A system for providing dynamic creep mode in vehicles

Abstract

The present invention relates to a system (1) for directing a creep mode-which enables motor vehicles to move at low speeds without receiving a accelerator pedal (gas) input-in accordance with changing conditions such as position of brake pedal, position of steering wheel, distance to the object in the direction of movement, and slope of the road and thus enabling drivers to carry out a manoeuvre with less effort while the vehicle is in creep mode.

Description

[0001] A SYSTEM FOR PROVIDING DYNAMIC CREEP MODE IN VEHICLES

[0002] Technical Field

[0003] The present invention relates to a system for directing a creep mode -which enables motor vehicles to move at low speeds without receiving a accelerator pedal (gas) input- in accordance with changing conditions such as position of brake pedal, position of steering wheel, distance to the object in the direction of movement, and slope of the road and thus enabling drivers to carry out a manoeuvre with less effort while the vehicle is in creep mode.

[0004] Background of the Invention

[0005] Creep mode enables a vehicle to move without receiving any accelerator pedal input at low speeds according to the gear engaged as a result of running at idle speed to prevent the engine from stopping, when the gear is not in neutral and the vehicle is in a stationary state, in internal-combustion vehicles with manual transmission Since the said creep mode function allows the vehicle to move on its own at low speeds, it is preferred by drivers quite often in manoeuvres in congested traffic or during parking. Although the engine does not need to run at idle in electric vehicles, the said creep mode function is used in electric vehicles as well, so that drivers who are accustomed to driving an internal-combustion manual transmission vehicle can experience the driving experiences they are accustomed to also in electric vehicles. Currently, although the creep mode helps drivers by moving the vehicle on its own, it has restrictions such as moving the vehicle at a constant speed in the creep mode.

[0006] Therefore, considering the studies and the shortcomings included in the current technique, it is understood that there is need for a system which enables to provide support and driving experience to the driver at the highest level by ensuring that a creep mode is run by the driver in a predictable and desirable way under changing conditions.

[0007] The Chinese patent document no. CN113428018A, an application in the state of the art, discloses an adaptive crawling mode method for electric vehicles. The invention which is subject to the said patent document discloses a crawling self- adaptive control method for a pure electric vehicle. The method briefly consists of judging whether the vehicle meets a crawling mode entering condition or not; when the vehicle meets the crawling mode entering condition, determining the mode that the vehicle enters the crawling mode; and according to the mode that the vehicle enters the crawling mode and / or the road condition, adjusting the torque of the motor in a torque control mode or a rotating speed control mode.

[0008] The Chinese patent document no. CN113428018A, which is considered to be a document closest to the state of the art, discloses a crawling mode activated when certain conditions are met; it is not possible to direct the crawling mode by the driver in a predictable and desirable way under changing conditions.

[0009] Summary of the Invention

[0010] An objective of the present invention is to realize a system for directing a creep speed in accordance with changing conditions such as position of brake pedal, position of steering wheel, distance to the object in the direction of movement, and slope of the road while the vehicle is in creep mode and thus enabling drivers to carry out a manoeuvre with less effort while the vehicle is in creep mode.

[0011] Another objective of the present invention is to realize a system for enabling vehicle users to select a creep mode such as creep as take-off mode enabling the vehicle to start to move when it is in a stationary state or creep as stop mode enabling the continuation of nonstop motion of the vehicle -that has slowed down from a high speed- by the creep mode when it reaches low speeds; and thus to determine how the vehicle will act during take-off and stop manoeuvres.

[0012] Detailed Description of the Invention

[0013] “A System for Providing Dynamic Creep Mode in Vehicles” realized to fulfil the objectives of the present invention is shown in the figure attached, in which:

[0014] Figure l is a schematic view of the inventive system.

