VEHICLE CONTROL SYSTEMS FOR ADJUSTING SPEED CONTROL SETTINGS

Abstract

An exemplary vehicle control system comprises a power unit, an accelerator pedal, a brake pedal, and a vehicle control module designed to automatically control the power unit to maintain a target vehicle speed while a vehicle cruise control function is in use; to detect at least one pressure input parameter associated with the accelerator pedal or the brake pedal, wherein the at least one pressure input parameter includes a length over which the accelerator pedal or the brake pedal is pressed, a distance traveled by the accelerator pedal or the brake pedal while it is pressed, and / or a frequency with which the accelerator pedal or the brake pedal is pressed within a specified period; to compare the at least one pressure input parameter with specified cruise control adaptation criteria and, in response,that the pressure input parameter meets the specified speed control adjustment criteria to adjust the speed control target speed.

Description

INTRODUCTION

[0001] The information contained in this section serves only to provide a general overview of the context of the disclosure. The work of the inventors mentioned herein, insofar as it is described in this section, as well as aspects of the description that may not be considered prior art at the time of filing, are neither expressly nor implicitly acknowledged as prior art with respect to the present disclosure.

[0002] The present disclosure relates generally to vehicle control systems for adjusting cruise control settings, which includes adjusting cruise control target speeds based on the pressing of an accelerator pedal or a brake pedal.

[0003] Some vehicles include cruise control functions that regulate the power delivered by the engine to maintain a set speed. Cruise control settings are typically controlled by a driver pressing physical buttons or switches on the vehicle's steering wheel. SUMMARY

[0004] An exemplary vehicle control system for adjusting cruise control settings comprises a drive unit designed to provide power to rotate the wheels of a vehicle, an accelerator pedal designed to increase acceleration of the vehicle via the drive unit in response to the accelerator pedal being pressed by the driver of the vehicle, a brake pedal designed to decelerate rotation of the vehicle's wheels in response to the accelerator pedal being pressed by the driver of the vehicle, and a vehicle control module designed to automatically control the drive unit to maintain a cruise control target speed of the vehicle while a cruise control function of the vehicle is in use, and to detect at least one pressure input parameter associated with the accelerator pedal or the brake pedal.wherein the at least one pressure input parameter comprises a length over which the accelerator or brake pedal is pressed, a distance traveled by the accelerator or brake pedal while it is pressed, and / or a frequency with which the accelerator or brake pedal is pressed within a specified period, to compare the at least one pressure input parameter with specified cruise control adaptation criteria and, in response to the pressure input parameter meeting the specified cruise control adaptation criteria, to adjust the cruise control target speed.

[0005] According to some examples, adjusting the cruise control setpoint speed involves modifying the power supplied by the drive unit to increase or decrease the rotational speed of the vehicle's wheels.

[0006] According to some examples, the vehicle control module is designed to adjust the cruise control target speed without receiving an input at the vehicle's steering wheel, without receiving an input at a lever on the vehicle's steering column, and without receiving a voice command input.

[0007] According to some examples, the vehicle control module is designed to increase the cruise control target speed in response to the detection of at least one pressure input parameter at the accelerator pedal.

[0008] According to some examples, the vehicle control module is designed to determine a deceleration rate of the vehicle, compare the deceleration rate with a specified deceleration threshold, and change the cruise control target speed to a current speed of the vehicle if the deceleration rate is below the specified deceleration threshold for a specified period.

[0009] According to some examples, the vehicle control module is designed to receive a current value of the cruise control setpoint speed, receive a current vehicle speed value, and in response to the fact that the current vehicle speed value is less than the current value of the cruise control setpoint speed, change the cruise control setpoint speed to the current vehicle speed value plus a specified offset.

[0010] According to some examples, the vehicle control module is designed to reduce the cruise control target speed in response to the detection of at least one pressure input parameter at the brake pedal.

[0011] According to some examples, the vehicle control module is designed to determine the vehicle's acceleration rate, compare the acceleration rate with a specified acceleration threshold, and, in response to the fact that the acceleration rate is greater than the specified acceleration threshold for a specified period, change the cruise control target speed to the vehicle's actual speed.

[0012] According to some examples, the vehicle control module is designed to obtain a current value of the cruise control setpoint speed, obtain a current vehicle speed value, and in response to the fact that the current vehicle speed value is greater than the current value of the cruise control setpoint speed, change the cruise control setpoint speed to the current vehicle speed value minus a predetermined offset.

[0013] According to some examples, the system includes at least one front vehicle camera designed to capture images that cover at least one section of the vehicle's front field of vision.

[0014] According to some examples, the vehicle control module is designed to detect, via at least one front vehicle camera, a distance between the vehicle and a target object in front of the vehicle in the same lane as the vehicle, to obtain a current acceleration value of the vehicle, to obtain a current speed value of the vehicle, and, in response to the fact that the current acceleration value is below a specified acceleration threshold for a certain period of time and the distance is greater than a specified distance threshold, to automatically change the set cruise control target speed to the current speed value of the vehicle.

[0015] According to some examples, the vehicle control module is designed to automatically prevent the cruise control setpoint from being changed in response to the following: a distance between the vehicle and a target object in front of the vehicle being less than a specified distance threshold; a lateral acceleration value of the vehicle or a longitudinal acceleration value of the vehicle being less than a specified acceleration threshold; a current speed value of the vehicle being below a speed threshold; a cruise control interruption event occurring within a specified time period; a cruise control function being deactivated; and / or a cruise control resumption request currently being active.

