# US 10,501,076 B2 · Speed control system and method of operating the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,501,076 B2 - Document ID: US10501076B2 - Status: Granted - Kind: B2 - Application number: 14/421,862 - Filed: 2013-08-16 - Published: 2015-08-06 - Granted: 2019-12-10 - Earliest claimed: 2012-08-16 - Assignees: Jaguar Land Rover Limited - Applicants: Jaguar Land Rover Limited - Inventors: James Kelly; Andrew Fairgrieve; Daniel Woolliscroft - Web page: https://patentgrep.com/patent/US10501076B2 ## CPC - B60W 30/143: {Speed control (B60W30/16 takes precedence)} - B60T 8/175: Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control (safety devices for propulsion unit control responsive to, or preventing, skidding of wheels B60K28/16) - B60W 10/11: Stepped gearings - B60W 10/184: with wheel brakes - B60W 30/18109: {Braking} - B60W 50/08: Interaction between the driver and the control system - F16H 61/0213: {characterised by the method for generating shift signals} - B60T 2201/04: Hill descent control - B60T 2210/14: Rough roads, bad roads, gravel roads - B60T 2210/16: Off-road driving conditions - B60T 2220/04: Pedal travel sensor, stroke sensor; Sensing brake request - B60T 2260/06: Active Suspension System - B60W 2520/10: Longitudinal speed - B60W 2530/16: Driving resistance - B60W 2552/05: Type of road, e.g. motorways, local streets, paved or unpaved roads - B60W 2710/1005: Transmission ratio engaged - B60W 2710/182: Brake pressure, e.g. of fluid or between pad and disc - B60W 2720/30: Wheel torque - B60Y 2200/20: Off-Road Vehicles - F16H 59/66: Road conditions, e.g. slope, slippery - F16H 2061/0234: {Adapting the ratios to special vehicle conditions} - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES - F16H: GEARING - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY ## Abstract A method for operating an off-road speed control system of a vehicle is provided. The method comprises identifying a pattern or change in at least one component of vehicle drag. The method further comprises monitoring vehicle speed to predict where a change in the at least one component of vehicle drag may result in a speed overshoot event or a speed undershoot event. The method still further comprises, in response to the predicted speed overshoot event or speed undershoot event, automatically commanding the application of an appropriate opposing torque to one or more wheels of the vehicle to counteract the predicted speed overshoot or undershoot. An off-road speed control system for a vehicle comprising an electronic control unit (ECU) configured to perform the above-described methodology is also provided. ## Claims ### Claim 1 A method of operating an off-highway speed control system of a vehicle, the method comprising: identifying a terrain type; identifying a pattern or change in at least one component of vehicle drag based at least in part on the terrain type, wherein the identifying of the pattern or change in at least one component of vehicle drag based at least in part on the terrain type comprises determining that the vehicle is transitioning from one surface type having a first surface coefficient of friction and rolling resistance to a further surface type having a second surface coefficient of friction and rolling resistance; monitoring vehicle speed to predict where a change in said at least one component of vehicle drag as a result of the determined transition from the one surface type to the further surface type may result in a speed overshoot event or a speed undershoot event; and in response to said predicted speed overshoot event or speed undershoot event, automatically commanding an application of an appropriate opposing torque to one or more wheels of the vehicle to counteract said predicted speed overshoot event or undershoot event. ### Claim 2 (depends on 1) The method according to claim 1, wherein the predicted speed overshoot event is identified as a predicted temporary over-supply of torque from a powertrain subsystem of the vehicle. ### Claim 3 (depends on 1) The method according to claim 1, further comprising: identifying that at least one wheel of the vehicle is experiencing an increased drag; determining a magnitude of the opposing torque to apply to the at least one wheel of the vehicle; and commanding the application of said opposing torque at said determined magnitude. ### Claim 4 (depends on 1) The method according to claim 1, further comprising: identifying that at least one wheel of the vehicle is experiencing a reduced drag; determining a magnitude of the opposing torque to apply to the at least one wheel of the vehicle; and commanding the application of said opposing torque at said determined magnitude. ### Claim 5 (depends on 1) The method according to claim 1, further comprising monitoring one or more vehicle parameters and determining a magnitude