Multi-stage procedure for proposing the activation of an engine brake

Abstract

A multi-stage procedure (100) for engine braking, comprising: Monitoring (104), by means of a vehicle control system (34), the engine speed of an internal combustion engine (25); The control (34) compares (106) the motor speed with a predetermined braking speed threshold to determine whether the motor speed is greater than the predetermined braking speed threshold; and In response to the detection that the engine speed is greater than the specified braking speed threshold, switching (110) the vehicle (10) into an engine braking mode, furthermore, including monitoring the vehicle speed (10), furthermore, comprehensively determining whether a vehicle cruise control mode (10) is switched on, furthermore, in response to the finding that the vehicle's cruise control mode (10) is engaged, the comparison of the vehicle speed with the sum of a set speed and a predetermined speed margin to determine whether the vehicle speed is greater than the sum of the set speed and the predetermined speed margin, where the engine braking mode is switched in response to: In a first stage, determine that the engine speed is greater than the specified braking speed threshold; and In a second stage, determine that the vehicle speed is greater than the sum of the set speed of the speed control and the specified speed margin. furthermore, comprehensively updating a head-up display of the vehicle (10) to show that engine braking should be activated, where switching to engine braking mode includes activating the vehicle's engine brake (10) to decelerate the vehicle (10), furthermore, comprehensively updating a head-up display of the vehicle (10) to show that engine braking has been activated, furthermore, comprising receiving images from a reversing camera of the vehicle (10), further comprising recognizing a trailer based on the images taken by the reversing camera of the vehicle (10), in response that a trailer has been recognized, in a third stage, determining the size of the trailer, in response that the trailer is larger than a specified size threshold, switching to engine braking mode.

Description

INTRODUCTION

[0001] The present disclosure relates to a multi-stage method for initiating engine braking activation.

[0002] Engine braking is useful for slowing a vehicle under certain circumstances. Therefore, it is desirable to develop a procedure that suggests the driver to activate engine braking when certain conditions are detected.

[0003] DE 10 2008 023 134 A1 relates to a method and a device for determining the switching-on and switching-off condition for an engine braking device of a continuous braking system of a vehicle, in particular a commercial vehicle, in which, depending on predetermined driving parameters, a continuous braking torque is set on an output shaft of a drive train by means of a braking torque requested by a control device of the continuous braking system, an engine braking device and a retarder device.

[0004] CN 1 09 339 956 A discloses a method, apparatus, and system for initiating exhaust braking. A driver does not need to initiate exhaust braking manually, and if the speed information meets the first condition, exhaust braking is initiated automatically.

[0005] DE 10 2013 020 448 A1 relates to a method for operating a motor vehicle comprising an internal combustion engine, comprising the steps of: - detecting an actual speed of the motor vehicle by means of at least one sensor; - comparing the actual speed with a predeterminable target speed; - adjusting the actual speed to the target speed by means of at least one actuating element of the motor vehicle.

[0006] KR 10 2000 0 074 791 A describes a method for controlling an automatic cruise control system for a vehicle, which is intended to automatically restart an automatic cruise control function after the automatic cruise control function has been temporarily released.

[0007] DE 100 62 222 A1 describes a method for requesting braking performance support systems for a vehicle, whereby at the start of a retarder braking an electrically switched thermostat or an electric water pump is preventively switched on for optimal use of the vehicle cooling system, whereby other existing systems are switched on for support depending on the current conditions.

[0008] DE 10 2017 106 952 A1 relates to a method for controlling a distance of a vehicle from a next vehicle in front, wherein the vehicle has a trailer connected thereto. DESCRIPTION

[0009] The object is achieved by the subject matter of the method according to claim 1.

[0010] The present disclosure generally relates to a multi-stage method for engine braking. In a diesel engine, the vehicle operator may need to manually activate the engine brake using a switch or dial within the vehicle. If the vehicle requires engine braking and the vehicle operator forgets to activate the engine brake, the engine could overspeed and damage the bearing. The method disclosed herein pursues ways to detect a vehicle requiring engine braking and prompt the vehicle operator to activate engine braking. Advantageously, the method disclosed herein protects the engine and minimizes stress on the engine, particularly at higher towing capacities.The method disclosed here identifies the vehicle in a variety of ways, including but not limited to using a rearview camera to identify a trailer attached to the vehicle, calculating road load, comparing the cruise control speed to the actual vehicle speed to identify a possible runaway, the grade of the road, looking ahead at GPS data when approaching high terrain or hills, and a combination of the above factors.