[0016] According to some examples, the vehicle control module is designed to detect an interruption of the cruise control based on pressing the brake pedal while the at least one front vehicle camera does not detect a target object within a specified distance threshold in front of the vehicle, to detect a target object within the specified distance threshold after the interruption of the cruise control while the brake pedal is pressed, and to engage the vehicle's cruise control in response to the driver releasing the brake pedal.

[0017] According to some examples, the vehicle control module is designed to identify that the vehicle's cruise control is activated but not currently in use, to obtain the vehicle's current steering angle, to obtain the vehicle's current longitudinal acceleration, and, in response to the fact that for a specified period the current steering angle is less than a specified curve threshold and the current longitudinal acceleration is greater than a specified acceleration threshold, to automatically engage the vehicle's cruise control, to interrupt the cruise control based on the brake pedal being pressed while at least one front vehicle camera does not detect a target object within a specified distance threshold in front of the vehicle, and, after interrupting the cruise control, to detect a target object within the specified distance threshold.while the brake pedal is pressed, and in response to the driver releasing the brake pedal, to activate the vehicle's cruise control.

[0018] An exemplary method for adjusting vehicle cruise control settings, wherein the method comprises: automatically controlling a vehicle's drive unit by a vehicle control module to maintain a target cruise control speed of the vehicle while a vehicle cruise control function is active; obtaining at least one pressure input parameter associated with an accelerator pedal or brake pedal of the vehicle, wherein the at least one pressure input parameter comprises a length over which the accelerator pedal or brake pedal is depressed, a distance traveled by the accelerator pedal or brake pedal while it is depressed, and / or a frequency with which the accelerator pedal or brake pedal is depressed within a specified time period; and comparing the at least one pressure input parameter with specified cruise control adjustment criteria.and in response to the pressure input parameter meeting the specified speed control adjustment criteria, adjusting the speed control target speed.

[0019] According to some examples, adjusting the cruise control setpoint speed involves modifying the power supplied by the drive unit to increase or decrease the rotational speed of the vehicle's wheels.

[0020] According to some examples, the procedure involves adjusting the cruise control setpoint speed without receiving an input at the vehicle's steering wheel, without receiving an input at a lever on the vehicle's steering column, and without receiving a voice command input.

[0021] According to some examples, the procedure involves increasing the cruise control setpoint speed in response to the detection of at least one pressure input parameter at the accelerator pedal.

[0022] According to some examples, the procedure involves determining a deceleration rate of the vehicle, comparing the deceleration rate with a specified deceleration threshold, and changing the cruise control setpoint speed to an actual speed of the vehicle in response to the fact that the deceleration rate is less than the specified deceleration threshold for a specified period.

[0023] According to some examples, the procedure involves obtaining a current value of the cruise control setpoint speed, obtaining a current vehicle speed value, and, in response to the fact that the current vehicle speed value is less than the current value of the cruise control setpoint speed, changing the cruise control setpoint speed to the current vehicle speed value plus a specified offset.

[0024] Further applications of the present disclosure will become apparent from the detailed description, the claims, and the drawings. The detailed description and the specific examples serve only for illustration and are not intended to limit the scope of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present revelation becomes more fully understandable from the detailed description and the accompanying drawings; they show: Fig. 1. A representation of an example vehicle with an accelerator pedal and a brake pedal for adjusting cruise control target speeds; Fig. 2 an exemplary representation of a host vehicle following a preceding target vehicle using a speed control; Fig. 3 a flowchart illustrating an exemplary process for automatically setting a cruise control speed based on a detected distance to a target vehicle ahead; Fig. 4 a flowchart illustrating an exemplary process for the automatic deployment of a speed control function based on the detection of a target vehicle ahead; Fig. 5 a flowchart illustrating an exemplary process for the automatic application of a speed control function based on detected vehicle movement parameters; Fig. 6. A flowchart illustrating an exemplary process for automatically increasing a cruise control setpoint speed based on an input to an accelerator pedal; and Fig. Figure 7 shows a flowchart illustrating an exemplary process for automatically reducing a cruise control setpoint speed based on an input into a brake pedal.

[0026] Reference symbols can be used multiple times in the drawings to denote similar and / or identical elements. DETAILED DESCRIPTION

[0027] Some embodiments described here allow drivers to control cruise control functions without physically pressing buttons or switches on a steering wheel. Any suitable cruise control implementation can be used, such as adaptive cruise control (ACC), where a host vehicle maintains a speed or distance to a vehicle ahead; conventional cruise control, where the vehicle maintains a specified speed by varying the power delivered by an engine; and so on.

[0028] According to some examples, a vehicle control module can enable the control and adjustment of various cruise control functions without requiring input via buttons on the steering wheel, levers on the steering column, or voice commands. This can be referred to as "virtual cruise control," where the cruise control operations are set or adjusted based on accelerator pedal input parameters, brake pedal input parameters, a detected speed or acceleration profile of the vehicle, a detected distance to a vehicle ahead of the host vehicle on the road, and so on.

[0029] For example, the vehicle control module can be designed to automatically engage cruise control at a given vehicle speed when certain criteria are met, such as the vehicle's steering angle being within a specific curve threshold, the vehicle's current speed being above a minimum activation threshold, or the vehicle's acceleration exceeding a certain acceleration threshold for a specific period, etc. Based on specified criteria, as described below, the vehicle control module can automatically revert from a different current vehicle speed to a cruise control setpoint speed.

