SETTING THE CRUISE CONTROL FOR OPTIMAL CURVE HANDLING OF THE VEHICLE

Abstract

In one embodiment, a method is provided which includes obtaining sensor data from one or more sensors of a vehicle; and setting a speed of the vehicle during cruise control via instructions provided by a processor of the vehicle when the vehicle is performing a cornering maneuver, wherein the setting includes reducing the speed of the vehicle so that it is less than a manually entered speed for cruise control during one or more initial intervals of the cornering maneuver, based on the sensor data and in accordance with the instructions provided by the processor;and increasing the vehicle's speed to return to the manually entered cruise control speed during one or more second intervals of the curve maneuver following the one or more first intervals, based on sensor data and in accordance with instructions provided by the processor.

Description

INTRODUCTION

[0001] The technical field relates generally to vehicles and, more specifically, to methods and systems for controlling the cruise control function of a vehicle while the vehicle is performing a cornering maneuver.

[0002] Some vehicles today are equipped with cruise control, which automatically maintains a speed set by the driver. However, existing vehicles do not always allow for optimal speed adjustment when cornering.

[0003] Accordingly, it is desirable to provide improved methods and systems for controlling cruise control functionality for a vehicle, even when the vehicle is performing a cornering maneuver. Furthermore, other desirable features and characteristics of the present disclosure will become apparent from the following detailed description and the appended claims, taken in conjunction with the accompanying drawings and the foregoing technical field and background. DESCRIPTION

[0004] In accordance with an exemplary 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 by adjusting a cruise control speed setting, by braking, or both, via instructions provided by a processor of the vehicle when the vehicle is performing a turning maneuver, wherein the adjusting includes reducing the speed of the vehicle to be less than a manually inputted speed for cruise control during one or more first intervals of the turning maneuver, based on the sensor data and in accordance with the instructions provided by the processor, and increasing the speed of the vehicle tofollowing the one or more first intervals, based on the sensor data and in accordance with the instructions provided by the processor, to return to the manually entered speed for the cruise control.

[0005] Also in an exemplary embodiment, the reduction in vehicle speed ends and the increase in vehicle speed begins when a user of the vehicle begins to steer out of the turning maneuver.

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

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

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

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

[0010] Also in an exemplary embodiment, the reduction in vehicle speed is performed under an additional condition where the vehicle speed is greater than a predetermined speed threshold.

[0011] Also in an exemplary embodiment, the reduction in the speed of the vehicle is based on a lateral acceleration or a comfort rating determined from the steering angle and the steering speed.

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

[0013] In another exemplary embodiment, a system is provided that includes one or more sensors and a processor. The one or more sensors are configured to collect sensor data about a vehicle.The processor is coupled to the one or more sensors and configured to at least enable adjusting a speed of the vehicle during cruise control by adjusting a cruise control speed setting, braking, or both when the vehicle performs a turning maneuver, wherein adjusting comprises reducing the speed of the vehicle to be less than a manually entered cruise control speed during one or more first intervals of the turning maneuver; and increasing the speed of the vehicle to return to the manually entered cruise control speed during one or more second intervals of the turning maneuver following the one or more first intervals based on the sensor data.

[0014] In an exemplary embodiment, the processor is further configured to at least enable stopping the reduction in speed and beginning the increase in speed of the vehicle when a user of the vehicle begins to steer out of the turning maneuver.

[0015] Also in an exemplary embodiment, the one or more sensors comprise one or more steering angle sensors configured to receive steering angle data related to a steering angle of the vehicle; and the processor is further configured to enable at least performing the reducing the speed of the vehicle and the subsequent increasing the speed during the turning maneuver based on the steering angle in addition to a steering rate comprising a rate of change of the steering angle over time.

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

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

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

[0019] In an exemplary embodiment, the one or more sensors further comprise one or more speed sensors configured to receive speed data related to the speed of the vehicle; and the processor is further configured to enable at least one additional condition in which the speed of the vehicle is greater than a predetermined speed threshold to be performed.

[0020] In an exemplary embodiment, the processor is further configured to enable at least reducing the speed of the vehicle based on a lateral acceleration or a comfort rating determined by the processor using the steering angle and steering speed.

