GB2283338A - Vehicle cruise control resume function - Google Patents
Vehicle cruise control resume function Download PDFInfo
- Publication number
- GB2283338A GB2283338A GB9322028A GB9322028A GB2283338A GB 2283338 A GB2283338 A GB 2283338A GB 9322028 A GB9322028 A GB 9322028A GB 9322028 A GB9322028 A GB 9322028A GB 2283338 A GB2283338 A GB 2283338A
- Authority
- GB
- United Kingdom
- Prior art keywords
- vehicle
- speed
- vehicle speed
- actual
- acceleration
- Prior art date
- Legal status (The legal status 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 status listed.)
- Withdrawn
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
- 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
- B60K31/02—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 including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically
- B60K31/04—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 including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means
- B60K31/042—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 including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means where at least one electrical quantity is set by the vehicle operator
- B60K31/045—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 including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means where at least one electrical quantity is set by the vehicle operator in a memory, e.g. a capacitor
- B60K31/047—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 including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means where at least one electrical quantity is set by the vehicle operator in a memory, e.g. a capacitor the memory being digital
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Controls For Constant Speed Travelling (AREA)
Abstract
A resume function for a vehicle cruise control system stores a desired vehicle speed (MS) set by the driver, measures actual vehicle speed (VS) on the occurrence of a resume command and adjusts the vehicle speed from the actual vehicle speed (VS) to the desired vehicle speed (MS) at a rate determined as a function of the difference between the actual and desired vehicle speeds and the actual vehicle speed. Controlling the vehicle acceleration on the basis of the vehicle speed provides a more balanced and appropriate acceleration for the current vehicle conditions. In the embodiment, a first look-up table delivers an acceleration value in dependance on speed difference (MS - VS) and a second look-up table delivers a second acceleration value in dependance on current speed (VS). The two values are added to produce the final acceleration rate. The rate is recalculated until the desired speed is reached, when normal cruise control resumes. <IMAGE>
Description
METHOD AND APPARATUS
FOR CONTROLLING~VEHICLE SPEED
The present invention relates to a method of resuming speed control in a vehicle and to vehicle speed control apparatus.
Systems for controlling vehicle speed, generally known as cruise control systems, are widespread. With most known cruise control systems, cruise control is disabled on the occurrence of certain events, such as on depression of the brake or clutch pedal or on actuation of a disabling switch.
It is known to provide a resume function, initiated by actuation of a suitable switch, by which cruise control is resumed at the previously set speed.
When the resume function is actuated, the vehicle will generally be travelling at a lower speed than the set speed, so the vehicle will have to be accelerated to reach the set speed. In known systems, adjustment of the vehicle speed back to the set speed may be achieved by a preset vehicle acceleration or by an acceleration determined as a function of the difference between the actual vehicle speed at the time of actuation of the resume function and the set vehicle speed. In both of these cases, the chosen acceleration values are taken as the best acceleration for a specific vehicle speed.
The above prior art resume functions have the disadvantage that they can produce acceleration levels which are either too low or too high in some situations, or otherwise inappropriate for the vehicle operating conditions.
The present invention seeks to provide an improved method of resuming speed control in a vehicle and improved vehicle speed control apparatus.
According to an aspect of the present invention, there is provided a method of resuming speed control in a vehicle including speed control apparatus, comprising the steps of storing a desired vehicle speed set by the driver, measuring actual vehicle speed on the occurrence of a resume command and accelerating the vehicle from the actual vehicle speed to the desired vehicle speed at a rate determined as a function of the difference between the actual and desired vehicle speeds and a measure of vehicle speed.
By controlling the acceleration of the vehicle on the basis of a measure of vehicle speed, it is possible to provide a more balanced and appropriate acceleration for the current vehicle operating conditions. For example, when the vehicle is travelling at a relatively slow speed, it is more appropriate to provide a higher level of acceleration, while when the vehicle is travelling at a greater speed, it is more appropriate to provide a lower level of acceleration.
Preferably, the measure of vehicle speed is determined on the basis of the actual vehicle speed or the desired vehicle speed.
Advantageously, the vehicle is accelerated in direct proportion to the measure of vehicle speed.
It has been found that such acceleration can provide in some vehicles an ideal acceleration through a wide range of vehicle speeds.
In an embodiment, the rate of acceleration of the vehicle is determined from a first acceleration value obtained from a first look-up table on the basis of the difference between the actual and desired vehicle speeds. Use of such a look-up table enables the most suitable first adjustment values to be chosen for every speed difference, each value being determined by experiment.
The rate of acceleration of the vehicle may also be determined from a second acceleration value obtained from a second look-up table on the basis of the measure of vehicle speed.