[0011] The presently disclosed multi-stage method for engine braking includes: monitoring, by a controller of a vehicle, the engine speed of an internal combustion engine; comparing, by the controller, the engine speed to a predetermined braking speed threshold to determine whether the engine speed is greater than the predetermined braking speed threshold; and, in response to determining that the engine speed is greater than the predetermined braking speed threshold, switching the vehicle to an engine braking mode.

[0012] The method further includes monitoring the vehicle speed of the vehicle. The method may further include determining that the cruise control mode of the vehicle is engaged. In response to determining that the cruise control mode of the vehicle is engaged, the method may further include comparing the vehicle speed to a sum of a cruise control set speed of the cruise control mode and a predetermined speed range to determine if the vehicle speed is greater than the sum of the set speed and the predetermined speed range. Switching to the engine braking mode occurs in response to: determining that the engine speed is greater than the predetermined braking speed threshold; and determining that the vehicle speed is greater than the cruise control set speed.The method may further include updating a head-up display of the vehicle to indicate that engine braking should be activated. Switching to engine braking mode may include activating the vehicle's engine braking to decelerate the vehicle. The method may further include updating a head-up display of the vehicle to indicate that engine braking has been activated. The method may also include receiving images from a rearview camera of the vehicle. The method may further include detecting a trailer based on the images captured by the vehicle's rearview camera.

[0013] The method further includes monitoring the vehicle speed of the vehicle and determining whether a cruise control mode of the vehicle is activated. The method may further include comparing the vehicle speed to a cruise control set speed to determine whether the vehicle cruise control mode is activated. The method may further include determining that the vehicle speed is greater than the cruise control set speed. Switching to engine braking mode may occur in response to: determining that the engine speed is greater than the predetermined braking speed threshold; and determining that the vehicle speed is greater than the cruise control set speed.

[0014] Switching the vehicle to engine braking mode by the controller includes activating engine braking to decelerate the vehicle. The method may further include updating a head-up display of the vehicle to indicate that engine braking has been activated. The method may further include monitoring Global Positioning System (GPS) data received from a GPS device of the vehicle. The GPS data includes road grade data, and the grade data is data indicative of a grade of the road on which the vehicle is currently traveling and / or the grade data is data indicative of a grade of the road a predetermined distance ahead of the vehicle. The method may further include comparing the road grade to a predetermined grade threshold.The method may further include determining that the grade of the road is greater than the predetermined grade threshold. The method may include switching the vehicle into engine braking mode if it is determined that the grade of the road is greater than the predetermined grade threshold. Switching the vehicle into engine braking mode may include activating the vehicle into engine braking mode to decelerate the vehicle. The method may further include updating a head-up display of the vehicle to indicate that engine braking has been activated.

[0015] The present disclosure also includes a vehicle system. The vehicle system includes a plurality of sensors. The sensors include an engine speed sensor and a vehicle speed sensor. The vehicle system further includes a controller that communicates with the sensors. The controller is programmed to perform the method described above.

[0016] The above features and advantages, as well as other features and advantages of the present teachings, are readily apparent from the following detailed description of some of the preferred embodiments and other embodiments for carrying out the present teachings, as defined in the appended claims, when taken in conjunction with the accompanying figures. BRIEF DESCRIPTION OF THE CHARACTERS Fig. 1 is a schematic block diagram of a vehicle. Fig. 2 is a flowchart of a method for activating engine braking. DETAILED DESCRIPTION

[0017] The following detailed description is merely exemplary and is not intended to limit the application and use. Furthermore, there is no intention to be bound by any express or implied theory presented in the preceding sections or the following detailed description. As used herein, the term "module" refers to hardware, software, firmware, electronic control component, processing logic, and / or processor device, individually or in any combination thereof, including, but not limited to: application-specific integrated circuit (ASIC), an electronic circuit, a processor (common, dedicated, or grouped) and memory executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that provide the described functionality.

[0018] Embodiments of the present disclosure may be described herein in terms of functional and / or logical block components and various processing steps. It should be appreciated that such block components may be implemented by a variety of hardware, software, and / or firmware components configured to perform the specified functions. For example, an embodiment of the present disclosure may utilize various integrated circuit components, e.g., memory elements, digital signal processing elements, logic elements, lookup tables, or the like, capable of performing a variety of functions under the control of one or more microprocessors or other control devices.Furthermore, those skilled in the art will appreciate that embodiments of the present disclosure may be practiced in connection with a variety of systems and that the systems described herein are merely exemplary embodiments of the present disclosure.