[0015] The components illustrated in the figure are individually numbered, where the numbers refer to the following:

[0016] 1. System

[0017] 2. Sensor

[0018] 3. Image acquisition device

[0019] 4. On-board computer

[0020] 5. Vehicle control device

[0021] 6. Electric motor

[0022] 7. Controller

[0023] A. GPS device

[0024] The inventive system (1) for changing a vehicle creep mode dynamically, by obtaining data about the vehicle and the vehicle environment and analyzing the said data; comprises at least one sensor (2) which is configured to collect the data about the vehicle and the vehicle environment, by being positioned at any position and / or at units such as electronic motor, accelerator pedal, brake pedal on the vehicle; and to measure the vehicle speed and the accelerator and / or brake pedal movements; at least one image acquisition device (3) which is positioned on the vehicle and configured to acquire image at least related to interior and / or outside the vehicle; at least one on-board computer (4) which is positioned inside the vehicle; is configured to acquire and store data about the vehicle; and to enable users to manage the creep mode function by means of at least one interface located thereon; at least one vehicle control device (5) which is positioned on the vehicle and realizes data exchange by establishing communication with the on-board computer (4); is configured to control for prerequisites required for the creep mode to run such as detecting whether the driver is in the vehicle or not, determining whether the vehicle speed is suitable for the creep mode, gear position by being triggered upon the creep mode function is activated on the on-board computer (4) by the user; to engage the creep mode function; to receive and then process the data obtained from the sensors (2), the image acquisition device (3) and the on-board computer (4) located on the vehicle, about the vehicle and its environment; and to determine the creep speed of the vehicle in accordance with the data obtained from the sensor (2), the image acquisition device (3) and the on-board computer (4) such as position of brake / accelerator pedal, steering angle, distance and relative speed of the object in the vehicle’s direction of movement, and slope of the road; at least one electric motor (6) which is included inside the vehicle and configured to enable the vehicle to move by electric power; and at least one controller (7) which is positioned on the vehicle and configured to control the data of vehicle’ s creep speed determined by the vehicle control device (5); to calculate an acceleration target by comparing the determined target creep speed with the vehicle’s current speed; to convert the calculated acceleration target into a target torque; to make corrections in the target torque so as to achieve the target acceleration quickly by detecting the energy losses exposed by the vehicle in accordance with the dynamically- changing environmental conditions; and to ensure that the creep is performed by triggering the electric motor (6) together with the final torque value calculated.

[0025] The sensor (2) included in the inventive system (1) is configured to collect the data about the vehicle and the vehicle environment, by being positioned at any position and / or at units such as electronic motor, accelerator pedal, brake pedal on the vehicle; and to measure the vehicle speed and the accelerator and / or brake pedal movements. In one preferred embodiment of the invention, the sensor (2) is a sensor detecting the presence and the magnitude of a magnetic field configured to measure the angular velocity at the wheels by being positioned at the vehicle wheels, such as Hall effect sensor. In one preferred embodiment of the invention, the sensor (2) is a device configured to measure the linear and angular acceleration information about a vehicle and to determine the rotation direction and speed of an object, such as inertial measuring device (IMU - Inertial Measurement Unit). In one preferred embodiment of the invention, the sensor (2) is configured to collect the data about the pedal movements or positions such as the frequency or duration of depressing the pedal, by being placed on the acceleration pedal (gas pedal) inside the vehicle. In one preferred embodiment of the invention, the sensor (2) is configured to collect the data about the brake pedal movements or positions such as the frequency or duration of depressing the pedal, by being positioned on the brake pedal inside the vehicle. In one preferred embodiment of the invention, the sensor (2) is configured to collect the movement data of the steering wheel, by being positioned on the vehicle’s steering wheel. In one preferred embodiment of the invention, the sensor (2) is a device such as weight sensor configured to measure the effective weight information, by being placed on the driver’s seat. In one preferred embodiment of the invention, the sensor (2) is a device such as distance sensor configured to detect the objects in the movement direction of the vehicle and the distance to the said objects, by placed at any point in front of the vehicle. In one preferred embodiment of the invention, the sensor (2) -which can detect the objects in the movement direction of the vehicle- is a radar sensor that can detect the objects in the movement direction of the vehicle by broadcasting and receiving a signal or a LIDAR (Laser Imaging Detection and Ranging) sensor that detect the objects in the movement direction of the vehicle by broadcasting and receiving a ray. In one preferred embodiment of the invention, the sensor (2) is a sensor positioned in the electric motor (6) and configured to detect the angular velocity information of the vehicle.