[0021] In an exemplary embodiment, the one or more sensors further comprise one or more tire pressure sensors configured to receive tire pressure data regarding a pressure of one or more tires of the vehicle, one or more fuel level sensors configured to receive fuel level data regarding a fuel level for the vehicle, or both; and the processor is further configured to enable at least the determination of the lateral acceleration or the comfort value also 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 that includes a braking system, a propulsion system, and a control unit for controlling the cruise control of the vehicle. The control system includes one or more sensors and a processor. The one or more sensors are configured to receive sensor data about the vehicle. The processor is coupled to the one or more sensors and configured to at least enable adjusting a speed of the vehicle during cruise control by adjusting a cruise control speed setting, braking, or both when the vehicle performs a cornering maneuver in accordance with instructions provided to the braking system and the propulsion system, wherein adjusting comprises reducing the speed of the vehicle,such that it is less than a manually entered cruise control speed during one or more first intervals of the cornering maneuver; and increasing the speed of the vehicle to return to the manually entered cruise control speed during one or more second intervals of the cornering maneuver following the one or more first intervals based on the sensor data.

[0023] Also in an exemplary embodiment, the one or more sensors comprise one or more steering angle sensors configured to receive steering angle data related to a steering angle of the vehicle; and the processor is further configured to enable at least performing the reducing the speed of the vehicle and the subsequent increasing the speed during the turning maneuver based on the steering angle in addition to a steering rate comprising a rate of change of the steering angle over time. DESCRIPTION OF THE CHARACTERS

[0024] The present specification will now be described in conjunction with the following figures, wherein like reference numerals designate like elements: Fig. 1 is a functional block diagram of a vehicle including a controller for controlling cruise control functionality for the vehicle even when the vehicle is performing a cornering maneuver, in accordance with example embodiments; Fig. 2 is a flowchart of the process for controlling cruise control functionality for the vehicle, including when the vehicle is performing a cornering maneuver, in accordance with exemplary embodiments, and used in connection with the vehicle of Fig. 1, including the control system and other components thereof, can be implemented; Fig. 3 is a flowchart of a step or sub-process of Fig. 2, namely for setting the cruise control via a speed adjustment algorithm based on the steering angle, steering speed, and other parameters, according to exemplary embodiments; and Fig. 4 shows an exemplary implementation of the system of Fig. 1 and the procedure of Fig. 2 and Fig. 3, in which the speed of the vehicle is illustrated while the vehicle performs a corresponding maneuver, in accordance with exemplary embodiments. DETAILED DESCRIPTION

[0025] The following detailed description is merely exemplary and is not intended to limit the disclosure or its application and uses. Furthermore, there is no intention to be bound by any theory presented in the foregoing background or the following detailed description.

[0026] Fig. 1 illustrates a vehicle 100 according to an exemplary embodiment. As described in more detail below, the vehicle 100 includes a control unit 102 configured to control cruise control functionality for the vehicle, including making speed adjustments when the vehicle performs a cornering maneuver, according to exemplary embodiments.

[0027] In various embodiments, vehicle 100 comprises an automobile. Vehicle 100 may be any type of automobile, such as a sedan, station wagon, truck, or sport utility vehicle (SUV), and may have two-wheel drive (2WD) (i.e., rear-wheel drive or front-wheel drive), four-wheel drive (4WD), or all-wheel drive (AWD), and / or various other vehicle types in certain embodiments. In certain embodiments, vehicle 100 may also comprise a motorcycle or other vehicle, such as an aircraft, spacecraft, watercraft, etc., and / or one or more other types of mobile platforms (e.g., a robot and / or other mobile platform).

[0028] The vehicle 100 includes a body 104 disposed upon a chassis 116. The body 104 substantially encloses 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 pivotally connected to the chassis 116 near a 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).

[0029] Mounted on the chassis 116 is a drive system 110 that drives the wheels 112, for example, via the axles 114. In certain embodiments, the drive system 110 includes a propulsion system. In certain embodiments, the drive system 110 includes an internal combustion engine and / or an electric motor / generator coupled to a corresponding transmission. In certain embodiments, the drive system 110 includes or is coupled to an accelerator pedal 111 that receives inputs from a driver of the vehicle 100. In certain embodiments, the drive system 110 is controlled at various times based on the driver inputs and / or automatically via the control system 102 (e.g., during cruise control and / or other automated functions).

