System and method for moving a vehicle using an externally mounted hmi

Abstract

The present disclosure provides a system and method for moving a vehicle using an externally mounted HMI. A vehicle includes a power plant and a vehicle body. The vehicle body defines a passenger compartment and a bin and has a tailgate mounted to the bin. A step assembly is associated with the box and includes a step and a handle. The handle has a sensor configured to receive an input from a user located outside the passenger compartment and output a signal when the input is in an active state. A controller is programmed to command torque to the powerplant to propel the vehicle based on the signal in response to receiving the signal.

Description

Technical Field

[0001] The present disclosure relates to vehicles, and more particularly to enabling a user to move a vehicle while outside the vehicle. Background Art

[0002] A vehicle such as a pickup truck may include a passenger cabin and a box behind the cabin. The cabin and box are part of the vehicle body and are supported by the frame. The box has a cargo compartment, opposing side walls, a front panel, and a tailgate. The box may be equipped with a tool box, ladder rack, tie-downs, and other equipment. Pickup trucks are often used as work vehicles in industries such as construction, landscaping, snow removal, and transportation. Summary of the invention

[0003] According to one embodiment, a vehicle includes a powerplant and a body. The body defines a passenger compartment and a box and has a tailgate mounted to the box. A step assembly is associated with the box and includes a step and a handle. The handle has a sensor configured to receive input from a user located outside the passenger compartment and output a signal when the input is active. A controller is programmed to command torque to the powerplant based on the signal in response to receiving the signal to propel the vehicle.

[0004] According to another embodiment, a vehicle includes a passenger compartment, a power plant, and a sensor, the sensor being located outside the passenger compartment to allow a user to control vehicle movement from outside the vehicle. The sensor is configured to measure the user's input and output a signal. A controller is programmed to command torque to the power plant to propel the vehicle according to the signal when the signal exceeds a threshold.

[0005] According to yet another embodiment, a method for propelling a vehicle by a person outside the vehicle includes: receiving a propulsion request from a human-machine interface (HMI) located outside the vehicle; and in response to receiving the propulsion request, commanding torque to a power plant of the vehicle so that the vehicle is propelled according to the command from the person outside the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 is a rear perspective view of a vehicle being propelled by a user standing outside the vehicle.

[0007] Figure 2 is a perspective view of a tailgate handle having an HMI for controlling propulsion of a vehicle by a user standing next to the tailgate.

[0008] Figure 3 is a graph showing a series of discrete vehicle movements with constant frequency and variable distance based on pressure applied to the HMI.

[0009] Figure 4 is a graph showing a series of discrete vehicle movements with constant distance and variable frequency based on pressure applied to the HMI.

[0010] Figure 5 is a graph illustrating vehicle movement based on the total amount of usage input applied to the HMI.

[0011] Figure 6 It is a closed-loop controller used to control the propulsion of the vehicle based on the target vehicle position.

[0012] Figure 7 It is a closed-loop controller used to control the propulsion of the vehicle based on the target vehicle speed.

[0013] Figure 8 is a flow chart of an algorithm for controlling the vehicle during an external driving mode. DETAILED DESCRIPTION

[0014] Embodiments of the present disclosure are described herein. However, it should be understood that the disclosed embodiments are merely examples, and other embodiments may take on various forms and alternative forms. The drawings are not necessarily drawn to scale; some features may be enlarged or minimized to show the details of a particular component. Therefore, the specific structural details and functional details disclosed herein are not to be interpreted as limiting, but only as a representative basis for teaching those skilled in the art to adopt the present invention in various ways. As will be understood by those of ordinary skill in the art, the various features shown and described with reference to any one of the drawings may be combined with the features shown in one or more other drawings to produce embodiments that are not explicitly shown or described. The combination of features shown provides representative embodiments for typical applications. However, for specific applications or embodiments, various combinations and modifications of features consistent with the teachings of the present disclosure may be desired.