[0019] For the sake of brevity, techniques for signal processing, data fusion, signaling, control, and other functional aspects of the systems (and the individual operating components of the systems) are not described in detail here. Furthermore, the connecting lines shown in the various figures are intended to represent exemplary functional relationships and / or physical couplings between the various elements. It should be noted that alternative or additional functional relationships or physical connections may be present in an embodiment of the present disclosure.

[0020] As in Fig. As shown in Figure 1, the vehicle 10 typically consists of a chassis 12, a body 14, and front and rear wheels 17, and can be referred to as the host vehicle. The body 14 is arranged on the chassis 12 and essentially encloses components of the vehicle 10. The body 14 and the chassis 12 together can form a frame. The wheels 17 are each rotationally coupled to the chassis 12 near a corner of the body 14.

[0021] In various embodiments, the vehicle 10 may be an autonomous vehicle, and a control system 98 is installed in the vehicle 10. The control system 98 may simply be referred to as a system or vehicle system. The control system 98 includes a cruise control. Cruise control allows the vehicle 10 to enter a cruise control mode and set a cruise control speed. In cruise control mode, the vehicle operator can set a speed set by the cruise control. Then, when the cruise control is activated, the vehicle 10 maintains the set speed without requiring the brake or accelerator pedal to be applied. For example, the vehicle 10 is an automatically controlled vehicle that transports passengers from one location to another.The vehicle 10 is illustrated as a passenger car in the depicted embodiment, but it should be appreciated that other vehicles, including motorcycles, trucks, sport utility vehicles (SUVs), recreational vehicles (RVs), watercraft, aircraft, etc., may also be used. In an exemplary embodiment, the vehicle 10 is a so-called level four or level five automation system. A level four automation system indicates "high automation" and refers to the drive mode-specific performance of an automated driving system with respect to aspects of the dynamic driving task, even when a human driver does not appropriately respond to a request for intervention.A Level Five automation system means “full automation” and refers to the full-time performance of an automated driving system in aspects of the dynamic driving task under a range of road and environmental conditions that can be handled by a human driver.

[0022] As shown, the vehicle 10 generally includes a propulsion system 20, a transmission system 22, a steering system 24, a braking system 26, a sensor system 28, an actuator system 30, at least one data storage device 32, at least one controller 34, and a communication system 36. The propulsion system 20, in various embodiments, may include an electric machine, such as a traction motor and / or a fuel cell propulsion system. The vehicle 10 also includes a battery (or battery pack) 21 electrically connected to the propulsion system 20. Accordingly, the battery 21 is configured to store electrical energy and supply electrical energy to the propulsion system 20. Additionally, the propulsion system 20 may include an internal combustion engine 25. The internal combustion engine 25 may be a diesel engine.The drive system 20 includes an engine brake 27 fluidly coupled between the internal combustion engine 25 and an exhaust manifold 29. The engine brake 27 may be referred to as an engine brake and is a valve configured to move between an open and a closed position. In the closed position, the engine brake 27 excludes exhaust gases from the fluid from the internal combustion engine 25 to the exhaust manifold 29. The transmission system 22 is configured to transfer power from the drive system 20 to the vehicle wheels 17 according to selectable speed ratios. Depending on the design, the transmission system 22 may include a stepped automatic transmission, a continuously variable transmission, or other suitable transmission. The braking system 26 is configured to provide braking torque to the vehicle wheels 17.The braking system 26 may, in various embodiments, include friction brakes, wire brakes, a regenerative braking system such as an electric machine, and / or other suitable braking systems. The steering system 24 influences a position of the vehicle wheels 17. Although the steering system 24 is shown with a steering wheel for illustrative purposes, it may not include a steering wheel in some embodiments contemplated by this disclosure.

