Cruise control adjustments for optimal vehicle turning

Abstract

In an embodiment, a method is provided that includes obtaining sensor data via one or more sensors of a vehicle; and adjusting a speed of the vehicle during cruise control via instructions provided by a processor of the vehicle when the vehicle performs a turning maneuver, the adjusting including: adjusting the cruise control based on the sensor data and in accordance with the instructions provided by the processor; reducing a speed of the vehicle during one or more first intervals of the turn maneuver so as to be less than a manually input speed for cruise control; and increasing a speed of the vehicle to return to a manually input speed for cruise control during one or more second intervals after the one or more first intervals of the turn maneuver based on the sensor data and in accordance with instructions provided by the processor.

Description

[0001] TECHNICAL FIELD The present invention relates generally to vehicles and, more particularly, to methods and systems for controlling a cruise control function for a vehicle while the vehicle is performing a turning maneuver. Background Art

[0002] Some vehicles today have a cruise control function in which the vehicle automatically maintains a preset speed input by the driver. However, existing vehicles may not always provide optimal speed adjustments when the vehicle is performing a turning maneuver.

[0003] Accordingly, it is desirable to provide improved methods and systems for controlling cruise control functions for a vehicle, including when the vehicle is performing a turning maneuver.In addition, other desirable features and characteristics of the present disclosure will become apparent from the subsequent detailed description and the appended claims, taken in conjunction with the accompanying drawings and the foregoing technical field and background. Summary of the invention

[0004] According to an exemplary embodiment, a method is provided, the method comprising: obtaining sensor data via one or more sensors of a vehicle; and when the vehicle performs a turning maneuver, adjusting the speed of the vehicle during cruise control by adjusting a cruise control speed setting, by braking, or both via instructions provided by a processor of the vehicle, the adjustment comprising: based on the sensor data and in accordance with the instructions provided by the processor, reducing the speed of the vehicle during one or more first intervals of the turning maneuver so as to be less than a speed manually input for the cruise control; and based on the sensor data and in accordance with the instructions provided by the processor, increasing the speed of the vehicle during one or more second intervals after the one or more first intervals of the turning maneuver so as to return to the speed manually input for the cruise control.

[0005] Also in the exemplary embodiment, when the user of the vehicle begins steering out of the turning maneuver, the reduction in the speed of the vehicle is terminated and an increase in the speed of the vehicle is initiated.

[0006] Also in an exemplary embodiment, the sensor data includes steering angle data regarding a steering angle of the vehicle; and in addition to a steering rate including a rate of change of the steering angle over time, a reduction in speed and subsequent increase in speed of the vehicle during a turning maneuver is performed based on the steering angle.

[0007] Furthermore, in an exemplary embodiment, the reduction in speed of the vehicle is performed when the steering rate is within a predetermined steering rate range and the steering angle is greater than a predetermined steering angle threshold, provided that cruise control is active for the vehicle.

[0008] Furthermore, in an exemplary embodiment, the increase in speed is performed when one or more of the following conditions are met: (a) the steering rate is no longer within a predetermined steering rate range; or (b) the steering angle is no longer greater than a predetermined steering angle threshold.

[0009] Also in an exemplary embodiment, the reduction in speed of the vehicle is performed when the steering rate is greater than a first predetermined steering rate threshold and less than a second predetermined threshold while the steering angle is greater than a predetermined steering angle threshold and cruise control is active for the vehicle.

[0010] Furthermore, in the exemplary embodiment, the reduction of the speed of the vehicle is performed under the additional condition that the speed of the vehicle is greater than a predetermined speed threshold.

[0011] Also in the exemplary embodiment, the reduction of the speed of the vehicle is performed based on the lateral acceleration or the comfort score determined using the steering angle and the steering rate.

[0012] Furthermore, in an exemplary embodiment, the lateral acceleration or comfort score is also determined using one or more additional conditions including tire pressure of one or more tires of the vehicle, a fuel level for the vehicle, or both.

[0013] In another exemplary embodiment, a system is provided, the system comprising a processor and one or more sensors. The one or more sensors are configured to obtain sensor data about a vehicle. The processor is coupled to the one or more sensors and is configured to at least facilitate: when the vehicle performs a turning maneuver, adjusting the speed of the vehicle during cruise control by adjusting a cruise control speed setting, by braking, or both, the adjustment comprising: reducing the speed of the vehicle during one or more first intervals of the turning maneuver so as to be less than a manually input speed for the cruise control; and increasing the speed of the vehicle during one or more second intervals after the one or more first intervals of the turning maneuver based on the sensor data so as to return to the manually input speed for the cruise control.

[0014] Further in the exemplary embodiment, the processor is further configured to facilitate at least terminating the decrease in speed and initiating an increase in the speed of the vehicle when a user of the vehicle initiates steering to exit a turning maneuver.