In a preferred embodiment, the step of accelerating the vehicle comprises the step of determining a first acceleration value from a first look-up table on the basis of the difference between the actual and desired vehicle speeds and a second acceleration value from a second look-up table on the basis of the measure of vehicle speed, the rate of acceleration of vehicle speed being determined from a sum of the first and second acceleration values.
According to another aspect of the present invention, there is provided speed control apparatus for controlling the speed of a vehicle comprising storing means for storing a desired vehicle speed set by the driver, resume actuating means for resuming speed control following deactivation of speed control, speed measuring means for measuring actual vehicle speed on actuation of the resume actuating means, and control means for accelerating the vehicle on actuation of the resume actuating means from the actual vehicle speed to the desired vehicle speed at a rate determined as a function of the difference between the actual and desired vehicle speeds and a measure of vehicle speed.
An embodiment of the present invention is described below, by way of illustration only, with reference to the accompanying drawings, in which:
Figure 1 is a block diagram of an embodiment of speed control apparatus;
Figure 2 is an embodiment of resume control routine;
Figure 3 is a graph of first adjustment values against difference in actual and desired vehicle speeds for a first look-up table used by the routine of Figure 2; and
Figure 4 is a graph of second adjustment values against actual vehicle speed for a second lookup table used by the routine of Figure 2.
Referring to Figure 1, the embodiment of speed control apparatus shown includes a control unit 10 for providing and controlling a cruise control function in a vehicle having a manual or automatic transmission. The control unit 10 may be a dedicated cruise control unit or part of another vehicle control unit, such as a transmission control unit or an engine control unit, and includes a microprocessor and conventional associated components, which are not described further herein.
The control unit 10 includes one or more memories 12, including a memory or memory location 14 for storing the set or desired vehicle speed, a memory or memory location 16 for storing a first look-up table and a memory or memory location 18 for storing a second look-up table. Typically, the first and second look-up tables are stored in read only memory (ROM), while the set vehicle speed is stored in random access memory (RAM).
A set of control switches 20 is provided for controlling the various cruise control functions, only the set (S) and resume (R) switches being shown specifically in Figure 1. The control switches 20 are connected by suitable lines 22 to a first set of inputs of the control unit 10.
A plurality of sensors 24 are coupled to a second set of inputs to the control unit 10 through lines 26. The sensors 24 include a vehicle speed and other sensors required by the control unit 10. These sensors are the same as those commonly used for cruise control systems, so are not described further herein.
Connected to an output of the control unit 10, through a line 28, is a stepper motor actuator 30 which includes a stepper motor coupled via a Bowden cable 32 to the throttle blade 34 in the intake manifold 36 leading to engine 38.
In this embodiment, the stepper motor actuator 30 is of conventional form, so is not described further herein.
For normal cruise control, the control unit 10 operates in conventional manner. That is, when the driver actuates the set switch (S), the control circuit 10 measures the vehicle speed at the time and stores this in memory 14 as the desired or set speed.
The actual vehicle speed is then continuously monitored and if any deviation occurs from the set vehicle speed, the control unit 10 sends an appropriate signal to the stepper motor actuator 30 to cause the throttle blade 34 to rotate to a more open or more closed position, as appropriate.
Should the driver depress the clutch pedal, the off switch or the brake pedal while cruise control is active, the control unit deactivates the cruise control function, disconnecting the cruise control stepper motor from the throttle blade 34, which then comes under the control of the accelerator pedal (not shown).
Resumption of cruise control on the basis of the previously set speed can be obtained by depression of the resume switch (R).
Referring to Figure 2, the routine shown for resuming cruise control in the preferred embodiment is commenced by receipt of an interrupt produced by depression of the resume switch (R).
At step 102, the routine obtains the memorised set speed (MS) from the memory 14 and the current vehicle speed (VS) from the vehicle speed sensor.
At step 104, the routine determines if the vehicle operating parameters are within acceptable limits to permit the resume operation to continue. For example, if the difference between the actual vehicle speed and the set speed is above or below predetermined limits, the actual vehicle speed is greater than the set speed or the actual vehicle speed is below a predetermined speed, the resume operation is not enabled. If it is determined at step 104 that the vehicle is operating outside the predetermined parameters, the routine is exited at step 114.
On the other hand, if the vehicle is operating within the predetermined parameters, the routine passes to step 106 at which the difference between the actual vehicle speed (VS) and the memorised set speed (MS) is determined and a first acceleration value ACCEL1 is obtained from a first look-up table 16.