[0030] According to some examples, accelerator and / or brake pedal inputs can be used to modify cruise control function settings. For instance, while cruise control is engaged at a set speed, the vehicle control module can automatically increase the set speed in response to an accelerator pedal tap event. The accelerator pedal tap event can include any suitable input parameters that meet specific event criteria, such as the driver pressing the accelerator pedal for less than a specified duration (e.g., less than 500 milliseconds, less than one second, etc.), the driver pressing and releasing the accelerator pedal a certain distance (e.g., less than 10% of the full accelerator pedal travel, less than 50% of the full accelerator pedal travel, etc.), or the driver pressing the accelerator pedal in a specified sequence (e.g.,two press and release events within two seconds, three press and release events within five seconds, etc.) presses.

[0031] As another example, while cruise control is engaged at a set speed, the vehicle control module can automatically reduce the set speed in response to a brake pedal tap event. The brake pedal tap event can include any suitable input parameters that meet specific event criteria, such as the driver pressing the brake pedal for less than a specified duration (e.g., less than 500 milliseconds, less than one second, etc.), the driver pressing and releasing the brake pedal a certain distance (e.g., less than 10% of the full brake pedal travel, less than 50% of the full brake pedal travel, etc.), or the driver pressing the brake pedal in a specified sequence (e.g., two press-and-release events within two seconds, three press-and-release events within five seconds, etc.).

[0032] The vehicle control module can be configured to adjust a cruise control target speed in response to an accelerator pedal release (APO) event. For example, the vehicle control module can adjust the cruise control target speed to the vehicle's current speed in response to an accelerator pedal release event exceeding a specified period (e.g., the driver holds the accelerator pedal down for at least five seconds, at least ten seconds, etc., to maintain the vehicle speed above a current cruise control target speed).

[0033] Some functions may be associated with an adaptive cruise control operating mode that relies on a front-facing vehicle camera, laser, lidar, etc., to detect objects in front of the vehicle. For example, if the driver overrides cruise control by pressing the brake pedal, and the vehicle control module does not detect any vehicles ahead within a specified distance of the host vehicle (e.g., no vehicle ahead within 30 m (100 ft) of the host vehicle, etc.), and the vehicle control module subsequently detects a vehicle ahead of the host vehicle, the vehicle control module may automatically return to a set cruise control speed (or reactivate cruise control) without requiring any input from the driver.

[0034] Each of the functions described here can be enabled independently by the driver or have calibration settings that can be adjusted by the driver. For example, a driver might enable accelerator pedal tap events to increase cruise control setpoint speeds while disabling brake pedal tap events if the driver wants brake pedal touches to always completely disengage cruise control. The driver might also be able to modify the timing for enabling accelerator pedal tap or brake pedal tap inputs, acceleration and speed thresholds, or time periods for automatic re-engagement of cruise control or modification of a cruise control setpoint speed, etc.

[0035] Exemplary embodiments can offer one or more advantages to the driver, such as providing conditional logic for modifying cruise control settings that is simple, easy, intuitive, and accessible, and uses predictable and repeatable control functions. Exemplary embodiments can enable intuitive, unconscious interaction with the cruise control system, reducing the decision-making burden on the driver.

[0036] According to some examples, automated control of speed control functions may not require additional technology for sensing, perception, mapping or path planning and may reduce or eliminate the mental strain of hand-foot coordination for controlling vehicle speed as well as the physical strain of pressing buttons.

[0037] The example implementations described here can be used in all suitable traffic situations, such as when a driver brakes because of objects or activities in a lane or near the vehicle (e.g., pedestrians, potholes, speed bumps, railroad crossings, construction sites, emergency vehicles, school buses, or scenic views); when a driver brakes to cross an intersection (e.g., to go straight, to turn right, to turn left, to make a U-turn, to make a Michigan left turn, or to pass through a roundabout); when a driver brakes because of a cutting maneuver, a suddenly appearing actor, a lane change, merging, etc.

[0038] Some other examples of road scenarios might include a driver not having adaptive cruise control in a vehicle, or forgetting that the adaptive cruise control is braking, or not feeling that the adaptive cruise control is braking as much as desired (e.g., due to a curve in the road, an object entering or leaving the lane, etc.), or a change in the speed limit or a change in the speed desired by the driver. As mentioned above, exemplary embodiments can allow changes to cruise control settings without the driver having to touch any steering wheel buttons.

[0039] With reference to Fig. 1 comprises a vehicle with 10 front wheels (12) and 13 rear wheels. Fig. 1 A drive unit 14 selectively outputs torque via drive trains 16, 18 to the front wheels 12 or the rear wheels 13. The vehicle 10 can include different types of drive units. For example, the vehicle can be an electric vehicle such as a battery electric vehicle (BEV), a hybrid vehicle or a fuel cell vehicle, a vehicle with an internal combustion engine (ICE), or another type of vehicle.

[0040] Some examples of the drive unit 14 include any suitable electric motor, a power inverter, and a motor controller designed to control circuit breakers within the power inverter to adjust the motor speed and torque during drive and / or recuperation. A battery system supplies power to or receives power from the electric motor of the drive unit 14 via the power inverter during drive or recuperation.

[0041] Although the vehicle 10 in Fig. While the vehicle may comprise a drive unit 14, it can have 10 other configurations. For example, two separate drive units can power the front wheels 12 and the rear wheels 13, one or more individual drive units can power individual wheels, and so on. As can be seen, other vehicle configurations and / or drive units can be used.

[0042] The vehicle control module 20 can be configured to control the operation of one or more vehicle components, such as the drive unit 14 (e.g., by instructing torque settings of an electric motor of the drive unit 14). The vehicle control module 20 can receive inputs for controlling vehicle components, such as signals received from a steering wheel, accelerator pedal, brake pedal, vehicle camera, etc. The vehicle control module 20 can monitor vehicle telematics, such as vehicle speed, vehicle position, braking and acceleration behavior, etc., for safety purposes.