[0015] Additionally, in an exemplary embodiment, the one or more sensors include one or more steering angle sensors configured to obtain steering angle data regarding a steering angle of the vehicle; and the processor is further configured to facilitate at least: executing a reduction in speed and a subsequent increase in speed of the vehicle during a turning maneuver based on the steering angle in addition to a steering rate including a rate of change of the steering angle over time.

[0016] Further in the exemplary embodiment, the processor is further configured to facilitate at least: executing a reduction in the speed of the vehicle when the steering rate is within a predetermined steering rate range and the steering angle is greater than a predetermined steering angle threshold, provided that cruise control is active for the vehicle.

[0017] Additionally, in an exemplary embodiment, the processor is configured to at least facilitate: executing an increase in speed when one or more of the following conditions are met: (a) the steering rate is no longer within a predetermined steering rate range; or (b) the steering angle is no longer greater than a predetermined steering angle threshold.

[0018] Further in the exemplary embodiment, the processor is further configured to facilitate at least: performing a speed reduction when the steering rate is greater than a first predetermined steering rate threshold and less than a second predetermined threshold while the steering angle is greater than a predetermined steering angle threshold and cruise control is active for the vehicle.

[0019] Additionally, in an exemplary embodiment, the one or more sensors further include one or more speed sensors configured to obtain speed data regarding the speed of the vehicle; and the processor is further configured to at least facilitate performing a reduction in the speed of the vehicle under an additional condition in which the speed of the vehicle is greater than a predetermined speed threshold.

[0020] Additionally in the exemplary embodiment, the processor is further configured to facilitate at least: a reduction in speed of the vehicle based on a lateral acceleration or a comfort score determined by the processor using the steering angle and the steering rate.

[0021] Additionally, in an exemplary embodiment, the one or more sensors also include: one or more tire pressure sensors configured to obtain tire pressure data regarding the pressure of one or more tires of the vehicle, one or more fuel level sensors configured to obtain fuel level data regarding the fuel level for the vehicle, or both; and the processor is further configured to at least facilitate: determining the lateral acceleration or comfort score using one or more additional conditions including the tire pressure of one or more tires of the vehicle, the fuel level for the vehicle, or both.

[0022] In another exemplary embodiment, a vehicle is provided, the vehicle including a braking system, a drive system, and a control system for controlling cruise control for the vehicle. The control system includes a processor and one or more sensors. The one or more sensors are configured to obtain sensor data about the vehicle. The processor is coupled to the one or more sensors and is configured to at least facilitate: when the vehicle performs a turning maneuver, according to instructions provided to the braking system and the drive system, adjusting the speed of the vehicle during cruise control by adjusting the cruise control speed setting, by braking, or both, the adjustment comprising: reducing the speed of the vehicle during one or more first intervals of the turning maneuver so as to be less than the speed manually input for the cruise control; and increasing the speed of the vehicle during one or more second intervals after the one or more first intervals of the turning maneuver based on the sensor data so as to return to the speed manually input for the cruise control.

[0023] Additionally, in an exemplary embodiment, the one or more sensors include one or more steering angle sensors configured to obtain steering angle data regarding a steering angle of the vehicle; and the processor is further configured to facilitate at least: executing a reduction in speed and a subsequent increase in speed of the vehicle during a turning maneuver based on the steering angle in addition to a steering rate including a rate of change of the steering angle over time. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present disclosure will be described below in conjunction with the following drawings, wherein like numerals designate like elements, and wherein:

[0025] Figure 1 is a functional block diagram of a vehicle including a control system for controlling a cruise control function for the vehicle, including when the vehicle is performing a turning maneuver, according to an exemplary embodiment;

[0026] Figure 2 is a flow chart of a process for controlling a cruise control function for a vehicle, including when the vehicle is performing a turning maneuver, according to an exemplary embodiment, and the process may be combined with Figure 1 This is achieved by using a vehicle (including its control system and other components);

[0027] Figure 3 According to an exemplary embodiment Figure 2 A flowchart of the steps or sub-processes for cruise control adjustment via a speed adjustment algorithm based on steering angle, steering rate and other parameters; and

[0028] Figure 4 Depicted is a schematic diagram of an exemplary embodiment of the present invention. Figure 1 systems and Figure 2 and Figure 3An exemplary implementation of a process is shown in which the speed of a vehicle is shown as the vehicle performs a turning maneuver. DETAILED DESCRIPTION

[0029] The following detailed description is merely exemplary in nature and is not intended to limit the present disclosure or its application and uses. Furthermore, there is no intention to be bound by any theory presented in the preceding background or the following detailed description.

[0030] Figure 1 A vehicle 100 is shown according to an exemplary embodiment. As described in greater detail further below, according to an exemplary embodiment, the vehicle 100 includes a control system 102 configured for controlling cruise control functions for the vehicle, including implementation of speed adjustments when the vehicle is performing a turning maneuver.