of the opposing torque to apply to the one or more wheels of the vehicle, wherein determining the magnitude comprises determining a net required opposing torque corresponding to an amount of positive or negative excess torque in a powertrain as a result of a reduced or increased drag less a determined amount of opposing torque on the powertrain caused by retarding forces acting on the vehicle, said determined amount of opposing torque based at least in part on said one or more monitored vehicle parameters, and wherein said one or more monitored vehicle parameters include one or more of rolling resistance of at least one wheel of the vehicle, direct drag on a body of the vehicle, and gravitational drag. ### Claim 6 (depends on 1) The method according to claim 1, further comprising receiving a user input off-road set-speed and regulating the vehicle speed up to the user input off-road set-speed and, in response to an increase in the user input off-road set-speed, accelerating the vehicle to the increased user input off-road set-speed and, in response to a predicted speed overshoot event, temporarily maintaining a prevailing vehicle speed or suspending vehicle acceleration. ### Claim 7 (depends on 1) The method according to claim 1, further comprising: detecting drag at one or more leading wheels or one or more following wheels of the vehicle; and in response to predicting that a change in said detected drag will result in the speed overshoot event or the speed undershoot event, shifting torque from one or more wheels experiencing a lower drag to one or more wheels experiencing a higher drag; wherein the step of predicting where a change in said at least one component of vehicle drag may result in a speed overshoot event or a speed undershoot event further comprises predicting a window of time of torque overshoot, the method comprising shifting torque from the one or more wheels experiencing a lower drag to the one or more wheels experiencing a higher drag during the torque overshoot window. ### Claim 8 (depends on 1) The method according to claim 1 wherein identifying a change in vehicle drag comprises determining a required drive torque to maintain the vehicle at a current vehicle speed on the further surface type, and a current applied drive torque, and when the required drive torque and the currently applied drive torque differ by a predetermined amount, determining the change in vehicle drag. ### Claim 9 An off-highway speed control system for a vehicle, comprising an electronic control unit (ECU), the ECU configured to: identify a terrain type; identify a pattern or change in at least one component of vehicle drag based at least in part on the terrain type, wherein the identifying of the pattern or change in at least one component of vehicle drag based at least in part on the terrain type comprises determining that the vehicle is transitioning from one surface type having a first surface coefficient of friction and rolling resistance to a further surface type having a second surface coefficient of friction and rolling resistance; monitor vehicle speed; predict where a change in said at least one component of vehicle drag may result in a speed overshoot event or a speed undershoot event as a result of the determined transition from the one surface type to the further surface type; and in response to said predicted speed overshoot event or speed undershoot event, automatically command an application of an appropriate opposing torque to one or more wheels of the vehicle to counteract said predicted speed overshoot event or undershoot event. ### Claim 10 (depends on 9) The system according to claim 9, wherein the predicted speed overshoot event is identified as a predicted temporary over-supply of torque from a powertrain subsystem of the vehicle. ### Claim 11 (depends on 9) The system according to claim 9, wherein the ECU is configured to: identify that at least one wheel of the vehicle is experiencing an increased drag; determine a magnitude of the opposing torque to apply to the at least one wheel of the vehicle; and command the application of said opposing torque at said determined magnitude. ### Claim 12 (depends on 11) The system according to claim 11, wherein the ECU is configured to: monitor one or more vehicle parameters; determine, based at least in part on said one or more monitored vehicle parameters, a determined amount of opposing torque on a powertrain caused by retarding forces acting on the vehicle; and determine the magnitude by determining a net required opposing torque corresponding to an amount of positive or negative excess torque in the powertrain as a result of a detected reduced or increased drag less the determined amount of opposing torque on the powertrain caused by retarding forces acting on the vehicle. ### Claim 13 (depends on 12) The system according to claim 