[0043] The vehicle control module 20 can receive signals from any suitable components to monitor one or more aspects of the vehicle, including one or more vehicle sensors (such as cameras, microphones, pressure sensors, wheel position sensors, positioning sensors such as Global Positioning System (GPS) antennas, etc.). Some sensors may be designed to monitor the vehicle's current movement, acceleration, steering torque, etc.

[0044] As it is in Fig. As shown in Figure 1, the vehicle 10 includes a front-facing camera 26 designed to capture images of a field of view in front of the vehicle 10. The field of view can be wide (e.g., at least a 30-degree field of view, a 45-degree field of view, a 60-degree field of view, a 90-degree field of view, etc.) to detect objects at the sides of a road on which the vehicle 10 is traveling. According to various embodiments, the vehicle 10 may include more or fewer front-facing cameras, optional side or rear-facing cameras, etc. The vehicle 10 may include any suitable laser, lidar sensor, etc., used to detect objects around the vehicle 10.

[0045] According to some exemplary embodiments, a vehicle object detector can be configured to detect a nearest vehicle in the path (CIPV) (e.g., another vehicle ahead of the current path of vehicle 10), a vulnerable road user (VRU) (e.g., a pedestrian or cyclist), etc. The vehicle control module 20 can be configured to control the movement of vehicle 10 based on a detected CIP target vehicle, detected driving behavior of a rear target vehicle, etc., for example, by increasing or decreasing the automated acceleration of vehicle 10 (e.g., by controlling the power or torque output of an engine), automatically applying the brakes of vehicle 10 (e.g., by automatically applying the brakes), or by automatically applying the brakes of vehicle 10.(e.g., in response to a braking event due to an impending collision), implementing adaptive cruise control or automatically adjusting cruise control settings based on the distance to a target vehicle, etc.

[0046] As it is in Fig. As shown in Figure 1, the vehicle 10 comprises an accelerator pedal 28 and a brake pedal 30. The accelerator pedal 28 can be configured to increase the acceleration of the vehicle 10 when it is pressed (e.g., by the driver's foot), for example, by increasing the power delivered by the drive unit 14 to the front wheels 12 and / or rear wheels 13. The brake pedal 30 can be configured to decrease the speed of the vehicle 10 when it is pressed (e.g., by the driver's foot), for example, by applying brake pads to the front wheels 12 and / or rear wheels 13 to slow the rotation of the wheels.

[0047] The accelerator pedal 28 and the brake pedal 30 can be used to adjust settings of a vehicle 10's cruise control system. For example, the vehicle control module 20 can be configured to implement cruise control functions for the vehicle 10, such as maintaining or attempting to maintain a target speed (e.g., cruise control target speed) by controlling the amount of power supplied by the drive unit 14 to the front wheels 12 and / or rear wheels 13. According to some examples, the vehicle control module 20 can be configured to automatically adjust cruise control settings based on inputs received from the accelerator pedal 28, the brake pedal 30, and / or the front vehicle camera 26, without requiring inputs via steering wheel buttons, as described further herein.

[0048] The vehicle control module 20 can communicate with another device via a wireless communication interface, which may include one or more wireless antennas for transmitting and / or receiving wireless communication signals. For example, the wireless communication interface can communicate using any suitable wireless communication protocol, including but not limited to vehicle-to-everything (V2X) communication, Wi-Fi communication, wide area network (WAN) communication, cellular communication, person-area network (PAN) communication, short-range wireless communication (e.g., Bluetooth), etc. The wireless communication interface can communicate with a remote computing device over one or more wireless and / or wired networks.With regard to vehicle-to-vehicle communication (V2X communication), the vehicle 10 may include one or more V2X transceivers (e.g., V2X signal transmit and / or receive antennas).

[0049] Vehicle 10 also includes a user interface. The user interface can include any suitable displays (e.g., on a dashboard, console, or elsewhere), a touchscreen or other input devices, speakers for generating audio, etc.

[0050] Fig. Figure 2 is an exemplary representation of a host vehicle 210 traveling on a road 200 using cruise control functions. As shown in Fig. As shown in Figure 2, the host vehicle 210 can determine a distance 214 between the host vehicle 210 and a vehicle 212 traveling ahead of the host vehicle 210 in the same lane.

[0051] The host vehicle 210 may be designed to implement adaptive cruise control to maintain or attempt to maintain a specified distance 214 between the host vehicle and the vehicle 212 ahead, for example by controlling the speed of the host vehicle 210 to match the speed of the vehicle 212 ahead.

[0052] Fig. Figure 3 is a flowchart illustrating an exemplary process for automatically setting a cruise control speed based on a detected distance to a target vehicle ahead. The diagram in Fig. The process shown in section 3 can be carried out, for example, by the vehicle control module 20 of Fig. 1. At 304, the process begins with maintaining a distance between a host vehicle and a target vehicle in front of the host vehicle in the lane.

[0053] In version 308, the vehicle control module is designed to determine whether the distance between the host vehicle and the vehicle exceeds a specified distance threshold. This specified distance threshold can indicate a safety distance between the two vehicles to activate cruise control (e.g., at least 15 m (fifty feet), at least 30 m (one hundred feet), etc.) and can vary depending on the current speed of the host vehicle.

[0054] If the distance in 308 is not greater than the specified threshold, the controller neither engages cruise control nor adjusts the cruise control setpoint speed. If the distance in 308 is greater than the specified threshold, the controller proceeds to 312 to determine whether the vehicle's lateral acceleration and longitudinal acceleration are less than a specified threshold.