[0023] The sensor system 28 includes one or more sensors 40 (i.e., sensor devices) that sense observable conditions of the external environment and / or the internal environment of the vehicle 10. The sensors 40 may include, but are not limited to, radars, lidars, GPS (Global Positioning System) devices, one or more cameras (e.g., optical cameras and / or thermal imaging cameras), ultrasonic sensors, one or more engine speed sensors for measuring the engine speed of the internal combustion engine 25, and / or other sensors. The sensors 40 also include a rearview camera for capturing images from behind the vehicle 10 and a front-facing camera for capturing images in front of the vehicle 10. The sensors 40 may include gyroscopes for measuring road inclination and / or an internal measurement unit (IMU) for measuring the accelerator and angle of motion of the vehicle 10.The IMU may include an accelerometer for measuring the acceleration of the vehicle 10 and one or more gyroscopes for measuring the angle of the vehicle 10. The IMU may also measure the gradient of the road on which the vehicle 10 is traveling. The sensors 40 may also include one or more accelerometers that can be used to measure the road grade. The sensors 40 may include one or more GPS devices 40g. The GPS device 40g can be used to look ahead of the terrain to detect approaching hills or high terrain and thus determine the grade of the road. The actuator system 30 includes one or more actuator devices 42 that control one or more vehicle features such as, but not limited to, the drive system 20, the transmission system 22, the steering system 24, and the braking system 26.In various embodiments, the vehicle features may further include interior and / or exterior features of the vehicle, such as, but not limited to, doors, a trunk, and cabin features such as air, music, lighting, etc. (unnumbered). The sensing system 28 includes one or more Global Positioning System (GPS) transceivers 40g configured to detect and monitor the track data (i.e., the track information). The GPS transceiver 40g is configured to communicate with a GPS to determine the position of the vehicle 10 on the globe. The GPS transceiver 40g is in electronic communication with the controller 34. Since the sensor system 28 provides object data to the controller 34, the sensor system 28 and its sensors 40 are considered information sources (or simply sources).

[0024] The data storage device 32 stores data for use in the automatic control of the vehicle 10. In various embodiments, the data storage device 32 stores defined maps of the navigable environment. In various embodiments, the defined maps may be predefined and obtained from a remote system (described in more detail with respect to Fig. 2). The defined maps can, for example, be compiled by the remote system and transmitted to the vehicle 10 (wirelessly and / or wired) and stored in the data storage device 32. As can be imagined, the data storage device 32 can be part of the controller 34, separate from the controller 34, or part of the controller 34 and a separate system.

[0025] The controller 34 includes at least one processor 44 and a non-transitory computer-readable storage device or medium 46. The processor 44 may be a custom or off-the-shelf processor, a central processing unit (CPU), a graphics processing unit (GPU), an auxiliary processor among a plurality of processors connected to the controller 34, a semiconductor-based microprocessor (in the form of a microchip or chipset), a macroprocessor, a combination thereof, or generally any device for executing instructions. The computer-readable storage device or media 46 may include, for example, volatile and non-volatile storage in read-only memory (ROM), random access memory (RAM), and keep-alive memory (KAM). KAM is persistent or non-volatile memory that can be used to store various operating variables while the processor 44 is powered off.The computer-readable storage device or medium 46 may be implemented using a variety of storage devices such as PROMs (programmable read-only memory), EPROMs (electrical PROM), EEPROMs (electrically erasable PROM), flash memory, or other electrical, magnetic, optical, or combination storage devices for storing data, some of which represent executable instructions used by the controller 34 to control the vehicle 10.

[0026] The instructions may include one or more separate programs, each containing an ordered list of executable instructions for implementing logical functions. The instructions, when executed by processor 44, receive and process signals from sensor system 28, execute logic, calculations, methods, and / or algorithms to automatically control the components of vehicle 10, and generate control signals to actuator system 30 to automatically control the components of vehicle 10 based on the logic, calculations, methods, and / or algorithms. Although a single controller 34 in Fig. 1, embodiments of the vehicle 10 may include a number of controllers 34 that communicate via a suitable communication medium or combination of communication media and that cooperate to process the sensor signals, perform logic, calculations, methods and / or algorithms, and generate control signals for automatically controlling features of the vehicle 10.

[0027] In various embodiments, one or more instructions from controllers 34 are embedded in control system 98. Vehicle 10 includes a user interface 23, which may be a head-up display and / or a touchscreen in the instrument panel. User interface 23 is in electronic communication with controller 34 and is configured to receive inputs from a user (e.g., vehicle operator).

[0028] Accordingly, the controller 34 is configured to receive user inputs via the user interface 23. The user interface 23 includes a head-up display configured to display information to the user (e.g., vehicle driver or passenger).

[0029] The communication system 36 is configured to wirelessly transmit information to and from other units 48, such as, but not limited to, other vehicles (“V2V” communication), infrastructure (“V2I” communication), remote systems, and / or personal devices (described in more detail with respect to Fig. 2). In an exemplary embodiment, the communication system 36 is a wireless communication system configured for communication over a wireless local area network (WLAN) using the IEEE 802.11 standards or through cellular data communication. However, additional or alternative communication methods, such as a dedicated short-range communication channel (DSRC), are also contemplated within the scope of this disclosure. DSRC channels refer to one-way or two-way, short- to medium-range communication channels specifically designed for use in motor vehicles, as well as a corresponding set of protocols and standards. Accordingly, the communication system 36 may include one or more antennas and / or transceivers for receiving and / or transmitting signals, such as CSMs (Cooperative Sensing Messages).