[0031] In various embodiments, the vehicle 100 includes an automobile. The vehicle 100 may be any of several different types of automobiles, such as, for example, a sedan, a van, a truck, or a sport utility vehicle (SUV), and in some embodiments may be a two-wheel drive (2WD) (i.e., rear-wheel drive or front-wheel drive), a four-wheel drive (4WD), or an all-wheel drive (AWD), and / or various other types of vehicles. In some embodiments, the vehicle 100 may also include a motorcycle or other vehicle, such as an aircraft, a spacecraft, a boat, etc., and / or one or more other types of mobile platforms (e.g., a robot and / or other mobile platforms).

[0032] The vehicle 100 includes a body 104 disposed on a chassis 116. The body 104 substantially surrounds the other components of the vehicle 100. The body 104 and the chassis 116 may together form a frame. The vehicle 100 also includes a plurality of wheels 112. The wheels 112 are each rotationally coupled to the chassis 116 near a respective corner of the body 104 to facilitate movement of the vehicle 100. In one embodiment, the vehicle 100 includes four wheels 112, although this may vary in other embodiments (e.g., for trucks and certain other vehicles).

[0033] The drive system 110 is mounted on a chassis 116 and drives wheels 112, for example, via axles 114. In some embodiments, the drive system 110 includes a propulsion system. In some exemplary embodiments, the drive system 110 includes an internal combustion engine and / or an electric motor / generator coupled to its transmission. In some embodiments, the drive system 110 includes or is coupled to an accelerator pedal 111 that receives input from a driver of the vehicle 100. In some embodiments, at various times, the drive system 110 is controlled based on driver input and / or automatically controlled via the control system 102 (e.g., during cruise control and / or other automatic functions).

[0034] like Figure 1 As depicted, in various embodiments, the vehicle also includes a braking system 106 and a steering system 108. In an exemplary embodiment, the braking system 106 controls the braking of the vehicle 100 using braking components that are controlled via input provided by the driver (such as Figure 1 107) and / or automatically controlled via the control system 102 (e.g., during cruise control and / or other automatic functions). In addition, in an exemplary embodiment, the steering system 108 controls the steering of the vehicle 100 via steering components, such as Figure 1 106 and 107 (e.g., in connection with a steering column coupled to axle 114 and / or wheel 112), the steering component being controlled via input provided by a driver (e.g., via the steering wheel) and / or automatically controlled via control system 102 (e.g., during cruise control and / or other automatic functions).

[0035] exist Figure 1 In the depicted embodiment, the control system 102 is coupled to the drive system 110, the braking system 106, and the steering system 108, and controls cruise control functions for the vehicle 100. In certain embodiments, the control system 102 controls cruise control functions for the vehicle 100 (including during turns) as well as other vehicle functions. Figure 1 As depicted, in various embodiments, control system 102 includes sensor array 120 , cruise control interface 139 , and controller 140 .

[0036] In various embodiments, the sensor array 120 includes various sensors that obtain sensor data used to control cruise control functions (including during turns) and other functions for the vehicle 100. In the depicted embodiment, the sensor array 120 includes one or more cruise control input sensors 130, steering sensors 132, tire sensors 134, fuel sensors 136, and speed sensors 137. In certain embodiments, the sensor array 120 may also include other sensors 138.

[0037] In certain embodiments, the cruise control input sensor 130 receives user input (e.g., from the driver of the vehicle 100) regarding activation and deactivation of the cruise control function for the vehicle 100, as well as the speed setting for the cruise control when the cruise control is enabled. For example, in various embodiments, the driver presses a button, manipulates a knob or other device, provides input via a touch screen, etc., regarding when the driver wishes to use the cruise control, and the speed setting for the cruise control when the cruise control is used. In various embodiments, the cruise control input sensor 130 captures these user inputs.

[0038] Additionally, in certain embodiments, the steering sensor 132 captures the steering angle and changes thereto for the vehicle 100. In various embodiments, the steering sensor 132 includes one or more steering angle sensors that are part of or coupled to the steering wheel 109, the steering system 108, and / or one or more components thereof.

[0039] Additionally, in certain embodiments, tire sensors 134 capture sensor data regarding one or more tires of vehicle 100. In various embodiments, tire sensors 134 include one or more tire pressure sensors that are coupled to the tires and obtain data regarding the tire pressure of the tires.

[0040] Also in certain embodiments, the fuel sensor 136 captures sensor data regarding the fuel level of the vehicle 100. In various embodiments, the fuel sensor 136 includes one or more fuel tank sensors that are part of or coupled to the fuel tank of the vehicle 100.

[0041] Additionally, in certain embodiments, speed sensor 137 captures sensor data regarding the speed of vehicle 100. In various embodiments, speed sensor 137 includes one or more wheel speed sensors coupled to one or more wheels 112 of vehicle 100, and / or one or more other types of speed sensors.

[0042] In addition, in certain embodiments, as an example, other sensors 138 may include one or more other user input sensors (e.g., for obtaining user input regarding brake pedal 107, accelerator pedal 111, and / or other user input), and / or one or more other sensors configured to obtain other vehicle data (e.g., one or more cameras, accelerometers, etc.).