[0030] As in Fig. 1, in various embodiments, the vehicle also includes a braking system 106 and a steering system 108. In exemplary embodiments, the braking system 106 controls the braking of the vehicle 100 using braking components that are controlled by inputs from a driver, such as a brake pedal 107, as shown in Fig. 1, and / or automatically controlled via the control system 102 (e.g., during cruise control and / or other automated functions). Also in exemplary embodiments, the steering system 108 controls the steering of the vehicle 100 via control units, such as a steering wheel 109, as shown in Fig. 1 (e.g., in conjunction with a steering column coupled to the axles 114 and / or the wheels 112) that are controlled via inputs provided by a driver (e.g., via the steering wheel) and / or automatically via the control system 102 (e.g., during cruise control and / or other automated functions).

[0031] In the Fig. 1, the control system 102 is coupled to the drive system 110, the braking system 106, and the steering system 108 and controls the cruise control functionality for the vehicle 100. In certain embodiments, the control unit 102 controls, among other vehicle functions, the speed control function for the vehicle 100, including while cornering. As also shown in Fig. 1, the control system 102 includes, in various embodiments, a sensor assembly 120, a cruise control interface 139, and a control unit 140.

[0032] In various embodiments, sensor assembly 120 includes various sensors that receive sensor data for use in controlling, among other functions, the cruise control function for vehicle 100, including during cornering. In the illustrated embodiment, sensor assembly 120 includes one or more of cruise control input sensors 130, steering sensors 132, tire sensors 134, fuel sensors 136, and speed sensors 137. In certain embodiments, sensor assembly 120 may also include other sensors 138.

[0033] In certain embodiments, cruise control input sensors 130 receive user inputs (e.g., from a driver of vehicle 100) for enabling and disabling cruise control functionality for vehicle 100 and for a speed setting for the cruise control, if implemented. For example, in various embodiments, the driver presses a button, activates a knob, or other device, indicates via a touchscreen or the like when the driver wants to use cruise control, and indicates a speed setting for the cruise control, if used. In various embodiments, cruise control input sensors 130 detect these user inputs.

[0034] Also in certain embodiments, steering sensors 132 detect a steering angle for vehicle 100 and changes therein. In various embodiments, steering sensors 132 include one or more steering angle sensors that are part of or connected to steering wheel 109, steering system 108, and / or one or more components thereof.

[0035] In certain embodiments, the tire sensors 134 also collect sensor data about one or more tires of the vehicle 100. In various embodiments, the tire sensors 134 include one or more tire pressure sensors coupled to the tires and collecting data about the tire pressure of the tires.

[0036] In certain embodiments, the fuel sensors 136 also collect sensor data about the fuel level of the vehicle 100. In various embodiments, the fuel sensors 136 include one or more fuel tank sensors that are part of or coupled to a fuel tank of the vehicle 100.

[0037] In certain embodiments, the speed sensors 137 also collect sensor data about the speed of the vehicle 100. In various embodiments, the speed sensors 137 include one or more wheel speed sensors associated with one or more wheels 112 of the vehicle 100 and / or one or more other types of speed sensors.

[0038] In certain embodiments, other sensors 138 may include, for example, one or more other user input sensors (e.g., for detecting user inputs related to the brake pedal 107, the accelerator pedal 111, and / or other user inputs) and / or one or more other sensors configured to detect other vehicle data (e.g., one or more cameras, accelerometers, etc.).

[0039] In various embodiments, the cruise control interface 139 enables driver interaction with the cruise control function of the vehicle 100. In various embodiments, the cruise control interface may include, for example, one or more knobs, buttons, screens, or the like that allow the driver to enable and disable the cruise control, manually set a speed for the cruise control while it is in operation, etc.

[0040] In various embodiments, the control unit 140 is coupled to the sensor assembly 120 and receives sensor data therefrom. In various embodiments, the control unit 140 is further connected to the cruise control interface 139 and to the drive system 110, the braking system 106, the steering system 108, and other vehicle components. In various embodiments, the control unit 140 controls the automatic functionality of the vehicle 100, including the cruise control function, even while the vehicle 100 is performing a cornering maneuver. As shown in the Fig. 2-4 and described in more detail below, in various embodiments, the controller 140 adjusts the speed of the vehicle 100 in a predefined manner while the vehicle 100 is cornering, including an initial reduction in speed followed by a subsequent increase in speed while the vehicle 100 performs a cornering maneuver.

[0041] In various embodiments, the control unit 140 comprises a computer system (also referred to herein as computer system 140) that includes a processor 142, a memory 144, an interface 146, a device 148, and a computer bus 150. In various embodiments, the control unit (or computer system) 140 controls the operation of the vehicle, including the control of automated vehicle functions and the detection of driver spoofing with respect to such automated functions, among other vehicle control functions. In various embodiments, the control unit 140 provides these and other functions in accordance with the steps of the process 200 of the Fig. 2 and Fig. 3 and the implementation of Fig. 4, for example in connection with the control of the cruise control functionality for the vehicle 100, including during cornering.