In the preferred embodiment, the values of
ACCEL1 stored in the first look-up table 16 take the form of the graph of Figure 3. As can be seen from
Figure 3, the values of ACCEL1 may be in the form of a curve having a gradient which falls with increasing speed differences IMS-VSI. The curve levels off at large values of IMS-VSI to reflect the vehicle operating limitats. On the other hand, a value of
ACCEL1 is always provided, even at low values of
IMS-VSI to ensure a timely return to the memorised set speed. The values of ACCEL1 stored in the first look up table are determined as the most suitable values at a predetermined vehicle speed, 120 km/h in this example.
It will be appreciated that the values of
ACCEL1 are not dependent upon the actual values of the measured vehicle speed and the set speed.
Returning to Figure 2, the routine passes from step 106 to step 108 to determine the value
ACCEL2 from the second look-up table 18 on the basis of the actual vehicle speed (VS). In the preferred embodiment, the second look-up table takes the form of the graph shown in Figure 4. This graph has a constant negative gradient to provide a value of
ACCEL2 which decreases with increasing vehicle speed (VS).
In the embodiment shown, the values of
ACCEL2 are always positive, solely to facilitate processing. Negative values of ACCEL2 are obtained in practice by providing an offset value (OFFSET) to ensure that for vehicle speeds above the speed upon which the first look-up table 16 is set, in this embodiment 120 km/h, the vehicle is made to accelerate at a relatively slower rate. Similarly, at lower vehicle speeds, the vehicle is made to accelerate at a relatively larger rate. The OFFSET value is obtained from the look-up table depicted in Figure 4, in this example being a value of 6.
At step 110, the routine calculates the rate at which the vehicle is to accelerate back to the set speed on the basis of the following equation:
ACCEL RATE = ACCEL1 + (ACCEL2 - OFFSET)
In cases where the second look-up table can provide negative values of ACCEL2, the offset value
OFFSET may be omitted from the above equation.
The graphs of Figures 3 and 4 show an example of values of ACCEL1 and ACCEL2 for different measured vehicle speeds but for the same speed difference IMS-VSI. This example considers three different measured vehicle speeds of 50, 100 and 200 km/h, each differing from their respective set speed by 10 km/h, such that the value IMS-VSI = 10 in each case.
Accessing the first look-up table provides a value of ACCEL1 of 10, in this example. However, the different vehicle speeds of 50, 130 and 200 km/h provide three different values of ACCEL2, in this example 2, 5 and 8 respectively. For an offset value of 6, ACCEL RATE obtained from the above equation takes the following values:
ACCEL RATE = ACCEL1 + ACCEL2 - OFFSET
6 10 2 6
9 10 5 6
12 10 8 6
The value ACCEL RATE is indicative of an amount of opening of the throttle valve 34 and is less for relatively larger vehicle speeds than for relatively lower speeds. In this manner, the acceleration of the vehicle back to the set speed can be varied on the basis of the vehicle speed to provide a more natural and comfortable acceleration.
In the preferred embodiment, a discrete number of values of ACCEL2 are provided, each being selected for a particular range of vehicle speeds.
At step 112, the routine controls the stepper motor actuator 30 to open the throttle blade 34 by the required amount to provide the desired acceleration rate. The routine then returns to step 102 to obtain, in practice, a new measure of the actual vehicle speed for a subsequent pass through the routine. If at step 104 it is determined that the difference between the vehicle speed and the set speed is less than a predetermined amount, the routine determines that the resume operation should end and passes to step 114 to exit and to return to a normal cruise control routine.
The graphs shown in Figures 3 and 4 are merely shown by way of example. In the preferred embodiment, these graphs and the values stored in the first and second look-up tables 16,18 are chosen by experiment over a range of speed differences IMS-VSI and vehicle operating speeds.
Other aspects of speed control of a vehicle are disclosed in our co-pending British patent application No 9322029.1 (RJ/568) filed the same day as this application.
Claims (13)
1. A method of resuming speed control in a vehicle including speed control apparatus, comprising the steps of storing a desired vehicle speed set by the driver, measuring actual vehicle speed on the occurrence of a resume command and accelerating the vehicle from the actual vehicle speed to the desired vehicle speed at a rate determined as a function of the difference between the actual and desired vehicle speeds and a measure of vehicle speed.
2. A method according to claim 1, comprising the step of determining the measure of vehicle speed on the basis of the actual vehicle speed or the desired vehicle speed.
3. A method according to claim 1 or 2, wherein the rate of acceleration of the vehicle is determined from a first acceleration value obtained from a first look-up table on the basis of the difference between the actual and desired vehicle speeds.
4. A method according to any preceding claim, wherein the rate of acceleration of the vehicle speed is determined from second acceleration value obtained from a second look-up table on the basis of the measure of vehicle speed.
