (if installed in the vehicle 100).

According to embodiments in which the vehicle 100 includes a slope prediction module 162, the cruise control system 108 of the present invention maintains normal operation in the following cases: (1) if the current slope value is higher than the maximum the slope value for transitioning from normal operation, (2) if the difference between the vehicle speed value and the set value entered by the driver is higher than the acceptable deviation threshold value, and whether (3) if the probability that the average slope relative to the horizon is less than or equal to the maximum predicted average slope of the road to transition from normal mode is less than the threshold probability of the normal mode for the maximum predicted average slope of the road, which can be determined by prediction module 162 slope of the road. Cruise control system 108 switches from normal operation mode to coasting mode in the following cases: (1) if the current value of the road gradient is less than or equal to the maximum value of the road gradient for the transition from normal mode, (2) if the difference between the vehicle speed and the specified value is less than or equal to an acceptable threshold deviation threshold, and (3) if the probability that the average slope relative to the horizon is less than or equal to the maximum predicted average slope and for transition from the normal mode, it is greater than or equal to the threshold probability value of the normal mode for the maximum predicted average value of the slope.

After transitioning to coasting mode, cruise control system 108 may maintain coasting mode or go into speed maintenance mode or reset mode. Cruise control system 108 maintains a coastal mode when the difference between the vehicle speed value and the setpoint entered by the driver is less than the maximum deviation threshold value. In accordance with the present invention, the maximum increase in operating time in coastal mode at a given threshold value of the speed deviation for coastal mode also allows you to maximize fuel economy. Thus, in some cases, while coasting, the gearbox may be shifted into neutral and / or the DFSO system (fuel shut-off system in deceleration mode) may be engaged if the vehicle is equipped with one. Switching to neutral gear allows minimizing braking due to the power unit, which increases the duration of operation in coasting mode, while the fuel cut-off system in deceleration mode minimizes fuel consumption in this mode until there is enough time to compensate the amount of fuel needed to restart the fuel cutoff system in deceleration mode.

Cruise control system 108 switches from coasting mode to cruising mode in the following cases: (1) if the current slope value is greater than the maximum slope value to transition from coasting mode, and (2) if the difference between the vehicle speed value and the set the value entered by the driver is greater than or equal to the maximum threshold deviation threshold. Cruise control system 108 also transitions from coasting mode to cruising mode in the following cases: (1) if the difference between the vehicle’s speed value and the setpoint entered by the driver is greater than or equal to the maximum deviation threshold value, and (2) if the probability that the average value of the slope relative to the horizon is less than or equal to the maximum predicted average value of the slope for the transition from coastal mode, less than the threshold probability of operation in the mode coasting predicted to maximize the average value of the slope.

Cruise control system 108 switches from coasting mode to returning to the initial state in the following cases: (1) if the current value of the road gradient is less than or equal to the maximum value of the road gradient for the coast mode, (2) if the difference between the vehicle speed and the set value entered by the driver is greater than or equal to the maximum threshold deviation threshold, and (3) if the probability that the average slope relative to the horizon is less than or equal to the maximum predicted the slope value for the coastal mode is greater than or equal to the threshold value of the probability of operation in the coastal mode for the maximum predicted average slope value.

In the mode of maintaining speed, the cruise control system 108 may remain in this mode or go into the reset mode. Cruise control system 108 transitions from cruise control mode to reset mode in the following cases: (1) if the current slope value is less than the maximum slope value for transition from cruise control mode, and (2) if it is likely that the average value the slope relative to the horizon is less than or equal to the maximum predicted average value of the slope of the road to go from the mode of maintaining speed, greater than or equal to the threshold value of the probability of working in the mode of maintaining speed for the maximum predicted average slope.

Cruise control system 108 remains in the speed-keeping mode in the following cases: (1) if the current value of the road slope is greater than or equal to the maximum value of the slope to go from the speed-keeping mode, or (2) if the probability that the average value of the slope relative to the horizon is less or equal to the maximum predicted average value of the slope for the transition from the mode of maintaining speed, less than the threshold value of the probability of working in the mode of maintaining speed for the maximum predicted average slope value.