[0055] For example, the vehicle control module can monitor the longitudinal and lateral acceleration of the host vehicle for a specified period (e.g., one second, five seconds, twenty seconds, etc.) and check whether the acceleration values ​​are below a threshold indicating that activating cruise control is safe. If the acceleration values ​​are greater than the specified threshold at 312, the controller does not activate cruise control and does not adjust the cruise control setpoint speed. If the acceleration values ​​are less than the acceleration threshold at 312, the controller proceeds to 316 to determine whether the host vehicle's speed is below a speed threshold.

[0056] If the host vehicle is traveling too slowly (e.g., less than 30 mph, less than 15 mph, etc.), the controller may not activate or engage cruise control for safety reasons. If the host vehicle exceeds the specified speed threshold at 316, the controller proceeds to 320 to determine if a driver recently disengaged cruise control.

[0057] If the driver has recently interrupted cruise control (e.g., within the last three seconds, within the last ten seconds, etc.), the controller may not reactivate cruise control to avoid disturbing the driver or overriding the driver's recent intentions. If the driver has not recently interrupted cruise control in 320, the controller proceeds to 324 to determine whether the cruise control function has been activated for the vehicle.

[0058] If the cruise control function is not enabled in 324, the process terminates. If cruise control is enabled in 324, the controller determines whether a resumption request is active. For example, if the driver has already entered a request to resume cruise control, the process can be terminated and the request can be executed.

[0059] If no resumption request is currently active in 328, the controller proceeds to 332 to determine whether cruise control is currently in use. If not, the vehicle control module is configured to change the cruise control setpoint speed in 344 to the vehicle's current speed. The controller then engages cruise control in 348.In this case, if the distance between the host vehicle and the vehicle ahead exceeds the threshold, the acceleration and speed values ​​of the host vehicle are within the specified criteria ranges indicating that activating cruise control would be safe, and no current cruise control settings take precedence, the vehicle control module can be configured to automatically engage cruise control and set a cruise control speed based on the vehicle's current speed. This can occur automatically, for example, without requiring any input from the driver.

[0060] If the controller determines in 332 that cruise control is already in operation, it proceeds to 336 to determine whether the current vehicle speed is above the cruise control setpoint speed by a specified threshold (e.g., at least three mph above the cruise control setpoint speed, at least five mph above the current setpoint speed, etc.). If this is not the case, the controller does not make any changes to the cruise control setpoint speed.

[0061] If the current vehicle speed in 336 exceeds the cruise control setpoint speed by the specified threshold, the controller proceeds in 340 to change the cruise control setpoint speed to the current vehicle speed. The speed may need to remain above the specified threshold for a specified period (e.g., at least three seconds, at least ten seconds, etc.) before the cruise control setpoint speed is adjusted. According to this example, a driver can automatically change the cruise control setpoint speed by driving a certain amount above the current setpoint speed without requiring any input via steering wheel buttons, etc.

[0062] According to some examples, a virtual automatic application of the cruise control settings or target speed can be based on one or more conditions, such as the host vehicle being sufficiently far away from the detected vehicle ahead, the lateral acceleration of the host vehicle remaining low for a sufficiently long period, the longitudinal acceleration of the host vehicle remaining low for a sufficiently long period, the speed of the host vehicle being sufficiently high, confirmation that the driver has not recently interrupted the cruise control via a brake pedal or a cancel switch, confirmation that a virtual resumption request is not currently active, and confirmation that a cruise control function is enabled but not in use.

[0063] The virtual automatic engagement of cruise control can cause the cruise control to transition from an inactive state to an active state, setting a cruise control setpoint speed to the current vehicle speed, and so on. According to some examples, the vehicle control module may be designed to adjust a cruise control setpoint speed to the current vehicle speed in response to a prolonged accelerator pedal release event, such as when the driver depresses the accelerator pedal for a specified period to raise the vehicle's current speed by a certain amount above the cruise control setpoint speed.

[0064] Fig. Figure 4 is a flowchart illustrating an exemplary process for the automatic activation of a cruise control function based on target vehicle detection. The diagram in Fig. The process shown in section 4 can, for example, be carried out by the vehicle control module 20. Fig. 1. In case 404, the process begins with maintaining a distance between a host vehicle and a target vehicle in front of the host vehicle in the lane.

[0065] In version 408, the vehicle control module is designed to determine whether the distance between the host vehicle and the vehicle exceeds a specified distance threshold. This threshold can indicate a safety distance between the two vehicles to activate cruise control (e.g., at least 15 m (fifty feet), at least 30 m (one hundred feet), etc.) and can vary depending on the current speed of the host vehicle.

[0066] If the distance at step 408 is not greater than the specified threshold, the controller neither activates cruise control nor adjusts the cruise control setpoint speed. If the distance at step 408 is greater than the specified threshold, the controller proceeds to step 412 to determine whether the vehicle's lateral acceleration and longitudinal acceleration are less than a specified threshold.

[0067] If the acceleration values ​​at 412 are greater than the specified threshold, the controller neither activates cruise control nor adjusts the cruise control setpoint speed. If the acceleration values ​​are less than the acceleration threshold at 412, the controller proceeds to 416 to determine if the host vehicle's speed is below a speed threshold. If the host vehicle exceeds the specified speed threshold in 416, the controller proceeds to 420 to determine if the driver recently disengaged cruise control.

[0068] If the driver has not recently deactivated cruise control in 420, the controller proceeds to 424 to determine if the cruise control function is activated for the vehicle. If the cruise control function is not activated in 424, the process ends. If cruise control is activated in 424, the controller determines if cruise control is currently in use in 428.