[0015] The pickup truck 10 includes a frame having a first longitudinal frame rail and a second longitudinal frame rail. The pickup truck 10 also includes a box 12 supported by the first frame rail and the second frame rail. A passenger compartment (bed) 14 is positioned forward of the box 12 and includes conventional controls for driving the vehicle, such as a steering wheel, pedals, etc. The box 12 may include a cargo box 18 having a transverse support structure attached to the first frame rail and the second frame rail, the first frame rail and the second frame rail being located at a lower surface of the transverse support structure.

[0016] The box 16 also includes a first side wall 24 attached along a first longitudinal side of the cargo box 18 and a second side wall 26 attached along a second longitudinal side of the cargo box 18. A front panel 28 is connected between the first side wall 24 and the second side wall 26 at a front portion of the box 16 near the compartment. The first side wall includes a top surface, an inner wall, and an outer wall. The second side wall 26 includes a top surface, an inner wall, and an outer wall.

[0017] The truck 10 also includes a tailgate 58 pivotally attached to the rear end of the box 16 between the first side wall 24 and the second side wall 26. The tailgate 58 includes a pair of opposite sides, each of which can include a lower pin. Each lower pin can be received in a corresponding sleeve. The tailgate 58 pivots between an open position and a closed position along the lower pin and the sleeve. Each tailgate side wall can also include a latch disposed at an upper portion of the side wall. The latch can cooperate with a corresponding locking column. The latch and the locking column can engage with each other to secure the tailgate 58 in the closed position. The tailgate 58 also includes a handle that can cooperate with the latch to disengage the latch from the locking column so that the tailgate 58 can be opened.

[0018] The vehicle 10 may include friction brakes 59 for decelerating the vehicle. The friction brakes 59 may be part of a hydraulic braking system controlled by a brake pedal located within the passenger compartment 14. The friction brakes may be located at each wheel of the vehicle and may include a brake disc rotationally fixed to the wheel and a brake caliper fixed to a non-rotating component of the vehicle's suspension system. The brake caliper is configured to clamp the brake disc between two brake pads to decelerate the vehicle once hydraulic fluid pressure is sent to the brake.

[0019] The vehicle may include a step system 50 including a step 52 and a step handle 54. The step handle 54 may be disposed on a tailgate 58. The handle 54 may include a stowed position and a deployed position (shown). The handle 54 provides a grip for a person using the step 52.

[0020] The vehicle's powertrain can be a conventional powertrain including an internal combustion engine (one example of a powerplant) and a transmission, a fully electric powertrain including one or more electric machines (another example of a powerplant) for driving one or more axles, or a hybrid powertrain including an internal combustion engine and an electric machine for propelling the vehicle.

[0021] The vehicle 10 includes a controller 46, such as a powertrain control unit (PCU), an engine control module (ECM), and a motor control unit (MCU). Although shown as one controller, the controller 46 may be part of a larger control system and may be controlled by various other controllers throughout the vehicle 10, such as a vehicle system controller (VSC). Therefore, it should be understood that the controller 46 and one or more other controllers may be collectively referred to as a "controller" that controls various actuators in response to signals from various sensors to control functions such as starting / stopping the engine, commanding engine torque, operating the motor to provide wheel torque or charging the battery, selecting or planning transmission shifts, etc. The controller 46 may include a microprocessor or central processing unit (CPU) that communicates with various types of computer-readable storage devices or media. The computer-readable storage devices or media may include volatile and non-volatile storage devices, such as read-only memory (ROM), random access memory (RAM), and keep-alive memory (KAM). KAM is a persistent or non-volatile memory that can be used to store various operating variables when the CPU is powered off. The computer readable storage device or medium may be implemented using any of a number of known memory devices, such as a PROM (programmable read-only memory), an EPROM (electrical PROM), an EEPROM (electrically erasable PROM), flash memory, or any other electrical, magnetic, optical, or combination memory device capable of storing data, some of which represents executable instructions used by the controller to control the vehicle.