[0026] The sensor (2) is configured to establish communication with the on-board computer (4) by using any remote and / or near-field communication protocol and / or in a wired or wireless way and to transmit the data it collects in relation to the vehicle and the vehicle environment to the on-board computer (4).

[0027] The image acquisition device (3) included in the inventive system (1) is a device configured to acquire image at least related to interior and / or outside the vehicle, such as camera. The said image acquisition device (3) is configured to acquire image related to the vehicle driver, by being positioned inside the vehicle. The image acquisition device (3) is configured to acquire image of the objects in the movement direction of the vehicle, by being positioned outside the vehicle. The image acquisition device (3) is configured to transmit the received image data to the on-board computer (4).

[0028] The on-board computer (4) included in the inventive system (1) is positioned anywhere inside the vehicle where the driver and / or the passengers may interact with, and configured to establish communication and to exchange data with the sensors (2) and the image acquisition device (3). The on-board computer (4) is configured to receive the data obtained from the GPS device (A) by establishing communication with the GPS device (A) that is included inside the vehicle and provides geographical location and time information about the vehicle. The onboard computer (4) is configured to enable users to activate or inactivate the creep mode function during the stop and / or take-off movements of the vehicle. The said on-board computer (4) is configured to provide at least one interface adapted such that it will enable users to make a selection from creep modes such as “creep as take-off mode” or “creep as stop mode”. The on-board computer (4) configured to transmit the data obtained from the sensors (2), the image acquisition device (3) and the GPS device (A) about the vehicle and the vehicle environment, to the vehicle control device (5).

[0029] The vehicle control device (5) included in the inventive system (1) is configured to establish communication and to exchange data with the on-board computer (4). The vehicle control device (5) is configured to control for prerequisites required for the creep mode to run such as detecting whether the driver is in the vehicle or not, determining whether the vehicle speed is suitable for the creep mode, gear position by being triggered upon the creep mode function is activated on the on-board computer (4) by the user. The said vehicle control device (5) is configured to control whether mechanisms, that enable to keep the vehicle immobile such as electronic parking brake and mechanical parking lock, are disabled or not from the on-board computer (4), in order to engage the creep mode function if the vehicle is on the move and the creep mode is activated over the on-board computer (4). The vehicle control device (5) is configured to control the ratio of depressing the brake pedal obtained by the sensor (2) located on the brake pedal, in order to engage the creep mode function if the vehicle is on the move and the creep mode is activated over the on-board computer (4). The vehicle control device (5) is configured to control whether the driver is in the vehicle or not by means of the weight data received from the sensor (2) that is placed on the driver’s seat and measures the weight, the image data obtained from the image acquisition device (3), the information about whether the seat belt is fastened or not or the information about whether the driver’s door is closed or not obtained from the on-board computer (4), in order to engage the creep mode function if the vehicle is on the move and the creep mode is activated over the on-board computer (4). The vehicle control device (5) is configured to control whether the ABS (Anti-Lock Braking System) and the AEB (Autonom Emergency Braking) functions received from the on-board computer (4) are active or not, in order to engage the creep mode function if the vehicle is on the move and the creep mode is activated over the on-board computer (4). The vehicle control device (5) is configured to control the gear position information obtained from the on-board computer (4), in order to engage the creep mode function if the vehicle is on the move and the creep mode is activated over the on-board computer (4). The vehicle control device (5) is configured to control over the on-board computer (4) whether any function preventing the movement of the car is active or not by engaging the brakes, in order to engage the creep mode function if the vehicle is on the move and the creep mode is activated over the on-board computer (4). The vehicle control device (5) is configured to determine the vehicle speed by using the angular speed information of the vehicle from a sensor (2) located in the electric motor (6), the information of wheel angular speed from the sensor (2) positioned on the wheels, the data obtained from the GPS device (A), and the linear and angular acceleration information obtained from the sensor (2) that is an inertial measurement device; and to control whether the vehicle speed is lower or higher than the creep speed or not, in order to engage the creep mode function if the vehicle is on the move and the creep mode is activated over the on-board computer (4). The vehicle control device (5) is configured to engage the creep mode function if it detects that mechanisms, that enable to keep the vehicle immobile such as electronic parking brake and mechanical parking lock, are disabled; the brake pedal is not depressed more than a certain ratio; the driver is inside the vehicle; the AEB and ABS functions are not active; the vehicle gear position is in D (Drive) or R (Reverse) positions; no function that prevents the car from moving by engaging the brakes is activated; and the vehicle speed is lower than the creep speed; if the vehicle is on the move in accordance with the controls performed, if the creep mode is activated over the onboard computer (4).