[0042] In various embodiments, the control unit 140 (and in certain embodiments, the control system 102 itself) is disposed within the body 104 of the vehicle 100. In one embodiment, the control unit 102 is mounted on the chassis 116. In certain embodiments, the control unit 140 and / or the control system 102 and / or one or more components thereof may be disposed outside the body 104, for example, on a remote server, in the cloud, or another device where image processing is performed remotely.

[0043] It is clear that the control unit 140 is different from the Fig. 1. For example, the control unit 140 may be coupled to or otherwise utilize one or more remote computer systems and / or other control systems, for example, as part of one or more of the above-mentioned devices and systems of the vehicle 100.

[0044] In the illustrated embodiment, the computer system of the control unit 140 includes a processor 142, a memory 144, an interface 146, a storage device 148, and a bus 150. The processor 142 performs the computation and control functions of the control unit 140 and may comprise any type of processor or multiple processors, individual integrated circuits such as a microprocessor, or any number of integrated devices and / or circuit boards that cooperate to perform the functions of a processing unit. During operation, the processor 142 executes one or more programs 152 contained in the memory 144 and, as such, controls the general operation of the control unit 140 and the computer system of the control unit 140, generally in the execution of the processes described herein, such as the process 200 of the Fig. 2 and Fig. 3 and the implementation of Fig. 4, which is described in connection with it below.

[0045] Memory 144 may be any suitable storage, including various types of non-transferable computer-readable storage media. In certain examples, memory 144 is located on and / or disposed on the same computer chip as processor 142. In the illustrated embodiment, memory 144 stores the aforementioned program 152 along with stored values ​​157 (e.g., lookup tables, thresholds, and / or other values ​​related to controlling the cruise control system for vehicle 100).

[0046] The interface 146 enables communication with the computer system of the control unit 140, e.g., from a system driver and / or another computer system, and can be implemented using any suitable method and device. In one embodiment, the interface 146 receives the various data from the sensor assembly 120, among other possible data sources. The interface 146 can include one or more network interfaces for communicating with other systems or components. The interface 146 can also include one or more network interfaces for communicating with technicians and / or one or more storage interfaces for connecting to storage devices, such as the device 148.

[0047] The storage device 148 may be any suitable type of storage device, including various types of random access memory and / or other storage devices. In an exemplary embodiment, the device 148 includes a program product from which the memory 144 can receive a program 152 that performs one or more embodiments of one or more processes of the present description, such as the steps of process 200 of Fig. 2 and Fig. 3 and the implementations of the Fig. 4, which are described below in connection therewith. In another exemplary embodiment, the program product may be stored and / or otherwise accessed directly in memory 144 and / or a disk (e.g., disk 156), as described below.

[0048] Bus 150 is used to transfer programs, data, status, and other information or signals between the various components of the computer system of control unit 140. Bus 150 may be any suitable physical or logical means for connecting computer systems and components. These include, but are not limited to, direct, hard-wired connections, fiber optic technology, infrared, and wireless bus technologies. During operation, program 152 is stored in memory 144 and executed by processor 142.

[0049] 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 description may be distributed as a program product having one or more types of non-transitory, computer-readable, signal-bearing media used to store the program and its instructions and to effect its distribution, such as a non-transitory, computer-readable medium carrying the program and having computer instructions stored therein for causing a computer processor (such as processor 142) to execute and execute the program.

[0050] Fig. 2 is a flowchart of the process 200 for controlling cruise control functionality for a vehicle, including when the vehicle is performing a cornering maneuver, in accordance with exemplary embodiments. In various embodiments, the process 200 may be performed in connection with the vehicle 100 of Fig. 1, including the control system 102 and other components thereof;

[0051] As in Fig. 2, the process 200 begins in step 202. In one embodiment, the process 200 begins when the vehicle 100 is operating, e.g., during an ongoing vehicle trip. In certain embodiments, the process 200 may also begin when a vehicle drive or ignition cycle begins, e.g., when a driver approaches or enters the vehicle 100, or when the driver turns on the vehicle and / or an ignition therefor (e.g., by turning a key, pressing a key fob or start button, etc.). In one embodiment, the steps of the method 200 are performed continuously during operation of the vehicle 100.