In the reset mode, the cruise control system 108 may remain in the reset mode or may return to the normal mode or the cruise control mode. The cruise control system 108 maintains a reset mode in the following cases: (1) if the difference between the vehicle’s speed and the setpoint entered by the driver is greater than or equal to an acceptable threshold deviation threshold, (2) if the current value of the road gradient is less than the maximum the slope value for the transition from the reset mode to the initial state, and (3) if the probability that the average value of the slope relative to the horizon is less than or equal to the maximum predicted average value The road gradient for the transition from the reset mode to the initial state is greater than or equal to the threshold value of the probability of operation in the reset mode for the maximum predicted average gradient value. Cruise control system 108 transitions from the reset mode to the speed maintenance mode in the following cases: (1) if the difference between the vehicle’s speed value and the setpoint is greater than or equal to the acceptable deviation threshold value, (2) if the current value of the road gradient is greater or equal to the maximum slope value for the transition from the reset mode to the initial state, and (3) if the probability that the average slope value relative to the horizon is less than or equal to the maximum predicted deviation from the average value for the return mode transition from the initial state, the probability is less than the threshold value in operation mode returns to the initial state for the maximum predicted average deviation.

The cruise control system 108 transitions from the reset mode to the normal operation mode if the difference between the vehicle speed value and the set value is less than an acceptable deviation threshold value, i.e. if the vehicle 100 reaches its original speed.

As for the processes, systems, methods, heuristic algorithms described in this document, it should be understood that, despite the indicated sequence of steps, such processes can be performed using a different sequence of these steps. It should also be understood that some steps may be performed at the same time, and some steps may be added or excluded. In other words, the process descriptions are presented only as an example of embodiments of the invention and cannot be construed as limiting the claims.

Thus, it should be understood that the description is given above for purposes of illustration, and not limitation. Many embodiments and methods of application other than these examples will become apparent after reading the above description. The scope of the invention should be determined not on the basis of the above description, but on the basis of the attached claims, together with all equivalents indicated in this claims. You can assume and expect future development of the technologies mentioned in this description of the invention, as well as the fact that the disclosed systems and methods will be included in similar future embodiments of the invention. Thus, it should be understood that the application of the invention can be changed and adjusted.

All terms used in the claims should be understood in their broadest reasonable interpretations and their usual meanings, as understood by experts in the field of technology referred to in this description of the invention, unless otherwise expressly indicated herein. In particular, the use of the words “any”, “given”, “above”, etc. it should be understood as one or more of these elements, unless otherwise indicated in the claims.

The summary of this invention is provided so that the reader can get a general idea of the technical component of the invention. It should be understood that the presented abstract cannot be used to interpret or limit the scope or meaning of the claims of this invention. In addition, the foregoing detailed description indicates that various features are grouped together in various embodiments in order to streamline the disclosure of the present invention. This method of disclosure does not imply that the claimed embodiments of the present invention should have more distinctive features than indicated in each claim. On the contrary, as indicated in the following claims, the subject matter of the invention is not based on all the distinguishing features of one disclosed embodiment of the invention. Thus, the following claims are part of the detailed description, with each claim being a separately claimed subject matter.

Claims (53)