[0022] The controller 46 communicates with various vehicle sensors and actuators via an input / output (I / O) interface, which may be implemented as a single integrated interface that provides various raw data or signal conditioning, processing and / or conversion, short circuit protection, etc. Alternatively, one or more dedicated hardware or firmware chips may be used to condition and process specific signals before supplying them to the CPU. Although not explicitly shown, one of ordinary skill in the art will recognize the various functions or components that may be controlled by the controller 46 within each of the subsystems identified above. Representative examples of parameters, systems, and / or components may be actuated directly or indirectly using control logic executed by the controller.

[0023] A pickup truck is a versatile vehicle that can be used for various types of work both commercially and around the home. For example, pickup trucks are often used to carry dirt, mulch, stone, or other materials in a cargo compartment. In some cases, it may be desirable for a user of a pickup truck to unload cargo (such as dirt) from the cargo compartment at frequent intervals and place it on the ground. In a vehicle with only traditional controls, this would require two people (one person driving and one person unloading), or a single person would be required to frequently enter and exit the vehicle. Having to repeatedly enter and exit the vehicle to travel short distances increases the time of the project and may bring unwanted dirt into the passenger compartment. An ideal additional control for these types of scenarios would enable the user to drive the vehicle from outside the vehicle. For example, a human-machine interface (HMI) may be provided near the rear of the vehicle and allow the user to drive the vehicle forward at low speed for a short distance, thereby eliminating the need to enter and exit the vehicle each time it is necessary to move to the next location that may be only a few feet away. The HMI may allow the user to drive the vehicle forward and backward.

[0024] refer to Figure 1 and Figure 2 In one embodiment, an HMI 70 for externally propelling the vehicle is provided on the step handle 54. In one embodiment, the HMI 70 includes a force or pressure sensor 72 mounted to the step handle and configured to sense the force or pressure applied by the user on the step handle 54. Figure 1 As shown, the user presses forward on the step handle 54, which is recorded by the force or pressure sensor 72 of the HMI 70. This allows the user to "push" the vehicle forward the desired distance. Placing the HMI 70 on the handle 54 is only one embodiment; the HMI 70 can be placed anywhere outside the vehicle. Other placements include on the body panel, on the bumper, on the tailgate, etc. The HMI 70 can be any switch or sensor that can be operated to sense input from the user and output a signal to the vehicle controller 46. Examples include pressure sensors, force sensors, buttons, switches, toggle switches, or touch screen displays. The HMI 70 can be one of a plurality of HMIs located at various external locations of the vehicle. For example, the vehicle may include a front HMI for propelling the vehicle when standing in front of the vehicle and a rear HMI for propelling the vehicle when standing behind the vehicle. The vehicle may also include an HMI located on the side or side panels of the vehicle. An HMI key fob or remote control (including a phone application) can also be used to control vehicle movement outside the vehicle compartment 14.

[0025] In one or more examples, the HMI includes an actuatable member configured to receive a user input and a sensor configured to sense a displacement of the actuatable member and output a signal indicative of the displacement. Figure 2In an example of the present invention, the rod of the step handle 54 may be movable, and the sensor is configured to measure the movement of the rod. The sensor may be configured to output a signal indicating the displacement of the rod.

[0026] In some embodiments, HMI 70 may be a separate component that is not permanently attached to vehicle 10. For example, an HMI assembly may be provided. The separate HMI assembly may be configured to be releasably attached to the vehicle, such as by clamps, suction, hook and loop fasteners, for example. Connectors, etc. A separate HMI assembly may include an HMI and a support structure that connects the HMI to the vehicle 10. The HMI assembly may include a cable configured to connect the HMI to the vehicle, or may be wireless. The electronics of the HMI assembly are programmed to communicate with the vehicle controller. The vehicle may include one or more ports for receiving the cable. The port may be located on an external portion of the vehicle 10 designed to receive a separate HMI. The vehicle 10 may include multiple connection points for a separate HMI so that a user can place the HMI in a desired location, such as the front or rear, depending on the activity being performed.