[0052] The sensor data is acquired in step 204. In various embodiments, sensor data relating to the vehicle is acquired via each of the sensors of the sensor array 120 of the vehicle from Fig. 1. In certain embodiments, the sensor data of step 204 includes sensor data relating to driver cruise control inputs (including cruise control activation, a cruise control speed setting, etc.), a steering angle of the vehicle 100 (and changes thereto), a tire pressure of the tires of the vehicle 100, a fuel level of a fuel tank for the vehicle, a speed of the vehicle, and, in certain embodiments, other vehicle parameters relating to user inputs and / or operation of the vehicle 100.

[0053] In various embodiments, a steering speed is determined (step 206). In various embodiments, the steering speed of the vehicle 100 comprises a rate of change of the steering angle of the vehicle 100 over time. Also in various embodiments, the steering speed is determined via the processor 142 from Fig. 1 is determined from the sensor data of step 204 based on a rate of change of the steering angle over a period of time (e.g., over a fraction of a second to several seconds in certain embodiments).

[0054] In various embodiments, the sensor data is provided to a speed adjustment algorithm or function (step 210). In various embodiments, the steering angle and steering speed (and, in certain embodiments, other parameters of the sensor data or derived therefrom) are used as inputs to the speed adjustment algorithm to adjust the speed of the vehicle 100 during cruise control operation, including when the vehicle 100 is performing a cornering maneuver (e.g., when the vehicle 100 is turning or negotiating a curve on a curved roadway, or the like).

[0055] In various embodiments, the speed of the vehicle 100 is initially reduced during the cornering maneuver in order to maintain a constant (or nearly constant) lateral acceleration or to maintain or optimize the comfort level for the vehicle 100 or the driver. In various embodiments, the speed of the vehicle 100 is also subsequently increased, for example, when a user of the vehicle 100 begins to steer out of the cornering maneuver. In various embodiments, the speed adjustments are made automatically according to the instructions that the processor 142 sends to one or more vehicle systems, such as the drive system 110 and / or the braking system 106 of Fig. 1. In certain embodiments, automatic steering may also be performed via the steering system 108 under certain circumstances; however, this may vary in other embodiments.

[0056] In various embodiments, the automatic control of vehicle 100 includes both a speed adjustment 212 and a speed adjustment duration 214. In various embodiments, the speed adjustment is performed in accordance with the duration via instructions provided by processor 142 using the speed adjustment algorithm or function of step 210.

[0057] As in Fig. 1, in certain embodiments, 210, 212, and 214 may be collectively referred to as a combined step 211 for setting the cruise control via the speed setting algorithm. According to an exemplary embodiment, the combined step 211 is Fig. 3 and is described in more detail below.

[0058] In various embodiments, the method is then terminated in step 216.

[0059] In Fig. 4 shows an exemplary implementation of the method 200 (including the combined step 211). As in Fig. 4, an exemplary illustration 400 shows a representation of the speed 404 of the vehicle 100 as it performs a cornering maneuver during a curve on a roadway. As shown in Fig. 4, in certain embodiments, the reduction in vehicle speed 404 begins at a point 405 as the vehicle 100 approaches the curve. In various embodiments, point 405 represents a braking point for the vehicle 100 (i.e., in accordance with instructions provided by the processor 142).

[0060] As also in Fig. 4, in various embodiments, the speed of the vehicle 100 is automatically reduced after the vehicle 100 passes point 405 and when the vehicle 100 passes through a turn point 408 until the vehicle 100 reaches a point 412 at which a user of the vehicle 100 begins to steer out of the turning maneuver. As shown in Fig. 4, in certain embodiments, point 412 may correspond to an apex of the cornering maneuver (i.e., the turn). In various embodiments, the speed of the vehicle 100 is automatically reduced during these periods by adjusting the speed setting of the cruise control of the vehicle 100 or by decelerating the vehicle 100, or both.

[0061] In various embodiments, after the vehicle 100 reaches the point 412 at which a user begins to steer the vehicle 100 out of the cornering maneuver (e.g., the turn), the vehicle speed 404 is then increased. In various embodiments, the speed of the vehicle 100 is automatically increased by adjusting the speed setting of the cruise control of the vehicle 100 and / or by reducing the braking of the vehicle 100 and / or otherwise increasing the propulsion of the vehicle 100. In various embodiments, this continues until an exit point 416 for the turn, after which the vehicle speed 404 is automatically further increased to the pre-turn level (i.e., the driver-set speed level for the cruise control) in accordance with instructions provided by the processor 142.