[0043] In various embodiments, the cruise control interface 139 facilitates driver interaction with the cruise control functionality for the vehicle 100. For example, in various embodiments, the cruise control interface may include one or more knobs, buttons, display screens, etc. that enable the driver to activate and deactivate the cruise control functionality and manually set a speed for the cruise control when using the cruise control, etc.

[0044] In various embodiments, the controller 140 is coupled to the sensor array 120 and receives sensor data therefrom. In various embodiments, the controller 140 is also coupled to the cruise control interface 139, as well as to the drive system 110, the braking system 106, the steering system 108, and other vehicle components. In various embodiments, the controller 140 controls the automatic functions of the vehicle 100, including the cruise control functions, and including when the vehicle 100 is performing a turning maneuver. Specifically, as in Figure 2-Figure 4 In various embodiments, as the vehicle 100 is turning, the controller 140 adjusts the speed of the vehicle 100 in a predefined manner, including an initial speed reduction followed by a subsequent speed increase of the vehicle 100 when performing the turning maneuver.

[0045] In various embodiments, the controller 140 comprises a computer system (also referred to herein as computer system 140), and includes a processor 142, a memory 144, an interface 146, a storage device 148, and a computer bus 150. In various embodiments, the controller (or computer system) 140 controls vehicle operation, including controlling automatic vehicle functions and detecting driver fraud with respect to such automatic functions, as well as other vehicle control functions. In various embodiments, the controller 140 controls the operation of the vehicle 100 in accordance with, for example, control of a cruise control function for the vehicle 100 (including during a turn). Figure 2 and Figure 3 The steps of process 200 and Figure 4 to provide these and other functions.

[0046] In various embodiments, the controller 140 (and in some embodiments, the control system 102 itself) is disposed within the body 104 of the vehicle 100. In one embodiment, the control system 102 is mounted on the chassis 116. In some embodiments, the controller 140 and / or the control system 102 and / or one or more components thereof may be disposed external to the body 104, such as on a remote server, in the cloud, or in other equipment in which image processing is performed remotely.

[0047] It will be appreciated that the controller 140 may be different in other ways. Figure 1 For example, the controller 140 may be coupled to or may otherwise utilize one or more remote computer systems and / or other control systems, such as part of one or more of the vehicle 100 devices and systems described above.

[0048] In the depicted embodiment, the computer system of controller 140 includes a processor 142, a memory 144, an interface 146, a storage device 148, and a bus 150. Processor 142 performs computational and control functions of controller 140 and may include any type of processor or multiple processors, a single integrated circuit such as a microprocessor, or any suitable number of integrated circuit devices and / or circuit boards that work in concert to implement the functionality of a processing unit. During operation, processor 142 executes one or more programs 152 contained within memory 144 and, as such, controls the general operation of controller 140 and the computer system of controller 140 (typically when performing the processes described herein, such as Figure 2 and Figure 3 The process of 200 and Figure 4 Implementation methods, and related contents are further described below).

[0049] The memory 144 can be any type of suitable memory, including various types of non-transitory computer-readable storage media. In some examples, the memory 144 is located and / or co-located on the same computer chip as the processor 142. In the depicted embodiment, the memory 144 stores the above-mentioned program 152 and stored values ​​157 (e.g., lookup tables, thresholds, and / or other values ​​related to the control of the cruise control for the vehicle 100).

[0050] The interface 146 allows, for example, communication from a system drive and / or another computer system to the computer system of the controller 140, and may be implemented using any suitable method and apparatus. In one embodiment, the interface 146 obtains various data from the sensor array 120 and other possible data sources. The interface 146 may include one or more network interfaces for communicating with other systems or components. The interface 146 may also include one or more network interfaces for communicating with a technician, and / or one or more storage interfaces connected to a storage device (such as storage device 148).

[0051] Storage device 148 may be any suitable type of storage device, including various types of direct access storage and / or other memory devices. In an exemplary embodiment, storage device 148 includes a program product from which memory 144 may receive a program 152 that performs one or more embodiments of one or more processes of the present disclosure, such as Figure 2 and Figure 3 The steps of process 200 and Figure 4In another exemplary embodiment, the program product may be directly stored in the memory 144 and / or a disk (e.g., disk 156) and / or otherwise accessed by the memory 144 and / or disk, such as referenced below.

[0052] The bus 150 is used to send programs, data, status and other information or signals between the various components of the computer system of the controller 140. The bus 150 can be any suitable physical or logical means of connecting the computer system and components. This includes but is not limited to direct hard-wired connections, fiber optics, infrared and wireless bus technologies. During operation, the program 152 is stored in the memory 144 and executed by the processor 142.

[0053] It will be understood that while this exemplary embodiment is described in the context of a fully functional computer system, those skilled in the art will recognize that the mechanisms of the present disclosure can be distributed as a program product using one or more types of non-transitory computer-readable signal-bearing media that are used to store the program and its instructions and to perform its distribution, such as a non-transitory computer-readable medium that carries the program and contains computer instructions stored therein for causing a computer processor (such as processor 142) to execute and run the program.