[0027] This driving mode may be referred to as an "external driving mode". The vehicle may require the user to select an external driving mode before enabling the HMI 70 to propel the vehicle forward or backward. The user may enable the external driving mode using another HMI disposed within the passenger compartment 14, such as a touch screen of the head unit. Once the user selects the external driving mode, the HMI 70 located outside the vehicle becomes active so that the user can now propel the vehicle from the outside.

[0028] refer to Figure 3 , in one embodiment, the vehicle motion is controlled similarly to a stepper motor. In other words, for each "push / touch" on the interface (e.g., HMI 70), the vehicle moves forward by a predefined amount 80. (Such a slow movement of the vehicle commanded from outside the passenger compartment can be referred to as a gentle push). Different strategies for achieving this are envisioned. For example, when a user input (e.g., a measured pressure or force 82 from a sensor 72 of an HMI 70) exceeds a threshold pressure or force 84, respectively, the controller will command a propulsion torque to the power plant and a braking torque to the friction brake to move the vehicle in a distance step 80, the step being proportional to the user input pressure / force at a fixed time interval rate (as shown). Alternatively, all step sizes can be constant and independent of the user input pressure (not shown). That is, when a user applies a larger force / pressure on the HMI 70, the vehicle will move further forward, and when a user applies a smaller force / pressure on the HMI 70, the vehicle will move a smaller distance.

[0029] refer to Figure 4In another embodiment, when the user input is actuated, the controller will apply a controlled propulsion torque / braking torque to move the vehicle in steps 86 of constant length, but with a frequency 88 between movement pulses that is proportional to the user input pressure or force 90, which may be measured by the pressure or force sensor 72 of the HMI 70. Here, the vehicle movement step 86 may be a predefined distance or a predefined torque curve.

[0030] refer to Figure 5 In yet another embodiment, the user is required to apply a discrete force pulse on the HMI 70. Discrete movement of the vehicle is applied only after the pulse is detected and the pressure level drops below a threshold (i.e., pressed and released). The controller analyzes the press to determine the distance the vehicle is propelled, i.e., the distance traveled is proportional to the force and duration of the press. For description purposes, Figure 5 Three examples are shown. In the first example, the distance traveled 92 (or commanded torque) is proportional to the peak pressure of the compression (circle 94). In the second example, the distance traveled 92 (or commanded torque) is proportional to the energy exchanged (shaded area 96 below the curve). This can be calculated by integrating the pressure curve. In the third example, the distance traveled 92 (or commanded torque) is proportional to the pulse duration 98. In each of these examples, the distance traveled increases as the sensed parameter (e.g., peak pressure) increases. In another embodiment, the distance traveled for each pulse applied can be a constant predetermined value.

[0031] The system may include a dead man's switch to prevent inadvertent actuation of the HMI 70. The dead man's switch may be disposed on the exterior of the vehicle, such as on a body panel. The dead man's switch may be a force or pressure sensor or button. Additionally, the control may set a minimum and maximum duration of the pulse to eliminate false effects due to noise or a distracted operator. Additionally, a prolonged "on" pressure detected on the HMI 70 may permanently disable the nudge service until the operator resets the system.

[0032] Figure 6An exemplary closed-loop controller 100, such as a PID controller, is shown. In this example, one or more controllers of the control system determine a target position based on inputs at the HMI 70 as discussed above. The target position may be equal to the vehicle position at the time the HMI 70 is actuated plus the desired driving distance. (As discussed above, the desired driving distance may be a predefined constant, or may be based on the force or pressure of the input, the duration of the input, or the number of discrete inputs into the HMI 70.) At the summation block 102, the controller determines the difference or error 104 between the current position and the target position. (The current position may be determined using the vehicle GPS, odometer, or other methods.) The PID control block 106 determines an appropriate net torque command 108 to reduce the error 104, which may include a propulsion torque command for the powertrain and a braking torque command for the friction brakes. The vehicle then determines the current position to compare with the target position.