[0030] The vehicle control device (5) is configured to receive the data obtained from the sensors (2), the image acquisition device (3) and the GPS device (A), over the onboard computer (4) and then to process the said data, and to determine when the vehicle will perform creeping while driving. The vehicle control device (5) is configured to receive and then process the data obtained about the vehicle and its environment from the on-board computer (4) and to determine the creep speed of the vehicle in accordance with the data obtained from the sensor (2), the image acquisition device (3) and the on-board computer (4) such as position of brake / accelerator pedal, steering angle, distance and relative speed of the object in the vehicle’s direction of movement, and slope of the road. The vehicle control device (5) is configured to receive the data of depressing the brake and accelerator pedals from the sensors (2) placed on the accelerator and brake pedals during the period when the vehicle creep mode function is active and if it detects that the brake and accelerator pedals are not depressed at all while the vehicle is in the creep mode, to set the creep speed in a predetermined speed so that the vehicle moves at a constant speed. The vehicle control device (5) is configured to update a predetermined speed value of the creep speed as a target vehicle speed if it detects that the ratio of depressing the brake pedal (duration of depressing the pedal) is above and / or below a certain threshold value, by controlling the ratios of depressing the brake pedal obtained from the sensor (2) that is placed on the brake pedal during the time when the vehicle creep mode function is engaged. In one exemplary embodiment of the invention, the vehicle control device (5) is configured to update the creep speed as 5 km / h, 4 km / h or 3 km / h if the duration of depressing the pedal is in the ratio of 1% or less, 5%, or 10%, respectively.

[0031] The vehicle control device (5) is configured to update the target creep speed, that is determined according to the brake pedal position, in accordance with the steering angle (distance of the steering wheel from the zero position) information obtained from the sensor (2) that is placed on the steering wheel. The vehicle control device (5) is configured to determine a multiplier value in accordance with the steering angle obtained from the sensor (2) that is placed on the steering wheel, to update the target creep speed in accordance with the determined multiplier value, and to put on the brake and turn the steering wheel simultaneously. In one exemplary embodiment of the invention, the vehicle control device (5) is configured to determine the multiplier value of 0.8 for the related steering angle if it receives information that the vehicle’s steering wheel has been turned 30 degrees, from the sensor (2) placed on the steering wheel and to update the new creep speed target as 3.6 km / h by multiplying the target creep speed of 4.5 km / h, that is calculated as a result of depressing the brake pedal by 3%, by the value of 0.8.

[0032] The vehicle control device (5) is configured to update a determined creep speed in accordance with the information of distance to an object determined to be in the movement direction of the vehicle from the sensor (2) or the image acquisition device (3) placed in front of the vehicle. In one preferred embodiment of the invention, the vehicle control device (5) is configured to update the creep speed so that the distance to an object in the movement direction of the vehicle remains constant. The said vehicle control device (5) is configured to update the vehicle’s crawl speed close to a predetermined distance or to trigger the electric motor (6) in order to stop the vehicle, it detects that the distance between the vehicle and the object detected in the movement direction of the vehicle has decreased and the vehicle has approached the said object. In one exemplary embodiment of the invention, the vehicle control device (5) is configured to update the distance to the object in the movement direction of the vehicle in a way to be 2 meters, and the vehicle’s creep speed when the distance between the vehicle and the object falls below a certain threshold value (1 meter).