[0054] Figure 2 is a flow chart of a process 200 for controlling a cruise control function for a vehicle, including when the vehicle is performing a turning maneuver, according to an exemplary embodiment. In various embodiments, process 200 may be combined with Figure 1 The vehicle 100 (including its control system 102 and other components) is implemented.

[0055] like Figure 2 As depicted, process 200 begins at step 202. In one embodiment, process 200 begins while vehicle 100 is being operated, such as during a current vehicle drive. In certain embodiments, process 200 may also begin at the beginning of a vehicle drive or ignition cycle, such as when a driver approaches or enters vehicle 100, or when a driver turns on the vehicle and / or its ignition (e.g., by turning a key, actuating a key fob, or a start button, etc.). In one embodiment, the steps of process 200 are performed continuously during operation of vehicle 100.

[0056] At step 204, sensor data is obtained. In various embodiments, sensor data about the vehicle is obtained via Figure 1The sensor data of step 204 may be obtained from each of the sensors of the sensor array 120 of the vehicle. In some embodiments, the sensor data of step 204 includes sensors regarding the following: cruise control input from the driver (including activation of the cruise control, speed setting for the cruise control, etc.), steering angle of the vehicle 100 (and its changes), tire pressure of tires of the vehicle 100, fuel level of the fuel tank for the vehicle, speed of the vehicle, and other vehicle parameters related to user input and / or operation of the vehicle 100 in some embodiments.

[0057] In various embodiments, a steering rate is determined (step 206). In various embodiments, the steering rate of the vehicle 100 includes a rate of change of the steering angle of the vehicle 100 over time. In various embodiments, the steering rate is determined via Figure 1 The processor 142 determines based on the sensor data of step 204 based on the rate of change of the steering angle over a period of time (e.g., in some embodiments, within a fraction of a second to a few seconds).

[0058] In various embodiments, the sensor data is supplied to a speed adjustment algorithm or function (step 210). In various embodiments, the steering angle and steering rate (and in certain embodiments, other parameters of the sensor data or other parameters derived from the sensor data) are used as inputs for the speed adjustment algorithm for adjusting the speed of the vehicle 100 during cruise control operation, including when the vehicle 100 is performing a turning maneuver (e.g., when the vehicle 100 is making a turn or rounding a corner of a curved road, etc.).

[0059] In various embodiments, during a turning maneuver, the speed of the vehicle 100 is initially reduced in order to maintain a constant (or nearly constant) lateral acceleration or to maintain or optimize a comfort score for the vehicle 100 or the driver, respectively. Also in various embodiments, the speed of the vehicle 100 is subsequently increased, for example, when the user of the vehicle 100 begins to steer out of the turning maneuver. In various embodiments, the speed adjustment is based on information provided by the processor 142 to one or more vehicle systems (such as Figure 1 The automatic steering may be performed automatically according to the instructions of the drive system 110 and / or the braking system 106. In some embodiments, the automatic steering may also be applied via the steering system 108 in some cases; however, this may vary in other embodiments.

[0060] In various embodiments, the automatic control of the vehicle 100 includes both the speed adjustment 212 and the length of time 214 of the speed adjustment. In various embodiments, the speed adjustment is performed based on the length of time using the speed adjustment algorithm or function of step 210 via instructions provided by the processor 142.

[0061] like Figure 1As depicted, in certain embodiments, 210, 212, and 214 may be collectively referred to as a combined step 211 for cruise control adjustment via a speed adjustment algorithm. According to an exemplary embodiment, combined step 211 is performed in Figure 3 is shown in more detail in the following and will be combined with Figure 3 are described in more detail further on.

[0062] In various embodiments, the process then terminates at step 216 .

[0063] about Figure 4 , an exemplary implementation for process 200 (including its combined step 211) is provided. Figure 4 As depicted, exemplary diagram 400 depicts a representation of a speed 404 of vehicle 100 while performing a turning maneuver during a curve on a road. Figure 4 As depicted, in certain embodiments, as vehicle 100 approaches a turn, a decrease in vehicle speed 404 begins at point 405. In various embodiments, point 405 represents a braking point for vehicle 100 (ie, in accordance with instructions provided by processor 142).

[0064] In addition, Figure 4 As depicted, in various embodiments, after the vehicle 100 passes point 405, and as the vehicle 100 passes turn point 408, and until the vehicle 100 reaches point 412 at which the user of the vehicle 100 begins to steer out of the turning maneuver, the speed of the vehicle 100 is automatically reduced. Figure 4 As shown, in some embodiments, point 412 may correspond to the apex of a turning maneuver (i.e., a turn). In various embodiments, during these time periods, the speed of the vehicle 100 is automatically reduced by adjusting the cruise control speed setting of the vehicle 100, or by braking the vehicle 100, or both.