[0033] Figure 7 An exemplary closed-loop controller 120, such as a PID controller, is shown. In this example, one or more controllers of the control system determine a target vehicle speed based on an input at the HMI 70. (As discussed above, the target speed may be a predefined constant, or may be based on the force or pressure of an input, the duration of an input, or the number of discrete inputs into the HMI 70, etc.) At a summing block 122, the controller determines a difference or error 124 between the current measured speed of the vehicle and the target speed. A PID control block 126 determines an appropriate net torque command 128 to reduce the error 124, which may include a propulsion torque command for the powertrain and a braking torque command for the friction brakes. The vehicle then measures the vehicle speed using a speed sensor, such as a wheel speed sensor or a sensor located in the transmission, to compare with the target speed.

[0034] The control logic or functions performed by the controller 46 may be represented by a flowchart or similar diagram in one or more of the accompanying drawings. These drawings provide representative control strategies and / or logic that can be implemented using one or more processing strategies (such as event-driven, interrupt-driven, multi-tasking, multi-threading, etc.). Thus, the various steps or functions shown may be performed in the order shown, may be performed in parallel, or may be omitted in some cases. Although not always explicitly shown, it will be recognized by those of ordinary skill in the art that one or more of the steps or functions shown may be repeatedly performed depending on the specific processing strategy used. Similarly, the processing sequence is not necessarily required to achieve the features and advantages described herein, but is provided for ease of illustration and description. The control logic may be implemented primarily in software executed by a microprocessor-based vehicle, engine and / or powertrain controller (such as controller 46). Of course, depending on the specific application, the control logic may be implemented in software, hardware, or a combination of software and hardware in one or more controllers. When implemented in software, the control logic may be provided in one or more computer-readable storage devices or media, which store data representing codes or instructions executed by a computer to control a vehicle or a vehicle subsystem. The computer-readable storage device or medium may include one or more of several known physical devices that use electrical, magnetic, and / or optical storage to hold executable instructions and associated calibration information, operating variables, and the like.

[0035] The controller may be electrically connected to an HMI disposed on an exterior portion of the vehicle, such as a body panel, a tailgate, a stepped handle, etc. The HMI is configured to receive input from a user located outside the passenger compartment and output a signal to the controller when the HMI receives the input. The controller may be programmed to command torque to the power device (e.g., an engine or a motor) based on the signal in response to receiving the signal to propel the vehicle. The controller may also be programmed to command a braking torque to the friction brake in response to receiving the signal. The controller may also be programmed to interrupt the torque to the power device in response to no longer receiving the signal.

[0036] In one or more embodiments, the target position is based on the current position of the vehicle plus an incremental travel distance. The incremental travel distance may be based on a duration of the input, such that the incremental travel distance increases as the duration increases. The incremental travel distance may be based on a force / pressure of the input, such that the incremental travel distance increases as the force / pressure increases. The incremental travel distance may also be based on an energy applied to the input, such that the incremental travel distance increases as the energy increases.

[0037] The torque to the powerplant may be based on an error between a target speed of the vehicle and a measured speed of the vehicle. In other embodiments, the torque commanded to the powerplant may be based on an error between a target position of the vehicle and a measured position of the vehicle.

[0038] The controller may be configured to interrupt or not initiate the external driving mode when the dead man's switch is deactivated. That is, when the dead man's switch is activated, the controller only commands torque to the powertrain system to propel the vehicle based on the signal at the HMI.

[0039] In another example, the controller is electrically connected to a pressure sensor located outside the passenger compartment and allows a user to control vehicle movement from outside the vehicle. The pressure sensor can be configured to measure a pressure input by a user at the HMI and output the measured pressure to the controller. The controller can be programmed to command torque to the power plant to propel the vehicle based on the measured pressure when the measured pressure exceeds a threshold. The torque can be commanded so that the vehicle moves forward a predetermined distance, where the predetermined distance can be based on the measured pressure so that the distance increases as the measured pressure increases.