[0069] If the cruise control is not active at 428, the controller proceeds to 432 to determine if a specific sequence of events has occurred. For example, the controller can determine if a driver has applied the brake pedal while the cruise control system has not detected any objects ahead (e.g., because the driver perceived a potential hazard object that was not detected by the adaptive cruise control system and the front-facing camera). If this is the case, and the controller subsequently detects an object while the driver is still applying the brake pedal (which can be described as delayed object detection by the cruise control system), the controller then checks whether the driver releases the brake or brings the vehicle to a stop.

[0070] If the above sequence occurs at 436, the control unit can automatically engage cruise control at 440. In this case, if the cruise control system detects a target object after the driver has already manually pressed the brake pedal, the control unit can reactivate cruise control after the driver releases the brake pedal.

[0071] According to some examples, a virtual automatic cruise control resumption after late object detection can be based on one or more conditions, such as the host vehicle being sufficiently far away from the detected vehicle ahead, the lateral acceleration of the host vehicle remaining low for a sufficiently long period, the longitudinal acceleration of the host vehicle remaining low for a sufficiently long period, the speed of the host vehicle being sufficiently high, confirmation that the driver has not recently interrupted cruise control via a brake pedal or a cancel switch, and confirmation that a cruise control function is enabled but not in use.

[0072] The control unit can determine whether a specific sequence of events has occurred, such as the driver recently overriding cruise control by pressing the brake pedal when the cruise control function had not detected an object ahead, the cruise control functions then detecting an object ahead while the driver was still pressing the brake pedal, and the driver subsequently releasing the brake pedal or coming to a stop. The vehicle control module can be configured to automatically engage cruise control without driver intervention and to set the cruise control setpoint to a value that was set before the cruise control was overridden by pressing the brake pedal.

[0073] Fig. Figure 5 is a flowchart illustrating an exemplary process for the automatic activation of a speed control function based on detected vehicle movement parameters. The diagram in Fig. The process shown in section 5 can be carried out, for example, by the vehicle control module 20 of Fig. 1. At 504, the process begins by obtaining a history of cruise control states, such as the last engagement or disengagement of cruise control, the last activation or deactivation of cruise control, etc.

[0074] At 508, the control unit determines whether the cruise control has changed from "activated" to "in use" since its last deactivation. If so, at 512 it determines whether the driver recently interrupted the cruise control by pressing the brake pedal or via a cancel button (e.g., on a steering wheel).

[0075] If the driver recently interrupted cruise control in 512, the controller proceeds to 516 to determine if the cruise control function is currently enabled but not in use. If so, the controller proceeds to 520 to determine if a driver-intended curvature and curvature rate are below a specified threshold (e.g., for at least a specified period of time). For example, the controller can determine if the vehicle's steering angle, etc., is close enough to driving straight ahead to safely activate cruise control.

[0076] If the curvature and curvature rate intended by the driver are within a threshold at 520, the control system proceeds to 524 to determine whether a longitudinal acceleration intended by the driver is greater than a threshold (e.g., for at least a specified period). For example, the control system can determine whether the driver is pressing an accelerator pedal to increase the vehicle's speed. If so, the control system proceeds to 528 to automatically activate cruise control without requiring any further input from the driver.

[0077] If the controller determines that the vehicle's curvature is too high at 520 or that the longitudinal acceleration is too low at 524, the controller proceeds to 532 to determine whether the difference between a filtered internal cruise control setpoint (e.g., an internal setpoint of an adaptive cruise control system) and an unfiltered cruise control setpoint is less than a threshold. If so, the controller proceeds to 536 to determine whether the vehicle's current speed exceeds an internal setpoint by a threshold. If so, the controller proceeds to 528 to automatically engage cruise control.

[0078] According to some examples, the vehicle control module may be designed to automatically perform a virtual resumption at a target speed based on one or more conditions, such as that a virtual resumption at a target speed function is activated, that a cruise control function has transitioned from activated to in use at least once since the last time cruise control was deactivated by the driver or the system, that it is confirmed that the driver has not recently interrupted cruise control via the brake pedal or a cancel switch, and that it is confirmed that the cruise control function is activated but not in use.

[0079] The vehicle control module can confirm that either the driver has completed a braking and / or turning maneuver, or that the driver's speed exceeds the internal target speed of an adaptive cruise control system. If this is the case, the vehicle control module can automatically engage cruise control and set the speed to a value that was set when the cruise control was last interrupted.

[0080] The vehicle control module can be designed to determine, in an appropriate manner, whether the driver has completed a braking and / or turning maneuver, for example, by determining whether the longitudinal acceleration intended by the driver is sufficiently high for a sufficiently long period, whether the curvature of the vehicle's motion is sufficiently low for a sufficiently long period, and whether the rate of curvature of the vehicle's motion is sufficiently low for a sufficiently long period. The vehicle control module can also be designed to determine, in an appropriate manner, whether a driver's speed exceeds an internal target speed of the adaptive cruise control (ACC), for example, by determining whether an internal ACC target speed is stable (e.g., whether the difference between the filtered and unfiltered internal ACC target speed is sufficiently low for a sufficiently long period) and whether the vehicle speed is above the internal ACC target speed.

[0081] Fig. Figure 6 is a flowchart illustrating an exemplary process for automatically increasing a cruise control setpoint speed based on an input to an accelerator pedal. The diagram in Fig. The process shown in section 6 can be carried out, for example, by the vehicle control module 20 of Fig. 1. At 604, the process begins by determining whether virtual tap-to-go is enabled (e.g., whether a driver or the system has enabled the ability to increase the cruise control target speeds using the accelerator pedal).