[0065] Next, in various embodiments, after the vehicle 100 reaches a point 412 at which the user begins steering the vehicle 100 out of a turning maneuver (e.g., a turn), the vehicle speed 404 is increased. In various embodiments, the speed of the vehicle 100 is automatically increased by adjusting the cruise control speed setting of the vehicle 100, and / or by reducing the braking of the vehicle 100, and / or otherwise increasing the propulsion of the vehicle 100. Further in various embodiments, this continues until an exit point 416 for the turn, after which the vehicle speed 404 is further automatically increased to its pre-turn level (i.e., to the speed level set by the driver for the cruise control) in accordance with instructions provided by the processor 142.

[0066] Reference now Figure 3 —According to an exemplary embodiment from Figure 2Flowchart of combined step 211 of process 200 for cruise control adjustment via a speed adjustment algorithm based on steering angle, steering rate, and other parameters.

[0067] like Figure 3 As depicted, in the exemplary embodiment, combining step 211 begins at step 302 .

[0068] In various embodiments, a determination is made as to whether the turn rate is within a predetermined range (step 304). In various embodiments, a processor (such as Figure 1 The processor 142 of the vehicle 100 determines whether the turning rate of the vehicle 100 is greater than the first predetermined turning rate threshold and less than the second predetermined turning rate threshold. In various embodiments, the second predetermined turning rate threshold is greater than the first predetermined turning rate threshold. In various embodiments, these determinations are made by Figure 1 The processor 142 makes the decision based on the sensor data.

[0069] In various embodiments, the first predetermined turning rate threshold indicates (for turning rates above this value) that the vehicle is making a turn. Also in various embodiments, the second predetermined turning rate threshold indicates (for turning rates below this value) that the vehicle 100 is making an actual turn, rather than just a sharp turn (e.g., around a pothole, or vehicle, or other object, etc.). For example, in one exemplary embodiment, the first predetermined turning rate threshold is approximately equal to two and a half degrees per second (2.5o / sec), and the second predetermined turning rate threshold is approximately equal to twenty degrees per second (20o / sec). However, these values ​​may vary in different embodiments. In various embodiments, these thresholds are stored in Figure 1 as the stored value 157 therein and is retrieved from the memory 144 .

[0070] In various embodiments, if it is determined that the steering rate is not within the predetermined range, the process proceeds to step 306. During step 306, the steering rate continues to be monitored using the updated sensor data via processor 142. In various embodiments, steps 304 and 306 are then repeated in various iterations until the steering rate is determined to be within the predetermined range in an iteration of step 304.

[0071] In various embodiments, once it is determined that the steering rate is within the predetermined range, the process proceeds to step 308. In various embodiments, during step 308, a determination is made as to whether the steering angle of the vehicle 100 (from the sensor data) is greater than a predetermined steering angle threshold. In various embodiments, this determination is made by Figure 1 The processor 142 makes the decision based on the sensor data.

[0072] In various embodiments, the predetermined steering angle threshold indicates (for steering angles above this value) that the vehicle is turning. For example, in one exemplary embodiment, the predetermined steering angle threshold is approximately equal to five degrees; however, this may vary in different embodiments. In various embodiments, this threshold is stored in Figure 1 as the stored value 157 therein and is retrieved from the memory 144 .

[0073] In various embodiments, if it is determined that the steering angle is not greater than the predetermined steering angle threshold, the process proceeds to step 306 described above, where the steering angle (along with the steering rate, as described above) continues to be monitored using updated sensor data via the processor 142. In various embodiments, steps 304-308 are then repeated in various iterations until it is determined in an iteration of step 308 that the steering angle is greater than the predetermined steering angle threshold.

[0074] In various embodiments, once it is determined that the steering angle is greater than the predetermined steering angle threshold, the process proceeds to step 310. In various embodiments, during step 310, a determination is made as to whether cruise control is active. In various embodiments, this determination is made by Figure 1 The processor 142 is based on sensor data, including, for example, based on sensor data reflecting input from the driver to initiate an active cruise control session for the vehicle 100.

[0075] In various embodiments, if it is determined that cruise control is not active, the process proceeds to step 306 described above, where the cruise control state (along with the steering rate and steering angle, as described above) continues to be monitored via processor 142 using updated sensor data. In various embodiments, steps 304-310 are then repeated in various iterations until it is determined in an iteration of step 310 that cruise control is active.

[0076] In various embodiments, once it is determined that cruise control is active, the process proceeds to step 312. In various embodiments, during step 312, a determination is made as to whether one or more additional conditions for cruise control adaptation for the turning maneuver are met. In various embodiments, this determination is made by Figure 1 The processor 142 is based on sensor data, including, for example, sensor data reflecting the speed of the vehicle 100 and other possible parameters.

[0077] For example, in some embodiments, one or more additional conditions may include the speed of the vehicle 100 being greater than a predetermined speed threshold. For example, in some embodiments, the additional conditions may include the speed of the vehicle 100 being greater than approximately fifty miles per hour (50 mph); however, this may vary in other embodiments.