[0033] The vehicle control device (5) is configured to update the vehicle’s creep speed in accordance with the slope information of the road whereon the vehicle is located. The said vehicle control device (5) is configured to receive the road slope information obtained by means of the sensors (2) that are placed on the wheels over the on-board computer (4), and to update it in accordance with the slope information.

[0034] In one preferred embodiment of the invention, the vehicle control device (5) is configured to transmit the determined values of target creep speed to the controller (7). The electric motor (6) included in the inventive system (1) is configured to enable the vehicle to move by using electric power. In one preferred embodiment of the invention, the electric motor (6) is configured to enable the vehicle to proceed at creep speeds determined by the vehicle control device (5) and regulated by the controller (7), by being triggered through the controller (7).

[0035] The controller (7) included in the inventive system (1) is configured to establish communication with the vehicle control device (5) and to receive the data of creep speed determined by the vehicle control device (5). The said controller (7) is configured to control the data of vehicle’s creep speed determined by the vehicle control device (5). The controller (7) is configured to calculate a target acceleration target by comparing the target creep speed determined by the vehicle control device (5) with the vehicle’s current speed data. The said controller (7) is configured to convert a determined target acceleration data into a target torque information, by using a reverse longitudinal linear vehicle dynamics model that is a model created by using the slowly-changing parameter data of the vehicle (vehicle mass, rolling resistance coefficient, wind resistance coefficient) and the parameter data assumed to never change (wheel diameter, gear ratio). The controller (7) is configured to update the target torque in accordance with the torque losses calculated to achieve the target acceleration quickly, by detecting the energy losses (the vehicle moving up the ramp and / or having to overcome the strong wind blowing from across the vehicle) subjected by the vehicle as a result of dynamically-changing environmental conditions. The controller (7) is configured to trigger the electric motor (6) by the determined target torque value and the creep speed data determined by the vehicle control device (5), and to enable the vehicle to move in creep mode. The controller (7) is configured to detect the changes (vehicle mass, rolling resistance of wheels, wind resistance of vehicle) in slowly-changing parameters of the vehicle by means of prediction algorithms (RLS, Kalman) and to continuously update the reverse longitudinal vehicle dynamics model.

[0036] Industrial Applicability of the Invention In the inventive system (1), it is ensured to update the creep speed according to vehicle and road conditions and thus to enable drivers to carry out a manoeuvre with less effort while the vehicle is in creep mode, while the vehicle’s creep mode function is engaged in accordance with the data obtained from the sensors (2) that are placed inside the vehicle.

[0037] Within these basic concepts; it is possible to develop various embodiments of the inventive “System (1) for Providing Dynamic Creep Mode in Vehicles”; the invention cannot be limited to examples disclosed herein and it is essentially according to claims.

Claims

CLAIMS1. A system (1) for changing a vehicle creep mode dynamically, by obtaining data about the vehicle and the vehicle environment and analyzing the said data; comprising at least one sensor (2) which is configured to collect the data about the vehicle and the vehicle environment, by being positioned at any position and / or at units such as electronic motor, accelerator pedal, brake pedal on the vehicle; and to measure the vehicle speed and the accelerator and / or brake pedal movements; at least one image acquisition device (3) which is positioned on the vehicle and configured to acquire image at least related to interior and / or outside the vehicle; at least one on-board computer (4) which is positioned inside the vehicle; is configured to acquire and store data about the vehicle; and to enable users to manage the creep mode function by means of at least one interface located thereon; and characterized by at least one vehicle control device (5) which is positioned on the vehicle and realizes data exchange by establishing communication with the on-board computer (4); is configured to control for prerequisites required for the creep mode to run such as detecting whether the driver is in the vehicle or not, determining whether the vehicle speed is suitable for the creep mode, gear position by being triggered upon the creep mode function is activated on the on-board computer (4) by the user; to engage the creep mode function; to receive and then process the data obtained from the sensors (2), the image acquisition device (3) and the on-board computer (4) located on the vehicle, about the vehicle and its environment; and to determine the creep speed of the vehicle in accordance with the dataobtained from the sensor (2), the image acquisition device (3) and the on-board computer (4) such as position of brake / accelerator pedal, steering angle, distance and relative speed of the object in the vehicle’s direction of movement, and slope of the road; at least one electric motor (6) which is included inside the vehicle and configured to enable the vehicle to move by electric power; and at least one controller (7) which is positioned on the vehicle and configured to control the data of vehicle’s creep speed determined by the vehicle control device (5); to calculate an acceleration target by comparing the determined target creep speed with the vehicle’s current speed; to convert the calculated acceleration target into a target torque; to make corrections in the target torque so as to achieve the target acceleration quickly by detecting the energy losses exposed by the vehicle in accordance with the dynamically- changing environmental conditions; and to ensure that the creep is performed by triggering the electric motor (6) together with the final torque value calculated.