12, wherein the ECU is configured to monitor one or more vehicle parameters and determine, based at least in part on said one or more monitored vehicle parameters, a determined amount of opposing torque on the powertrain caused by retarding forces acting on the vehicle. ### Claim 14 (depends on 13) The system according to claim 13, wherein the one or more monitored vehicle parameters include one or more of rolling resistance of at least one wheel of the vehicle, direct drag on a body of the vehicle, and gravitational drag. ### Claim 15 (depends on 9) The system according to claim 9, wherein the ECU is configured to: identify that at least one wheel of the vehicle is experiencing a reduced drag; determine a magnitude of the opposing torque to apply to the at least one wheel of the vehicle; and command the application of said opposing torque at said determined magnitude. ### Claim 16 (depends on 9) The system according to claim 9, wherein the ECU is configured to receive a user input off-road set-speed and automatically command the regulation the vehicle speed up to the user input off-road set-speed, and wherein the ECU is configured to, in response to an increase in the user input off-road set-speed, automatically command acceleration of the vehicle to the increased user input off-road set-speed and, in response to a predicted speed overshoot event, temporarily maintain a prevailing vehicle speed or suspend vehicle acceleration. ### Claim 17 (depends on 9) The system according to claim 9, wherein the ECU is configured to: detect drag at one or more leading wheels or one or more following wheels of the vehicle; in response to determining that a change in said detected drag will result in the speed overshoot event or the speed undershoot event, automatically command a shift of torque from one or more wheels at which a reduced drag is determined to one or more wheels experiencing a higher drag; and predict where a change in said at least one component of vehicle drag may result in a speed overshoot event or a speed undershoot event by predicting a window of time of torque overshoot, and automatically command a shift of torque from the one or more wheels experiencing a lower drag to the one or more wheels experiencing a higher drag during the torque overshoot window. ### Claim 18 (depends on 17) The system according to claim 17, wherein: when a reduced drag is detected at one or more of the leading wheels, the ECU is configured to automatically command an increase in torque to one or more of the following wheels in response thereto and to identify a subsequent reduction in the drag to one or more of the following wheels, and automatically command a reduction in the torque to the one or more of the following wheels in response thereto. ### Claim 19 (depends on 17) The system according to claim 17, wherein: when an increased drag is detected at one or more of the leading wheels, the ECU is configured to automatically command an increase in torque to one or more of the leading wheels in response thereto and to identify a subsequent increase in the drag to one or more of the following wheels, and automatically command an increase in torque to the one or more of the following wheels in response thereto. ### Claim 20 (depends on 9) The system according to claim 9 wherein the ECU is configured to identify a change in drag by determining a required drive torque to maintain the vehicle at a current vehicle speed on the further terrain type, and a current applied drive torque, and when the required drive torque and the currently applied drive torque differ by a predetermined amount, determine a change in vehicle drag. ### Claim 21 A vehicle comprising an off-highway speed control system, wherein said speed control system comprises an electronic control unit (ECU), the ECU configured to: identify a terrain type; identify a pattern or change in at least one component of vehicle drag based at least in part on the terrain type, wherein the identifying of the pattern or change in at least one component of vehicle drag based at least in part on the terrain type comprises determining that the vehicle is transitioning from one surface type having a first surface coefficient of friction and rolling resistance to a further surface type having a second surface coefficient of friction and rolling resistance; monitor vehicle speed; predict where a change in said at least one component of vehicle drag may result in a speed overshoot event or a speed undershoot event as a result of the determined transition from the one surface type to the further surface type; and in response to said predicted speed overshoot event or speed undershoot event, automatically command an application of an appropriate opposing torque to one or more wheels of the vehicle to counteract said predicted speed overshoot event or undershoot event.