[0082] If so, the controller detects an accelerator pedal input at 612 (e.g., whether a driver is pressing the accelerator pedal). At 616, the controller determines whether the accelerator pedal input meets the upstroke criteria. For example, and as described above, the controller can determine whether parameters associated with the accelerator pedal input (e.g., pressure duration, pedal travel, number of consecutive pedal presses within a period, etc.) meet defined criteria for adjusting the cruise control target speed.

[0083] If the accelerator pedal input at 616 meets the criteria, the control system continues at 620 to determine whether a virtual tap-to-adjust function is activated.

[0084] For example, a virtual tap-to-set function can specify whether a driver is allowed to set a new cruise control speed using the accelerator pedal (e.g., as opposed to simply increasing the target speed by a specified amount).

[0085] If the virtual tap-to-adjust function is not enabled at 620, the controller proceeds to 628 to increase the cruise control setpoint speed by a specified amount (e.g., 3 km / h (two mph), 8 km / h (five mph), etc.). If the virtual tap-to-adjust function is enabled at 620, the controller proceeds to 624 to determine whether the vehicle is decelerating at a rate greater than a threshold. If not, the controller proceeds to 628 to increase the cruise control setpoint speed by the specified amount.

[0086] If the vehicle decelerates at a rate above a threshold in 624 (e.g., the vehicle slows down significantly), the controller proceeds to 632 to change the cruise control setpoint speed to the vehicle's current speed. The controller then proceeds to 636 to determine whether a setting for a virtual setting is enabled at a value higher than the current speed (e.g., to allow a driver to set a cruise control setpoint speed above the current speed).

[0087] If the function is activated at 636, the controller proceeds to 640 to determine whether the vehicle speed is below a current cruise control setpoint speed. If so, the controller changes the cruise control setpoint speed to the vehicle's current speed plus an additional specified amount (e.g., 3 km / h (two mph), 8 km / h (five mph) extra, etc.).

[0088] According to some examples, the vehicle control module can be designed to implement a virtual tap-up of the cruise control settings based on any suitable conditions, such as cruise control being engaged and a specific accelerator pedal input (e.g., a specific input pattern) being detected. According to various implementations, the cruise control setpoint speed increases by a predetermined amount in response to an accelerator pedal tap when the vehicle accelerates or decelerates slightly. If the vehicle decelerates significantly, the cruise control setpoint speed changes to the current speed in response to the accelerator pedal tap input.If the vehicle decelerates significantly and the vehicle speed is lower than the current target speed, the cruise control target speed changes in response to the accelerator pedal tap input to the current speed plus a predetermined amount.

[0089] Fig. Figure 7 is a flowchart illustrating an exemplary process for automatically reducing a cruise control setpoint speed based on a brake pedal input. The diagram in Fig. The process shown in section 7 can be carried out, for example, by the vehicle control module 20. Fig. 1. At 704, the process begins by determining whether virtual downshifting is enabled (e.g., whether a driver or the system has activated the ability to reduce the cruise control setpoint speeds using the brake pedal).

[0090] If so, the controller detects a brake pedal input at 712 (e.g., whether a driver is pressing the brake pedal). At 716, the controller determines whether the brake pedal input meets the criteria for the downstroke. For example, and as described above, the controller can determine whether parameters associated with the brake input (e.g., pressure duration, pedal travel, number of consecutive pedal presses within a period, etc.) meet defined criteria for adjusting the cruise control target speed.

[0091] If the brake pedal input meets the criteria at 716, the controller proceeds to 720 to determine whether a virtual tap-to-set function is enabled. For example, a virtual tap-to-set function might specify whether a driver is allowed to set a new cruise control speed using the brake pedal (e.g., as opposed to simply reducing the target speed by a certain amount).

[0092] If the virtual tap-to-adjust function is not enabled in 720, the controller proceeds to 728 to reduce the cruise control setpoint speed by a specified amount (e.g., 3 km / h (two mph), 8 km / h (five mph), etc.). If the virtual tap-to-adjust function is enabled in 720, the controller proceeds to 724 to determine whether the vehicle is accelerating at a rate greater than a threshold. If not, the controller proceeds to 728 to reduce the cruise control setpoint speed by the specified amount.

[0093] If the vehicle accelerates at a rate greater than a threshold at 724 (e.g., the vehicle accelerates sharply), the controller proceeds to 732 to change the cruise control setpoint speed to the vehicle's current speed. The controller then proceeds to 736 to determine if a setting for virtual setting to a value below the current speed is enabled (e.g., to allow a driver to set a cruise control setpoint speed below the current speed).

[0094] If the function is enabled at 736, the controller proceeds to 740 to determine whether the vehicle speed is greater than a current cruise control setpoint speed. If so, the controller changes the cruise control setpoint speed to the current vehicle speed minus an additional specified amount (e.g., 3 km / h (two mph), 8 km / h (five mph) extra, etc.).

[0095] According to some examples, the vehicle control module can be designed to implement a virtual tap-down of the cruise control settings based on any suitable conditions, such as cruise control being engaged and a specific brake pedal input (e.g., a particular input pattern) being detected. According to various implementations, when the vehicle decelerates or accelerates slightly, the cruise control setpoint speed decreases by a predetermined amount in response to the brake pedal tap-down input. When the vehicle accelerates significantly, the cruise control setpoint speed changes to the current speed in response to the brake pedal tap-down input.If the vehicle accelerates significantly and the vehicle speed is higher than the current target speed, the cruise control target speed changes in response to the brake pedal tap input to the current speed minus a predetermined amount.