[0062] Fig. 3 shows a flowchart of the combined step 211 of the method 200 of Fig. 2, namely for setting the cruise control via a speed adjustment algorithm based on the steering angle, steering speed and other parameters, according to exemplary embodiments.

[0063] As in Fig. 3, in an exemplary embodiment, the combined step 211 begins with step 302.

[0064] In various embodiments, it is determined whether the steering speed is within a predetermined range (step 304). In various embodiments, a processor (such as processor 142 of Fig. 1) whether the steering speed of the vehicle 100 is simultaneously greater than a first predetermined steering speed threshold and less than a second predetermined steering speed threshold. In various embodiments, the second predetermined steering speed threshold is greater than the first predetermined steering speed threshold. In various embodiments, these determinations are made by the processor 142 of Fig. 1 based on the sensor data.

[0065] In various embodiments, the first predetermined steering speed threshold (for steering speeds above this value) indicates that the vehicle is turning. In various embodiments, the second predetermined steering speed threshold (for steering speeds below this value) indicates that the vehicle 100 is actually turning and not just swerving (e.g., around a pothole or a vehicle or other object, or the like). In an exemplary embodiment, the first predetermined steering speed threshold is approximately two and a half degrees per second (2.5° / sec), while the second predetermined steering speed threshold is approximately twenty degrees per second (20° / sec). However, these values ​​may vary in various embodiments. In various embodiments, these thresholds are stored in memory 144 by Fig. 1 stored as stored values ​​157 and retrieved from there.

[0066] In various embodiments, the method continues with step 306 if it is determined that the steering speed is not within the predetermined range.

[0067] During step 306, the steering speed continues to be monitored via processor 142 using updated sensor data. In various embodiments, steps 304 and 306 are repeated in various iterations until an iteration of step 304 determines that the steering speed is within the predetermined range.

[0068] In various embodiments, the method continues to step 308 once it is determined that the steering speed is within the predetermined range. In various embodiments, in step 308, it is determined 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 the processor 142 of Fig. 1 based on the sensor data.

[0069] In various embodiments, the predetermined steering angle threshold (at steering angles above this value) means that the vehicle is turning. In one exemplary embodiment, the threshold for the predetermined steering angle is, for example, approximately five degrees; however, this may vary in different embodiments. In various embodiments, this threshold is stored in memory 144 from Fig. 1 is stored as a value 157 stored in it and retrieved from there.

[0070] In various embodiments, if it is determined that the steering angle is not greater than the predetermined steering angle threshold, the system proceeds to the aforementioned step 306, in which the steering angle (along with the steering speed, as described above) continues to be monitored via the processor 142 using updated sensor data. In various embodiments, steps 304-308 then repeat in various iterations until, in an iteration of step 308, it is determined that the steering angle is greater than the predetermined steering angle threshold.

[0071] In various embodiments, once it is determined that the steering angle is greater than the predetermined threshold for the steering angle, the system proceeds to step 310. In various embodiments, in step 310, it is determined whether the cruise control is active. In various embodiments, this determination is made by the processor 142 of Fig. 1 based on the sensor data, including, for example, based on sensor data reflecting driver inputs, to initiate an active cruise control session for the vehicle 100.

[0072] In various embodiments, if it is determined that cruise control is not active, the process continues with the aforementioned step 306, where the cruise control status (along with the steering speed and angle, as described above) continues to be monitored via the processor 142 using updated sensor data. In various embodiments, steps 304-310 then repeat in various iterations until it is determined in an iteration of step 310 that cruise control is active.

[0073] In various embodiments, once it is determined that cruise control is active, the system proceeds to step 312. In various embodiments, in step 312, it is determined whether one or more additional conditions for adjusting cruise control for a cornering maneuver are met. In various embodiments, this determination is made by the processor 142 of Fig. 1 based on the sensor data, including, for example, based on sensor data reflecting a speed of the vehicle 100, among other possible parameters.

[0074] For example, in certain embodiments, the one or more additional conditions may include a speed of the vehicle 100 that is greater than a predetermined speed threshold. In certain embodiments, an additional condition may include, for example, the speed of the vehicle 100 being greater than approximately 50 miles per hour (50 mph); however, this may vary in other embodiments.

[0075] In various embodiments, if it is determined that the one or more additional conditions are not met, the process proceeds to the aforementioned step 306, where further monitoring of the additional conditions (along with the cruise control status and the steering speed and angle, as described above) is performed via the processor 142 using updated sensor data. In various embodiments, steps 304-312 are then repeated in various iterations until it is determined in an iteration of step 312 that each of the additional conditions is met.