[0030] Fig. 1 is a schematic block diagram of the control system 98 configured to control the vehicle 10. The controller 34 of the control system 98 is in electronic communication with the braking system 26, the drive system 20, and the sensor system 28. The braking system 26 includes one or more brake cylinders (e.g., brake calipers) coupled to one or more wheels 17.

[0031] When actuated, the brake cylinders apply braking pressure to one or more wheels 17 to decelerate the vehicle 10. The drive system 20 includes one or more drive actuators for controlling the vehicle's propulsion 10. For example, as discussed above, the drive system 20 may include an internal combustion engine, in which case the drive actuator may be a throttle valve configured to control airflow within the internal combustion engine. The sensor system 28 may include one or more accelerometers (or one or more gyroscopes) coupled to one or more wheels 17. The accelerometer is in electronic communication with the controller 34 and is configured to measure and monitor the longitudinal and lateral accelerations of the vehicle 10.The sensor system 28 may include one or more vehicle speed sensors 40s configured to measure the speed (or velocity) of the vehicle 10. The vehicle speed sensor is coupled to the controller 34 and is in electronic communication with one or more wheels 17.

[0032] With reference to Fig. 2, a method 100 for engine braking is shown. The method 100 begins at block 102. After block 102, the method 100 proceeds to block 104. Block 104 includes monitoring an engine speed (e.g., revolutions per minute (RPM)) of an internal combustion engine 25 by the controller 34 of the vehicle 10. The controller 34 may receive the engine speed from the engine speed sensor (e.g., one of the sensors 40). Block 104 also includes monitoring a vehicle speed (e.g., miles per hour (mpg)) of the vehicle 10 by the controller 34 of the vehicle 10.

[0033] To this end, controller 34 may receive the vehicle speed via the speed sensor (i.e., one of sensors 40). Block 104 also includes the controller 34 determining whether cruise control mode is engaged (i.e., enabled). Block 104 may also include monitoring road loading when cruise control mode is disengaged. Road loading is the output torque 10 generated by the vehicle, which may be determined by controller 34. After block 104, method 100 proceeds to block 106.

[0034] In block 106, controller 34 compares the engine speed to a predetermined braking speed threshold to determine whether the engine speed is greater than the predetermined braking speed threshold. The predetermined braking speed is application-specific and can be determined by testing the vehicle 10. After block 106, method 100 proceeds to block 108.

[0035] At block 108, if the cruise control mode is determined to be engaged, the controller 34 compares the vehicle speed of the vehicle 10 to the sum of the cruise control set speed and a predetermined speed range to detect a potential spin condition (i.e., to determine whether the vehicle speed is greater than the sum of the cruise control set speed and the predetermined speed range). As explained above, the vehicle operator may set the cruise control speed via the user interface 23. The method 100 then proceeds to block 110.

[0036] At block 110, the controller 34 switches the vehicle 10 to engine braking mode in response to: (1) determining that the engine speed is greater than the predetermined braking speed threshold; and (2) determining that the vehicle speed of the vehicle 10 is greater than the sum of the set speed of the cruise control and a predetermined speed margin. In some embodiments, switching the vehicle 10 to engine braking mode means activating engine braking of the vehicle 10 to decelerate the vehicle 10. The term "engine braking" means the deceleration of a diesel engine by closing off the exhaust path from the engine, thereby compressing the exhaust gases in the exhaust manifold and cylinder. To do this, the engine brake 27 switches from its open position to the closed position to close the exhaust path from the internal combustion engine 25. After block 110, the method 100 proceeds to block 112.

[0037] Further in block 110, the controller 34 commands the head-up display (or other display) of the user interface 23 to perform the update to indicate that engine braking should be activated. To this end, the user interface 23 (e.g., head-up display or instrument panel) may display (or otherwise) an icon indicating engine braking to indicate to the vehicle operator that engine braking should be activated. In other words, it is suggested (via the user interface 23) that engine braking should be activated. Alternatively, after the controller 34 automatically activates engine braking, the controller 34 commands the head-up display (or other display) of the user interface 23 to show that engine braking of the vehicle 10 has been activated.For this purpose, the head-up display of the user interface 23 may display an icon indicating engine braking to indicate to the vehicle operator that engine braking has been activated. Then, the method 100 may end at block 118. However, the method 100 includes a different path that begins at block 114.