[0096] The foregoing description serves only for illustration and is not intended in any way to limit the disclosure, its application, or its use. The general teachings of the disclosure can be implemented in a multitude of forms. Although this disclosure includes certain examples, the actual scope of the disclosure is not intended to be limited thereto, since other variations will be apparent upon review of the drawings, the description, and the following claims. It is understood that one or more steps within a process may be carried out in a different order (or concurrently) without altering the principles of the present disclosure.Furthermore, although each of the embodiments described above is characterized by certain features, one or more of these features described in relation to one embodiment of the disclosure may be implemented in features of one of the other embodiments and / or combined with them, even if this combination is not explicitly described. In other words, the described embodiments are not mutually exclusive, and permutations of one or more embodiments among themselves remain within the scope of this disclosure.

[0097] Spatial and functional relationships between elements (e.g., between modules, circuit elements, semiconductor layers, etc.) are described using various terms, including "connected," "interlocking," "coupled," "adjacent," "next to," "on," "above," "below," and "arranged." When a relationship between a first and a second element is described in the preceding disclosure, this relationship may be a direct relationship, in which no other intervening elements exist between the first and the second element, or it may be an indirect relationship, in which one or more intervening elements (either spatial or functional) exist between the first and the second element, unless it is explicitly described as "direct."When used herein, the expression “at least one of A, B and C” shall be interpreted as meaning a logical (A OR B OR C) using a non-exclusive logical OR, and shall not be interpreted as meaning “at least one of A, at least one of B and at least one of C”.

[0098] In diagrams, the direction of an arrow, as indicated by its tip, generally shows the flow of information (e.g., data or commands) relevant to the diagram. For example, if Element A and Element B exchange a variety of information, but the information sent from Element A to Element B is relevant to the diagram, the arrow may point from Element A to Element B. This unidirectional arrow does not mean that no other information is sent from Element B to Element A. Furthermore, Element B may send requests for or acknowledgments of information sent from Element A to Element B.

[0099] In this application, including the definitions below, the term "module" or "controller" may be replaced by the term "circuit." The term "module" may refer to, be part of, or include: an application-specific integrated circuit (ASIC); a digital, analog, or mixed analog / digital discrete circuit; a digital, analog, or mixed analog / digital integrated circuit; a combinational logic circuit; a field-programmable gate array (FPGA); a processor circuit (shared, dedicated, or grouped) that executes code; a memory circuit (shared, dedicated, or grouped) that stores code executed by the processor circuit; other suitable hardware components that provide the described functionality; or a combination of some or all of the above, such as in a system-on-a-chip.

[0100] The module may include one or more interface circuits. According to some examples, the interface circuits may include wired or wireless interfaces connected to a local area network (LAN), the internet, a wide area network (WAN), or combinations thereof. The functionality of any module of this disclosure may be distributed across multiple modules connected via interface circuits. For example, multiple modules may enable load balancing. According to another example, a server module (also known as a remote or cloud module) may perform certain functionality on behalf of a client module.

[0101] The term "code" as used above can include software, firmware, and / or microcode, and can refer to programs, routines, functions, classes, data structures, and / or objects. The term "shared processor circuit" refers to a single processor circuit that executes some or all of the code from multiple modules. The term "group processor circuit" refers to a processor circuit that, in combination with additional processor circuits, executes some or all of the code from one or more modules. References to multiple processor circuits include multiple processor circuits on discrete chips, multiple processor circuits on a single chip, multiple cores of a single processor circuit, multiple strands of a single processor circuit, or a combination thereof.The term shared memory circuit refers to a single memory circuit that stores some or all of the code from multiple modules. The term group memory circuit refers to a memory circuit that, in combination with additional memory, stores some or all of the code from one or more modules.

[0102] The term memory circuit is a subset of the term computer-readable medium. The term computer-readable medium used here does not include transitory electrical or electromagnetic signals that propagate through a medium (e.g., on a carrier wave); the term computer-readable medium can therefore be considered material and non-transient. Non-restrictive examples of a non-transient, material computer-readable medium are non-volatile memory circuits (such as a flash memory circuit, an erasable programmable read-only memory circuit, or a mask read-only memory circuit), volatile memory circuits (such as a static random-access memory circuit or a dynamic random-access memory circuit), magnetic storage media (such as analog or digital magnetic tape or a hard disk drive), and optical storage media (such as CDs, DVDs, or Blu-ray Discs).

[0103] The devices and methods described in this application can be implemented in part or in full by a special-purpose computer created by configuring a general-purpose computer to perform one or more specific functions contained in computer programs. The functional blocks, flowchart components, and other elements described above serve as software specifications that can be translated into computer programs through the routine work of an experienced technician or programmer.

[0104] The computer programs contain processor-executable instructions stored on at least one non-transient, physical, computer-readable medium. The computer programs may also contain or access stored data. The computer programs may include a basic input / output system (BIOS) that interacts with the hardware of the special-purpose computer, device drivers that interact with specific devices of the special-purpose computer, one or more operating systems, user applications, background services, background applications, and so on.

[0105] Computer programs can include: (i) descriptive text to be parsed, such as HTML (Hypertext Markup Language), XML (Extensible Markup Language), or JSON (JavaScript Object Notation); (ii) assembly code; (iii) object code generated from source code by a compiler; (iv) source code for execution by an interpreter; (v) source code for compilation and execution by an on-demand compiler, etc. Source code can be written using the syntax of languages ​​such as C, C++, C#, Objective-C, Swift, Haskell, Go, SQL, R, Lisp, Java®, Fortran, Perl, Pascal, Curl, OCaml, Javascript®, HTML5 (Hypertext Markup Language 5th Revision), Ada, ASP (Active Server Pages), PHP (PHP: Hypertext Preprocessor), Scala, Eiffel, Smalltalk, Erlang, Ruby, Flash®, Visual Basic®, Lua, MATLAB, and Simulink, by way of example. and written in Python®.

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