[0076] In various embodiments, once it is determined that each of the additional conditions is met (along with the other conditions described above), the system proceeds to step 314. In various embodiments, a determination of the lateral acceleration of the vehicle 100 is made in step 314. Furthermore, in certain embodiments, a comfort value for the vehicle 100 is also determined based at least in part on the lateral acceleration. In various embodiments, these determinations are made via the processor 142 of Fig. 1 based on known vehicle characteristics (e.g., size, weight, etc., stored in memory 144 as stored values ​​157) together with current sensor states of the various parameters (including, without limitation, steering angle and steering speed).

[0077] In certain embodiments, other sensor data 313 is also used for the determinations in step 314. In certain embodiments, for example, the processor 142 determines the lateral acceleration or the comfort value (or both) based not only on the parameters described above (including the steering angle, steering speed, and known vehicle characteristics), but also on additional sensor data 313, which may include a tire pressure of one or more tires of the vehicle 100, a fuel level of a fuel tank of the vehicle 100, and / or other sensor values.

[0078] 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 according to instructions provided to the propulsion system 110 and / or the braking system 106 of the vehicle 100 to account for the cornering maneuver (e.g., turning) that the vehicle 100 is currently performing.

[0079] In various embodiments, in step 316, the speed of the vehicle 100 is reduced below the speed control set by the driver. In various embodiments, the speed of the vehicle 100 is reduced by adjusting a cruise control setting of the vehicle 100, by decelerating the vehicle 100, or both. In various embodiments, the speed is also reduced by a predetermined amount and time period based at least in part on the lateral acceleration and / or the comfort value determined in step 314. In certain embodiments, the speed is automatically reduced by an amount that keeps the lateral acceleration below a predetermined threshold during the turn and / or that optimizes or maintains the comfort value at a predetermined level during the turn.

[0080] With reference to Fig. 4, in various embodiments, during step 316, the speed 404 of the vehicle 100 is automatically reduced after the vehicle 100 has reached the braking point 405 of Fig. 4 and is further reduced after the vehicle 100 has reached the turning point 408 of Fig. 4. In various embodiments, the automatic reduction in speed of the vehicle 100 is achieved by automatically adjusting the speed setting of the cruise control for the vehicle 100 or by decelerating the vehicle 100, or both.

[0081] Returning to Fig. 3, in various embodiments, during step 318, it is determined whether the conditions for a reduced vehicle speed are no longer met. In particular, in various embodiments, it is determined 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 when the steering speed is no longer within the predetermined range of step 304, the steering angle is no longer greater than the predetermined speed threshold of step 308, the cruise control is no longer active as determined in step 310 (e.g., when the driver turns the cruise control off), 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 the processor 142 of the . Fig. 1 hit.

[0082] In various embodiments, if it is determined in step 318 that the conditions for a reduced vehicle speed are still met, the process returns to the aforementioned step 306, where further monitoring of the various conditions is performed via the processor 142 using updated sensor data. In various embodiments, steps 304-318 then repeat in various iterations until it is determined in an iteration of step 318 that one or more of the conditions for a reduced vehicle speed are no longer met.

[0083] In various embodiments, once it is determined that one or more of the conditions for reduced vehicle speed are no longer met, the process continues to step 320. In various embodiments, in step 320, the speed of the vehicle 100 is automatically increased. Specifically, in various embodiments, the speed of the vehicle 100 is gradually increased to return to the cruise control setting set by the driver. In various embodiments, the speed is also returned to this value by instructions that the processor 142 issues to the propulsion system 110 and / or the braking system 106 of the vehicle 100.

[0084] In various embodiments, the vehicle speed is thus automatically increased incrementally by a certain constant (or approximately constant) amount of speed per period of time 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 user-entered cruise control setting; however, this rate may vary in other embodiments.

[0085] With reference to Fig. 4, in various embodiments, in step 320, the speed 404 of the vehicle 100 during the interval 414 of Fig. 4 automatically increased. For example, in certain embodiments, an automatic increase in the speed of the vehicle 100 is performed at point 412 when the user begins to steer out of the cornering maneuver, in certain embodiments up to the exit point 416 of Fig. 4 and beyond.

[0086] In certain embodiments (see Fig. 3) the method then ends in step 322.