[0078] In various embodiments, if it is determined that one or more additional conditions are not satisfied, the process proceeds to step 306 described above, where further monitoring of the additional conditions (along with the cruise control state and the steering rate and steering angle, as described above) is performed using updated sensor data via processor 142. In various embodiments, steps 304-312 are then repeated in various iterations until each of the additional conditions is determined to be satisfied in an iteration of step 312.

[0079] In various embodiments, once it is determined that each of the additional conditions are satisfied (along with the other conditions described above), the process proceeds to step 314. In various embodiments, during step 314, a determination is made regarding the lateral acceleration for the vehicle 100. Additionally, in certain embodiments, a comfort score is also determined for the vehicle 100 that is based at least in part on the lateral acceleration. In various embodiments, these determinations are made via Figure 1 The processor 142 makes this decision based on known vehicle characteristics (e.g., size, weight, etc. as stored in the memory 144 as stored values ​​157 therein) and current sensor states of various parameters including, but not limited to, steering angle and steering rate.

[0080] In some embodiments, the determination of step 314 also utilizes other sensor data 313. For example, in some embodiments, the processor 142 determines the lateral acceleration or the comfort score (or both) based not only on the parameters described above (including steering angle, steering rate, and known vehicle characteristics), but also on additional sensor data 313 that may include tire pressure of one or more tires of the vehicle 100, the fuel level of a fuel tank of the vehicle 100, and / or other sensor values.

[0081] In various embodiments, the vehicle speed is reduced (step 316). Specifically, in various embodiments, the processor 142 automatically reduces the speed of the vehicle 100 based on instructions provided to the drive system 110 and / or the braking system 106 of the vehicle 100 to take into account the turning maneuver (e.g., turning) that the vehicle 100 is performing.

[0082] In various embodiments, during step 316, the speed of the vehicle 100 is reduced to below the cruise control setting set by the driver. In various embodiments, the speed of the vehicle 100 is reduced by adjusting the cruise control speed setting of the vehicle 100, by braking the vehicle 100, or both. Also in various embodiments, the speed is reduced by a specific magnitude and amount of time based at least in part on the lateral acceleration and / or comfort score determined in step 314. In certain embodiments, the speed is automatically reduced by an amount that will keep the lateral acceleration below a predetermined threshold during the turn and / or optimize the comfort score or keep the comfort score at a predetermined level during the turn.

[0083] refer to Figure 4 In various embodiments, during step 316, the speed 404 of the vehicle 100 is greater than the speed 404 of the vehicle 100 when the vehicle 100 reaches Figure 4 The braking point 405 is automatically reduced after that, and when the vehicle 100 reaches Figure 4 The turning point 408 is further reduced. In various embodiments, the automatic reduction in the speed of the vehicle 100 is achieved by automatically adjusting the cruise control speed setting for the vehicle 100, or via braking of the vehicle 100, or both.

[0084] Return to reference Figure 3 , in various embodiments, during step 318, a determination is made as to whether the conditions for a reduced vehicle speed are no longer met. Specifically, in various embodiments, a determination is made as to whether one or more of the conditions of steps 304, 308, 310, and / or 312 are no longer met. For example, in certain embodiments, the conditions for a reduced vehicle speed are no longer met if the steering rate is no longer within a predetermined range of step 304, the steering angle is no longer greater than a predetermined speed threshold of step 308, cruise control is no longer active as determined in step 310 (e.g., if the driver turns off cruise control), one or more other conditions of step 312 are no longer met, and / or any combination thereof. In certain embodiments, these determinations are made by Figure 1 The processor 142 is made.

[0085] In various embodiments, if it is determined in step 318 that the conditions for the reduced vehicle speed are still met, the process returns to step 306 described above, where further monitoring of various conditions is performed using updated sensor data via processor 142. In various embodiments, steps 304-318 are then repeated in various iterations until it is determined in an iteration of step 318 that one or more of the conditions for the reduced vehicle speed are no longer met.

[0086] In various embodiments, once it is determined that one or more of the conditions for the reduced vehicle speed are no longer met, the process proceeds to step 320. In various embodiments, during step 320, the speed of the vehicle 100 is automatically increased. Specifically, in various embodiments, the speed of the vehicle 100 is gradually increased in order to return to the cruise control setting that was set by the driver. Also in various embodiments, the speed is returned to this value by instructions provided by the processor 142 to the drive system 110 and / or the brake system 106 of the vehicle 100.

[0087] In various embodiments, the vehicle speed is automatically and gradually increased by a certain constant (or approximately constant) speed amount over a period of time in this manner until the vehicle speed returns to the cruise control setting previously manually entered by the driver. For example, in one embodiment, the vehicle speed is increased by approximately two miles per hour (2 mph) per second until it reaches the cruise control setting entered by the user; however, in other embodiments, this rate may vary.