2. A system (1) according to Claim 1; characterized by the sensor (2) which is configured to collect the data about the vehicle and the vehicle environment, by being positioned at any position and / or at units such as electronic motor, accelerator pedal, brake pedal on the vehicle; and to measure the vehicle speed and the accelerator and / or brake pedal movements.

3. A system (1) according to Claim 1 or 2; characterized by the sensor (2) which is a sensor detecting the presence and the magnitude of a magnetic field configured to measure the angular velocity at the wheels by being positioned at the vehicle wheels, such as Hall effect sensor.

4. A system (1) according to any of the preceding claims; characterized by the sensor (2) which is a device configured to measure the linear and angular acceleration information about a vehicle and to determine the rotation direction and speed of an object, such as inertial measuring device.

5. A system (1) according to any of the preceding claims; characterized by the sensor (2) which is configured to collect the data about the pedal movements or positions such as the frequency or duration of depressing the pedal, by being placed on the acceleration pedal inside the vehicle.

6. A system (1) according to any of the preceding claims; characterized by the sensor (2) which is configured to collect the data about the brake pedal movements or positions such as the frequency or duration of depressing the pedal, by being positioned on the brake pedal inside the vehicle.

7. A system (1) according to any of the preceding claims; characterized by the sensor (2) which is configured to collect the movement data of the steering wheel, by being positioned on the vehicle’s steering wheel.

8. A system (1) according to any of the preceding claims; characterized by the sensor (2) which is a device such as weight sensor configured to measure the effective weight information, by being placed on the driver’s seat.

9. A system (1) according to any of the preceding claims; characterized by the sensor (2) which is a device such as distance sensor configured to detect the objects in the movement direction of the vehicle and the distance to the said objects, by being placed at any point in front of the vehicle.

10. A system (1) according to Claim 9; characterized by the sensor (2) which is a radar sensor that can detect the objects in the movement direction of the vehicle by broadcasting and receiving a signal or a LIDAR sensorthat detectthe objects in the movement direction of the vehicle by broadcasting and receiving a ray.

11. A system (1) according to any of the preceding claims; characterized by the sensor (2) which is a sensor positioned in the electric motor (6) and configured to detect the angular velocity information of the vehicle.

12. A system (1) according to any of the preceding claims; characterized by the sensor (2) which is configured to establish communication with the onboard computer (4) by using any remote and / or near-field communication protocol and / or in a wired or wireless way and to transmit the data it collects in relation to the vehicle and the vehicle environment to the on-board computer (4).

13. A system (1) according to any of the preceding claims; characterized by the image acquisition device (3) which is a device configured to acquire image at least related to interior and / or outside the vehicle, such as camera.

14. A system (1) according to any of the preceding claims; characterized by the image acquisition device (3) which is configured to acquire image related to the vehicle driver, by being positioned inside the vehicle.

15. A system (1) according to any of the preceding claims; characterized by the image acquisition device (3) which is configured to acquire image of the objects in the movement direction of the vehicle, by being positioned outside the vehicle.

16. A system (1) according to any of the preceding claims; characterized by the image acquisition device (3) which is configured to transmit the received image data to the on-board computer (4).