[0087] Accordingly, methods, systems, and vehicles are provided for controlling cruise control functionality for a vehicle, including during cornering maneuvers (e.g., turns) performed by the vehicle. Specifically, in various embodiments, the steering angle, steering speed, and other parameters are used to automatically adjust the speed of the vehicle as part of the cruise control functionality for the vehicle during the cornering maneuver, including an initial reduction in speed as the vehicle enters the turn and a subsequent increase in speed to return to the user's manually entered cruise control setting after the user begins to steer out of the cornering maneuver.

[0088] It will be appreciated that systems, vehicles, and methods may vary from those depicted in the figures and described herein. For example, vehicle 100 may be Fig. 1, its control system 102 and / or its components from Fig. 1 in different embodiments. It is also recognized that the steps of method 200 may differ from those described in Fig. 2 and Fig. 3 and / or that different steps of the method 200 can be performed simultaneously and / or in a different order than in the Fig. 2 and Fig. 3. In a similar way, the implementation of Fig. 4 may vary in different embodiments.

[0089] Although at least one exemplary embodiment has been presented in the foregoing detailed description, it should be understood that numerous variations exist. It should also be appreciated that the exemplary embodiment or exemplary embodiments are merely examples and are not intended to limit the scope, applicability, or configuration of the description in any way. Rather, the foregoing detailed description is intended to provide one skilled in the art with a convenient guide for implementing the exemplary embodiment or exemplary embodiments. It should be understood that various changes in the function and arrangement of elements may be made without departing from the scope of the description as set forth in the appended claims and the legal equivalents thereof.

Claims

[1] A method comprising: Collecting sensor data via one or more sensors of a vehicle; and Adjusting a speed of the vehicle during cruise control by adjusting a speed setting of the cruise control, by braking, or both, via instructions provided by a processor of the vehicle when the vehicle performs a turning maneuver, wherein adjusting comprises: Reducing the speed of the vehicle so that it is less than a manually entered cruise control speed during one or more initial intervals of the cornering maneuver based on the sensor data and in accordance with instructions provided by the processor; and Increasing the speed of the vehicle to return to the manually entered cruise control speed during one or more second intervals of the turning maneuver following the one or more first intervals based on the sensor data and in accordance with instructions provided by the processor. [2] The method of claim 1, wherein the reduction in the speed of the vehicle ends and the increase in the speed of the vehicle begins when a user of the vehicle begins to steer out of the cornering maneuver. [3] The method of claim 1, wherein: the sensor data contain steering angle data relating to a steering angle of the vehicle; and reducing the speed of the vehicle and then increasing the speed during the cornering maneuver in addition to a steering rate that has a rate of change of the steering angle over time, based on the steering angle. [4] A method according to claim 3, wherein the reduction in the speed of the vehicle is performed when the steering speed is within a predetermined steering speed range and the steering angle is greater than a predetermined steering angle threshold, provided that the cruise control for the vehicle is active. [5] Method according to claim 4, wherein the increase in speed is carried out when one or more of the following conditions are met: (a) the steering speed is no longer within the predetermined steering speed range; or (b) the steering angle is no longer greater than the predetermined steering angle threshold value. [6] The method of claim 4, wherein the reduction in the speed of the vehicle is performed when the steering speed is greater than a first predetermined threshold for the steering speed and less than a second predetermined threshold, while the steering angle is greater than the predetermined threshold for the steering angle and the cruise control for the vehicle is active. [7] The method of claim 4, wherein the reduction in the speed of the vehicle is performed under an additional condition where the speed of the vehicle is greater than a predetermined speed threshold. [8] A method according to claim 3, wherein the reduction in the speed of the vehicle is performed on the basis of a lateral acceleration or a comfort rating determined using the steering angle and the steering speed. [9] The method of claim 8, wherein the lateral acceleration or the comfort value is also determined using one or more additional conditions including a tire pressure of one or more tires of the vehicle, a fuel level for the vehicle, or both. [10] A system that has the following: one or more sensors configured to receive sensor data about a vehicle; and a processor coupled to the one or more sensors and configured to at least enable adjusting a speed of the vehicle during cruise control by adjusting a cruise control speed setting, braking, or both while the vehicle is performing a turning maneuver, wherein adjusting comprises: Reducing the speed of the vehicle so that it is less than a manually entered cruise control speed during one or more initial intervals of the cornering manoeuvre; and Increasing the speed of the vehicle to return to the manually entered cruise control speed during one or more second intervals of the cornering maneuver following the one or more first intervals based on the sensor data.

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