[0038] At block 114, the controller 34 monitors a gradient of the road on which the vehicle 10 is currently traveling. To this end, the controller 34 may monitor the GPS (Global Positioning System) data received from the GPS device 40g of the vehicle 10. The GPS device 40g includes a transmitter to receive GPS data from a GPS. The GPS data also includes road grade data. Road grade data is data indicative of a road gradient on which the vehicle is traveling. The controller 34 may additionally or alternatively receive the road grade from other sensors 40, such as an IMU, accelerometer, and / or gyroscope. At block 114, the controller 34 may also use one of the sensors 40 (e.g., a rearview camera) to determine where a trailer is attached to the rear of the vehicle 10. To do so, the controller 34 receives images captured by the rearview camera of the vehicle 10.At block 114, the controller 34 also monitors the gradient of the road located a predetermined distance ahead of the vehicle 10 using one or more sensors 40, such as the GPS device 40g. The predetermined distance can be achieved by testing the vehicle 10. The method 100 then proceeds to block 116.

[0039] At block 116, the controller 34 compares the grade of the road on which the vehicle 10 is currently traveling to a first predetermined grade threshold. The first predetermined grade threshold may be met by testing the vehicle 10. If the grade of the road on which the vehicle 10 is currently traveling is greater than the first predetermined grade threshold, the method 100 proceeds to block 110. If the grade of the road on which the vehicle 10 is currently traveling is not greater than the first predetermined grade threshold, the method 100 proceeds to block 118.

[0040] At block 118, the controller 34 compares the gradient of the road at the predetermined distance ahead of the vehicle 10 to a second predetermined gradient threshold. If the gradient of the road at the predetermined distance ahead of the vehicle 10 is greater than the second predetermined gradient threshold, the method 100 proceeds to block 110. If the gradient of the road at the predetermined distance ahead of the vehicle 10 is not greater than the second predetermined gradient threshold, the method 100 proceeds to block 120.

[0041] At block 120, the controller 34 determines whether a trailer is detected based on the images captured by the rearview camera (i.e., one of the sensors 40). If the trailer is detected, the controller 34 determines the size of the trailer based on the images captured by the rearview camera (i.e., one of the sensors 40). If the size of the trailer attached to the vehicle 10 is larger than a predetermined size threshold, then the method 100 proceeds to block 110. If the size of the trailer attached to the vehicle 10 is not larger than the predetermined size threshold, the method 100 returns to block 102.

[0042] The detailed description and figures or illustrations are a supporting description of the present teachings, but the scope of the present teachings is defined solely by the claims. While some of the preferred embodiments and other embodiments for carrying out the present teachings have been described in detail, various alternative designs and embodiments exist for practicing the present teachings defined in the appended claims.

Claims

[1] A multi-stage method (100) for engine braking, comprising: Monitoring (104), by a vehicle control (34), the engine speed of an internal combustion engine (25); Comparing (106), by the controller (34), the engine speed with a predetermined braking speed threshold to determine whether the engine speed is greater than the predetermined braking speed threshold; and in response to determining that the engine speed is greater than the predetermined braking speed threshold, switching (110) the vehicle (10) into an engine braking mode, further comprising monitoring the vehicle speed of the vehicle (10), further comprising determining whether a cruise control mode of the vehicle (10) is switched on, further comprising, in response to determining that the cruise control mode of the vehicle (10) is engaged, comparing the vehicle speed with a sum of a set speed and a predetermined speed margin to determine whether the vehicle speed is greater than the sum of the set speed and the predetermined speed margin, switching to engine braking mode in response to: in a first stage, determining that the engine speed is greater than the predetermined braking speed threshold; and in a second stage, determining that the vehicle speed is greater than the sum of the set speed of the cruise control and the specified speed margin, further comprising updating a head-up display of the vehicle (10) to show that engine braking should be activated, wherein switching to the engine braking mode includes activating the engine brake of the vehicle (10) to brake the vehicle (10), further comprising updating a head-up display of the vehicle (10) to show that engine braking has been activated, further comprising receiving images from a rearview camera of the vehicle (10), further comprising detecting a trailer based on the images captured by the rearview camera of the vehicle (10), in response to a trailer being detected, in a third stage, determining the size of the trailer, in response to the trailer being larger than a predetermined size threshold, switching to engine braking mode.

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