1. A cruise control system of a vehicle, including a computer in a vehicle, said computer comprising a processor and a storage device, said computer being configured to: to control the speed of the vehicle within the first threshold speed value in accordance with the set value entered in the cruise control system; determine whether the current slope value is within the first slope threshold value; adjust a setpoint for controlling vehicle speed within a second speed threshold value that is outside the first speed threshold value; determine whether the current slope value is within the second slope threshold value, and adjust the setpoint to return the vehicle speed to the first threshold speed value. 2. The system of claim 1, wherein adjusting a setpoint for controlling a vehicle speed within a second speed threshold value includes: the implementation of the coastal cruise control system as long as the vehicle speed is within the third speed threshold, including one of the selective switching of the vehicle gearbox to neutral gear and the selective start of fuel cutoff in deceleration mode; determining whether the current slope value is outside the second slope threshold value, and maintaining the vehicle speed outside the first speed threshold. 3. The system of claim 1, wherein the computer is further configured to change the set value in accordance with the detection signal of the vehicle in front. 4. The system of claim 1, wherein the computer is further configured to determine at least the first and second threshold speed values and the first and second slope threshold values in accordance with the operating characteristic of fuel efficiency. 5. The system of claim 1, wherein the computer is further configured to invert the torque change signal to adjust the setpoint. 6. The system of claim 1, wherein the first bias threshold value is a first probabilistic bias threshold value. 7. The system of claim 1, wherein the computer is further configured to: determine the torque to return in accordance with the current slope of the road and the operating characteristic of fuel efficiency, and adjust the set value to return the vehicle speed to the first threshold speed value in accordance with the torque to return. 8. The method of operation of the cruise control system, comprising stages in which: controlling the vehicle speed within the first speed threshold value in accordance with a predetermined value entered into the cruise control system by one of the driver or the front view sensor of the vehicle; determining whether the current slope value is within the first slope threshold value; adjusting a predetermined value for controlling a vehicle speed within a second speed threshold value that is outside the first speed threshold value; determining whether the current slope value is within the second slope threshold value, and adjusting the setpoint to return the vehicle speed to the first threshold speed value. 9. The method of claim 8, wherein adjusting the setpoint to control the vehicle speed within the second speed threshold value includes the steps of: carry out a coastal cruise control system as long as the vehicle speed is within the third threshold speed value; determining whether the current slope value is outside the second slope threshold value, and maintain the vehicle speed beyond the first speed threshold. 10. The method according to p. 9, in which the implementation of the coasting mode of the cruise control system includes one of switching the vehicle gearbox to neutral gear or starting cutoff of fuel in deceleration mode. 11. The method according to claim 8, further comprising the step of determining at least the first and second threshold speed values and the first and second slope threshold values in accordance with a performance characteristic of fuel efficiency. 12. The method according to claim 8, further comprising the step of inverting the torque change signal to adjust the set value. 13. The method of claim 8, wherein the first slope threshold value is a first probabilistic slope threshold value. 14. The method according to p. 8, further comprising stages in which: determining a return torque in accordance with the current slope of the road and the operating characteristic of fuel efficiency, and adjusting a predetermined value for returning the vehicle speed to the limits of the first threshold speed value in accordance with the torque for returning. 15. A vehicle control device configured to read computer-executable instructions stored on a non-transitory computer-readable medium that causes the vehicle control device to perform operations comprising: control of the vehicle speed within the first threshold speed value in accordance with a predetermined value entered into the cruise control system; determining whether the current slope value is within the first slope threshold value; the implementation of the coastal cruise control system as long as the vehicle speed is within the second threshold speed value; determining whether the current slope value is outside the second slope threshold value, and maintain the vehicle speed beyond the first speed threshold; adjusting a predetermined value for controlling a vehicle speed within a third speed threshold value outside a first speed threshold value; determining whether the current slope value is within the second slope threshold value, and adjusting the setpoint to return the vehicle speed to the first threshold speed value. 16. The vehicle control device according to claim 15, wherein said instructions cause the vehicle control device to perform operations further comprising changing a set value in accordance with a detection signal of a vehicle in front. 17. The vehicle control device according to claim 15, wherein said instructions cause the vehicle control device to perform operations further comprising determining at least a first and second threshold speed values and a first and second slope threshold values in accordance with a fuel efficiency characteristic and at the same time, the implementation of the coastal cruise control system includes one of the selective shifting of the transport gearbox Wow means for neutral gear and selective start of fuel cut-off in deceleration mode. 18. The vehicle control device according to claim 15, wherein said instructions cause the vehicle control device to perform operations further comprising inverting a torque change signal for adjusting a predetermined value. 19. The vehicle control device according to claim 15, wherein the first slope threshold value is a first probable slope threshold value. 20. The vehicle control device according to claim 15, wherein said instructions cause the vehicle control device to perform operations further comprising: determining a return torque in accordance with the current slope of the road and the operating characteristic of fuel efficiency, and adjusting the setpoint to return the vehicle speed to the first threshold speed value in accordance with the torque to return.

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