[0040] The torque may be commanded at discrete intervals, and the frequency of the intervals may be based on the measured pressure, wherein the commanded torque causes the vehicle to move forward at a predetermined speed.

[0041] In yet another example, the controller is configured to receive a propulsion request from an HMI located outside the vehicle. In response to receiving the propulsion request, the controller commands torque to a powerplant of the vehicle so that the vehicle is propelled according to the command from a person located outside the vehicle.

[0042] Figure 8 200 is a flow chart of an algorithm for controlling a vehicle during an external driving mode. The controller 200 may be implemented in response to a user activating an external driving mode. At operation 202, input from a user is received at an external HMI. In response, the HMI may send a signal to the controller indicative of the received input, such as a measured force or pressure as discussed above. At operation 204, the controller receives the signal and analyzes the received input to determine the pressure or force applied by the user. The controller then determines a desired distance or frequency to propel the vehicle forward or backward, as discussed above with respect to Figure 4 , Figure 5 and Figure 6 At operation 206, the controller commands braking and propulsion torques to propel the vehicle based on the received inputs. Figure 6 and Figure 7 Example controls for operation 206 are shown in . However, as discussed above, these are merely two example implementations.

[0043] Although exemplary embodiments are described above, these embodiments are not intended to describe all possible forms covered by the claims. The words used in the specification are descriptive words rather than restrictive words, and it should be understood that various changes can be made without departing from the spirit and scope of the present disclosure. As previously described, the features of various embodiments can be combined to form other embodiments of the present invention that may not be explicitly described or shown. Although various embodiments may have been described as providing advantages or being superior to other embodiments or prior art implementations in terms of one or more desired characteristics, it will be appreciated by those of ordinary skill in the art that one or more features or characteristics may be compromised to achieve the desired overall system properties, depending on the specific application and implementation. These properties may include, but are not limited to, strength, durability, marketability, appearance, packaging, size, maintainability, weight, manufacturability, ease of assembly, etc. For this reason, embodiments described as less desirable than other embodiments or prior art implementations in terms of one or more characteristics are within the scope of the present disclosure and may be desirable for specific applications.

[0044] According to the present invention, a vehicle is provided, the vehicle having: a body defining a passenger compartment and a box and having a tailgate mounted to the box; a step assembly associated with the box and including a step and a handle, wherein the handle includes a sensor configured to receive input from a user located outside the passenger compartment and output a signal when the input is active; a power plant; and a controller programmed to command torque to the power plant based on the signal in response to receiving the signal to propel the vehicle.

[0045] According to an embodiment, the invention also features a friction brake, wherein the controller is further programmed to command a braking torque to the friction brake in response to receiving the signal.

[0046] According to an embodiment, the controller is further programmed to interrupt the torque to the powerplant in response to no longer receiving the signal.

[0047] According to an embodiment, the torque to the powerplant is based on an error between a target speed of the vehicle and a measured speed of the vehicle.

[0048] According to an embodiment, the HMI comprises a sensor configured to sense a force or pressure of the input, and the signal is indicative of the force or pressure, wherein the torque commanded to the power device is based on a magnitude of the signal.

[0049] According to an embodiment, the handle comprises a movable part, and the sensor is configured to sense a displacement of the movable part.

[0050] According to an embodiment, the signal is indicative of the displacement, wherein the torque commanded to the powerplant is based on a magnitude of the signal.

[0051] According to an embodiment, the torque commanded to the powerplant is based on an error between a target position of the vehicle and a measured position of the vehicle.

[0052] According to an embodiment, the target position is based on the current position of the vehicle plus an incremental travel.

[0053] According to an embodiment, the incremental stroke is based on a duration of the input such that the incremental stroke increases as the duration increases.

[0054] According to an embodiment, the incremental stroke is based on the input force, such that the incremental stroke increases as the force increases.

[0055] According to an embodiment, the incremental stroke is based on an energy applied to the input such that the incremental stroke increases as the energy increases.