5. A method according to any preceding claim, wherein the step of accelerating the vehicle comprises the step of determining a first acceleration value from a first look-up table on the basis of the difference between the actual and desired vehicle speeds and a second acceleration value from a second look-up table on the basis of the measure of vehicle speed, the rate of acceleration of vehicle speed being determined from a sum of the first and second acceleration values.
6. Speed control apparatus for controlling the speed of a vehicle comprising storing means for storing a desired vehicle speed set by the driver, resume actuating means for resuming speed control following deactivation of speed control, speed measuring means for measuring actual vehicle speed on actuation of the resume actuating means, and control means for accelerating the vehicle on actuation of the resume actuating means from the actual vehicle speed to the desired vehicle speed at a rate determined as a function of the difference between the actual and desired vehicle speeds and a measure of vehicle speed.
7. Apparatus according to claim 6, comprising the control means is adapted to determine the measure of vehicle speed on the basis of the actual vehicle speed or the desired vehicle speed.
8. Apparatus according to claim 6 or 7, wherein the control means is adapted to accelerate the vehicle in direct proportion to the measure of vehicle speed.
9. Apparatus according to claim 6, 7 or 8, wherein the control means is adapted to determine a first acceleration value from a first look-up table on the basis of the difference between the actual and desired vehicle speeds and to accelerate the vehicle at a rate determined from the first acceleration value.
10. Apparatus according to any one of claims 6 to 9, wherein the control means is adapted to determine a second acceleration value from a second look-up table on the basis of the measure of vehicle speed and to accelerate the vehicle at a rate determined from the second acceleration value.
11. Apparatus according to any one of claims 6 to 10, wherein the control means is adapted to determine a first acceleration value from a first look-up table on the basis of the difference between the actual and desired vehicle speeds, a second acceleration value from a second look-up table on the basis of the measure of vehicle speed and to determine the rate of acceleration of the vehicle from a sum of the first and second acceleration values.
12. A method of resuming speed control in a vehicle substantially as hereinbefore described with reference to and as illustrated in the accompanying drawings.
13. Speed control apparatus for controlling the speed of a vehicle substantially as hereinbefore described with reference to and as illustrated in the accompanying drawings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB9322028A GB2283338A (en) | 1993-10-26 | 1993-10-26 | Vehicle cruise control resume function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB9322028A GB2283338A (en) | 1993-10-26 | 1993-10-26 | Vehicle cruise control resume function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB9322028D0 GB9322028D0 (en) | 1993-12-15 |
| GB2283338A true GB2283338A (en) | 1995-05-03 |
Family
ID=10744116
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB9322028A Withdrawn GB2283338A (en) | 1993-10-26 | 1993-10-26 | Vehicle cruise control resume function |
Country Status (1)
| Country | Link |
|---|---|
| GB (1) | GB2283338A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6283240B1 (en) | 1998-09-02 | 2001-09-04 | Rover Group Limited | Vehicle |
| US20100250087A1 (en) * | 2009-03-27 | 2010-09-30 | Ingo-Gerd Sauter | Resume speed adaptation |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2157026A (en) * | 1980-01-22 | 1985-10-16 | Diesel Kiki Co | Cruise control unit for vehicles |
| EP0276728A2 (en) * | 1987-01-19 | 1988-08-03 | Matsushita Electric Industrial Co., Ltd. | Automatic speed regulator for automobile |
| US5177683A (en) * | 1991-08-09 | 1993-01-05 | Ford Motor Company | Speed control system with adaptive resume mode |
-
1993
- 1993-10-26 GB GB9322028A patent/GB2283338A/en not_active Withdrawn
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2157026A (en) * | 1980-01-22 | 1985-10-16 | Diesel Kiki Co | Cruise control unit for vehicles |
| EP0276728A2 (en) * | 1987-01-19 | 1988-08-03 | Matsushita Electric Industrial Co., Ltd. | Automatic speed regulator for automobile |
| US5177683A (en) * | 1991-08-09 | 1993-01-05 | Ford Motor Company | Speed control system with adaptive resume mode |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6283240B1 (en) | 1998-09-02 | 2001-09-04 | Rover Group Limited | Vehicle |
| US20100250087A1 (en) * | 2009-03-27 | 2010-09-30 | Ingo-Gerd Sauter | Resume speed adaptation |
| US8380419B2 (en) * | 2009-03-27 | 2013-02-19 | Zf Friedrichshafen Ag | Resume speed adaptation for automatic vehicle acceleration at a rate derived from a measured acceleration rate |
Also Published As
| Publication number | Publication date |
|---|---|
| GB9322028D0 (en) | 1993-12-15 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| WAP | Application withdrawn, taken to be withdrawn or refused ** after publication under section 16(1) |