[0088] refer to Figure 4 In various embodiments, during step 320, the speed 404 of the vehicle 100 is Figure 4 For example, in some embodiments, the automatic increase in the speed of the vehicle 100 is performed at point 412 when the user begins to turn to exit the turning maneuver, and in some embodiments, this continues until and beyond Figure 4 Exit point 416.

[0089] Return to reference Figure 3 , in some embodiments, the process then terminates at step 322 .

[0090] Thus, methods, systems, and vehicles are provided for controlling a cruise control function for a vehicle, including during a turning maneuver (e.g., a turn) performed by the vehicle. Specifically, in various embodiments, during a turning maneuver, steering angle, steering rate, and other parameters are used for automatic adjustments to the vehicle's speed as part of the cruise control function for the vehicle, including an initial speed reduction as the vehicle enters the turn, and a subsequent speed increase after the user begins steering out of the turning maneuver, which speed increase is used to return to the cruise control setting manually entered by the user.

[0091] It will be understood that the systems, vehicles, and methods may vary from those depicted in the figures and described herein. Figure 1 The vehicle 100, its control system 102, and / or Figure 1 Its components may vary in different embodiments. Similarly, it will be understood that the steps of process 200 may vary. Figure 2 and Figure 3The steps depicted in, and / or various steps of process 200 may occur simultaneously and / or in parallel. Figure 2 and Figure 3 Similarly, it will be understood that Figure 4 The implementation of may also be different in various embodiments.

[0092] Although at least one exemplary embodiment has been presented in the foregoing detailed description, it should be understood that there are a large number of variations. It should also be understood that the exemplary embodiment or multiple exemplary embodiments are only examples and are not intended to limit the scope, applicability or configuration of the present disclosure in any way. Specifically, the foregoing detailed description will provide a convenient roadmap for implementing the exemplary embodiment or multiple exemplary embodiments for those skilled in the art. It should be understood that various changes can be made to the functions and arrangements of the elements without departing from the scope of the present disclosure as set forth in the attached claims and their legal equivalents.

Claims

1. A method comprising: obtaining sensor data via one or more sensors of the vehicle; as well as When the vehicle performs a turning maneuver, via instructions provided by a processor of the vehicle, adjusting the speed of the vehicle during cruise control by adjusting a cruise control speed setting, by braking, or both, the adjustment comprising: reducing the speed of the vehicle during one or more first intervals of the turning maneuver to be less than a manually input speed for the cruise control based on the sensor data and in accordance with the instructions provided by the processor; as well as Based on the sensor data and in accordance with the instructions provided by the processor, the speed of the vehicle is increased during one or more second intervals following the one or more first intervals of the turning maneuver to return to the manually entered speed for the cruise control. 2 . The method of claim 1 , wherein the reduction in the speed of the vehicle is terminated and the increase in the speed of the vehicle is initiated when a user of the vehicle begins to steer out of the turning maneuver.

3. The method according to claim 1, wherein: The sensor data includes steering angle data regarding a steering angle of the vehicle; and The reduction in the speed of the vehicle during the turning maneuver and the subsequent increase in the speed are performed based on the steering angle in addition to a steering rate that includes a rate of change of the steering angle over time.

4. The method of claim 3, wherein the reduction of the speed of the vehicle is performed when the steering rate is within a predetermined steering rate range and the steering angle is greater than a predetermined steering angle threshold, provided that the cruise control is active for the vehicle.

5. The method of claim 4, wherein the increase in speed is performed when one or more of the following conditions are met: (a) the steering rate is no longer within the predetermined steering rate range; or (b) the steering angle is no longer greater than the predetermined steering angle threshold.

6. The method of claim 4, wherein the reduction in the speed of the vehicle is performed when the steering rate is greater than a first predetermined steering rate threshold and less than a second predetermined threshold while the steering angle is greater than the predetermined steering angle threshold and the cruise control is active for the vehicle. 7 . The method of claim 4 , wherein the reduction of the speed of the vehicle is performed under the additional condition that the speed of the vehicle is greater than a predetermined speed threshold. 8 . The method of claim 3 , wherein the reducing of the speed of the vehicle is performed based on a lateral acceleration or a comfort score determined using the steering angle and the steering rate.

9. The method of claim 8, the lateral acceleration or comfort score also being determined using one or more additional conditions including tire pressure of one or more tires of the vehicle, a fuel level for the vehicle, or both.

10. A system comprising: one or more sensors configured to obtain sensor data about the vehicle; as well as a processor coupled to the one or more sensors and configured to facilitate at least: adjusting a speed of the vehicle during cruise control by adjusting a cruise control speed setting, by braking, or both, when the vehicle performs a turning maneuver, the adjusting comprising: reducing the speed of the vehicle during one or more first intervals of the turning maneuver to be less than a manually input speed for the cruise control; as well as Based on the sensor data, the speed of the vehicle is increased during one or more second intervals following the one or more first intervals of the turning maneuver to return to the manually entered speed for the cruise control.

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