[0056] According to an embodiment, when the dead man's switch is activated, based on the signal only the torque is commanded to the powerplant to propel the vehicle.

[0057] According to the present invention, a vehicle is provided, comprising: a passenger compartment; a power unit; a sensor located outside the passenger compartment so as to allow a user to control the movement of the vehicle from outside the vehicle, the sensor being configured to measure the user's input and output a signal; and a controller programmed to command torque to the power unit to propel the vehicle according to the signal when the signal exceeds a threshold.

[0058] According to an embodiment, the torque is commanded to move the vehicle forward a predetermined distance.

[0059] According to an embodiment, the sensor is a pressure or force sensor and the signal is a measured pressure or force, and wherein the predetermined distance is based on the measured pressure or force such that the distance increases as the measured pressure or force increases.

[0060] According to an embodiment, said torque is commanded in discrete intervals and the frequency of said intervals is based on said measured pressure or force.

[0061] According to an embodiment, the torque is commanded to move the vehicle forward a predetermined distance.

[0062] According to the present invention, a method for propelling a vehicle by a person outside the vehicle includes: receiving a propulsion request from a human-machine interface (HMI) located outside the vehicle; and in response to receiving the propulsion request, commanding torque to a power plant of the vehicle so that the vehicle is propelled according to the command from the person outside the vehicle.

[0063] In one aspect of the invention, the method includes commanding braking torque to friction brakes of the vehicle in response to receiving the propulsion request.

Claims

1. A vehicle comprising: a vehicle body defining a passenger compartment and a box and having a tailgate mounted to the box; a step assembly associated with the box and including a step and a handle, wherein the handle includes a sensor configured to receive an input from a user located outside the passenger compartment and output a signal when the input is active; Power plant; and A controller is programmed to, in response to receiving the signal, command torque to the powerplant based on the signal to propel the vehicle. 2 . The vehicle of claim 1 , further comprising friction brakes, wherein the controller is further programmed to command braking torque to the friction brakes in response to receiving the signal.

3. The vehicle of claim 1 wherein said controller is further programmed to interrupt said torque to said powerplant in response to said signal no longer being received.

4. The vehicle of claim 1 wherein the torque to the powerplant is based on an error between a target speed for the vehicle and a measured speed for the vehicle.

5. The vehicle of claim 1, wherein the HMI includes a sensor configured to sense a force or pressure of the input, and the signal is indicative of the force or pressure, wherein the torque commanded to the powerplant is based on a magnitude of the signal. 6 . The vehicle of claim 1 , wherein the handle includes a movable portion, and the sensor is configured to sense displacement of the movable portion.

7. The vehicle of claim 6, wherein the signal is indicative of the displacement, wherein the torque commanded to the powerplant is based on a magnitude of the signal.

8. The vehicle of claim 1 wherein the torque commanded to the powerplant is based on an error between a target position of the vehicle and a measured position of the vehicle.

9. The vehicle of claim 8, wherein the target position is based on a current position of the vehicle plus an incremental range.

10. The vehicle of claim 9, wherein the incremental travel is based on a duration of the input such that the incremental travel increases as the duration increases.

11. The vehicle of claim 9, wherein the incremental travel is based on the force of the input such that the incremental travel increases as the force increases.

12. The vehicle of claim 9, wherein the incremental travel is based on an energy applied to the input such that the incremental travel increases as the energy increases.

13. The vehicle of claim 1 wherein when a dead man's switch is activated, only said torque is commanded to said powerplant based on said signal to propel said vehicle.

14. A vehicle comprising: Passenger compartment; Power plant; a sensor located outside the passenger compartment to allow a user to control vehicle movement from outside the vehicle, the sensor being configured to measure the user's input and output a signal; and A controller is programmed to command torque to the powerplant to propel the vehicle in accordance with the signal when the signal exceeds a threshold.

15. The vehicle of claim 14, wherein the torque is commanded to move the vehicle forward a predetermined distance.

Images