17. A system (1) according to any of the preceding claims; characterized by the on-board computer (4) which is positioned anywhere inside the vehicle where the driver and / or the passengers may interact with, and configured to establish communication and to exchange data with the sensors (2) and the image acquisition device (3).

18. A system (1) according to any of the preceding claims; characterized by the on-board computer (4) which is configured to receive the data obtained from the GPS device (A) by establishing communication with the GPS device (A) that is included inside the vehicle and provides geographical location and time information about the vehicle.

19. A system (1) according to any of the preceding claims; characterized by the on-board computer (4) which is configured to enable users to activate or inactivate the creep mode function during the stop and / or take-off movements of the vehicle.

20. A system (1) according to any of the preceding claims; characterized by the on-board computer (4) which is configured to provide at least one interface adapted such that it will enable users to make a selection from creep modes such as “creep as take-off mode” or “creep as stop mode”.

21. A system (1) according to any of the preceding claims; characterized by the on-board computer (4) which configured to transmit the data obtained from the sensors (2), the image acquisition device (3) and the GPS device (A) about the vehicle and the vehicle environment, to the vehicle control device (5).

22. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to establish communication and to exchange data with the on-board computer (4).

23. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to control for prerequisites required for the creep mode to run such as detecting whether the driver is in the vehicle or not, determining whether the vehicle speed is suitable for the creep mode, gear position by being triggered upon the creep mode function is activated on the on-board computer (4) by the user.

24. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to control whether mechanisms, that enable to keep the vehicle immobile such as electronic parking brake and mechanical parking lock, are disabled or not from the onboard computer (4), in order to engage the creep mode function if the vehicle is on the move and the creep mode is activated over the on-board computer (4).

25. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to control the ratio of depressing the brake pedal obtained by the sensor (2) located on the brake pedal, in order to engage the creep mode function if the vehicle is on the move and the creep mode is activated over the on-board computer (4).

26. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to control whether the driver is in the vehicle or not by means of the weight data received from the sensor (2) that is placed on the driver’s seat and measures the weight, the image data obtained from the image acquisition device (3), the information about whether the seat belt is fastened or not or the information about whether the driver’s door is closed or not obtained from the on-board computer (4), in order to engage the creep mode function if the vehicle ison the move and the creep mode is activated over the on-board computer (4).

27. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to control whether the ABS and the AEB functions received from the on-board computer (4) are active or not, in order to engage the creep mode function if the vehicle is on the move and the creep mode is activated over the on-board computer (4).

28. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to control the gear position information obtained from the on-board computer (4), in order to engage the creep mode function if the vehicle is on the move and the creep mode is activated over the on-board computer (4).

29. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to control over the onboard computer (4) whether any function preventing the movement of the car is active or not by engaging the brakes, in order to engage the creep mode function if the vehicle is on the move and the creep mode is activated over the on-board computer (4).

30. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to determine the vehicle speed by using the angular speed information of the vehicle from a sensor (2) located in the electric motor (6), the information of wheel angular speed from the sensor (2) positioned on the wheels, the data obtained from the GPS device (A), and the linear and angular acceleration information obtained from the sensor (2) that is an inertial measurement device; and to control whether the vehicle speed is lower or higher than the creep speed ornot, in order to engage the creep mode function if the vehicle is on the move and the creep mode is activated over the on-board computer (4).

31. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to engage the creep mode function if it detects that mechanisms, that enable to keep the vehicle immobile such as electronic parking brake and mechanical parking lock, are disabled; the brake pedal is not depressed more than a certain ratio; the driver is inside the vehicle; the AEB and ABS functions are not active; the vehicle gear position is in D or R positions; no function that prevents the car from moving by engaging the brakes is activated; and the vehicle speed is lower than the creep speed; if the vehicle is on the move in accordance with the controls performed, if the creep mode is activated over the on-board computer (4).

32. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to receive the data obtained from the sensors (2), the image acquisition device (3) and the GPS device (A), over the on-board computer (4) and then to process the said data, and to determine when the vehicle will perform creeping while driving.

33. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to receive and then process the data obtained about the vehicle and its environment from the onboard computer (4) and to determine the creep speed of the vehicle in accordance with the data obtained from the sensor (2), the image acquisition device (3) and the on-board computer (4) such as position of brake / accelerator pedal, steering angle, distance and relative speed of the object in the vehicle’s direction of movement, and slope of the road.

34. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to receive the data of depressing the brake and accelerator pedals from the sensors (2) placed on the accelerator and brake pedals during the period when the vehicle creep mode function is active and if it detects that the brake and accelerator pedals are not depressed at all while the vehicle is in the creep mode, to set the creep speed in a predetermined speed so that the vehicle moves at a constant speed.

35. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to update a predetermined speed value of the creep speed as a target vehicle speed if it detects that the ratio of depressing the brake pedal is above and / or below a certain threshold value, by controlling the ratios of depressing the brake pedal obtained from the sensor (2) that is placed on the brake pedal during the time when the vehicle creep mode function is engaged.

36. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to update the target creep speed, that is determined according to the brake pedal position, in accordance with the steering angle information obtained from the sensor (2) that is placed on the steering wheel.

37. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to determine a multiplier value in accordance with the steering angle obtained from the sensor (2) that is placed on the steering wheel, to update the target creep speed in accordance with the determined multiplier value, and to put on the brake and turn the steering wheel simultaneously.

38. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to update a determined creep speed in accordance with the information of distance to an object determined to be in the movement direction of the vehicle from the sensor (2) or the image acquisition device (3) placed in front of the vehicle.

39. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to update the creep speed so that the distance to an object in the movement direction of the vehicle remains constant.

40. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to update the vehicle’s crawl speed close to a predetermined distance or to trigger the electric motor (6) in order to stop the vehicle, it detects that the distance between the vehicle and the object detected in the movement direction of the vehicle has decreased and the vehicle has approached the said object.

41. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to update the vehicle’s creep speed in accordance with the slope information of the road whereon the vehicle is located.

42. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to receive the road slope information obtained by means of the sensors (2) that are placed on the wheels over the on-board computer (4), and to update it in accordance with the slope information.

43. A system (1) according to any of the preceding claims; characterized by the vehicle control device (5) which is configured to transmit the determined values of target creep speed to the controller (7).

44. A system (1) according to any of the preceding claims; characterized by the electric motor (6) which is configured to enable the vehicle to move by using electric power.

45. A system (1) according to any of the preceding claims; characterized by the electric motor (6) which is configured to enable the vehicle to proceed at creep speeds determined by the vehicle control device (5) and regulated by the controller (7), by being triggered through the controller (7).

46. A system (1) according to any of the preceding claims; characterized by the controller (7) which is configured to establish communication with the vehicle control device (5) and to receive the data of creep speed determined by the vehicle control device (5).

47. A system (1) according to any of the preceding claims; characterized by the controller (7) which is configured to control the data of vehicle’s creep speed determined by the vehicle control device (5).

48. A system (1) according to any of the preceding claims; characterized by the controller (7) which is configured to calculate a target acceleration target by comparing the target creep speed determined by the vehicle control device (5) with the vehicle’s current speed data.

49. A system (1) according to any of the preceding claims; characterized by the controller (7) which is configured to convert a determined target acceleration data into a target torque information, by using a reverse longitudinal linear vehicle dynamics model that is a model created by usingthe slowly-changing parameter data of the vehicle and the parameter data assumed to never change.

50. A system (1) according to any of the preceding claims; characterized by the controller (7) which is configured to update the target torque in accordance with the torque losses calculated to achieve the target acceleration quickly, by detecting the energy losses subjected by the vehicle as a result of dynamically-changing environmental conditions.

51. A system (1) according to any of the preceding claims; characterized by the controller (7) which is configured to trigger the electric motor (6) by the determined target torque value and the creep speed data determined by the vehicle control device (5), and to enable the vehicle to move in creep mode.

52. A system (1) according to any of the preceding claims; characterized by the controller (7) which is configured to detect the changes in slowly- changing parameters of the vehicle by means of prediction algorithms and to continuously update the reverse longitudinal vehicle dynamics model.

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