System and method for full speed range adaptive cruise trailering velocity compensation algorithm

A vehicle comprising:

• an inertial measurement unit (IMU) configured to provide longitudinal acceleration and road grade;
• an integrated trailer brake controller (ITBC) configured to detect whether a trailer is attached to the vehicle and to provide an estimate of gross vehicle weight of the vehicle and trailer combination;
• an electronic brake control module (EBCM) for causing vehicle brakes to be applied;
• a transmission control module (TCM) for causing vehicle transmission gears to be switched;
• a propulsion control module (PCM) for causing engine torque inhibiting;
• and
• a trailering velocity compensation controller in a cruise control system configured to:
• determine whether activation conditions for a trailering velocity compensation algorithm are met, wherein the activation conditions are met when vehicle speed is above a velocity threshold (VT), road grade is less than a road grade threshold (Cr), system mass of the vehicle and a connected trailer is greater than a mass threshold (MT), and the cruise control system in the vehicle is engaged and not overridden;
• and
• when the activation conditions are met, engage trailering velocity compensation, wherein to engage trailering velocity compensation the controller is configured to:
• adjust a speed error used by the cruise control system;
• adjust a speed offset for application of brakes used by the cruise control system;
• adjust a speed offset for release of brakes used by the cruise control system;
• determine a set speed offset for inhibiting engine torque;
• determine a set speed offset for releasing engine torque inhibiting;
• adjust a headway time gap value used by the cruise control system;
• and
• control vehicle speed based on the adjusted speed error, adjusted speed offset for application of brakes, adjusted speed offset for release of brakes, set speed offset for inhibiting engine torque, set speed offset for releasing engine torque inhibiting, and adjusted headway time gap value.

A method in a vehicle, comprising:

• determining whether activation conditions for a trailering velocity compensation algorithm are met, wherein the activation conditions are met when vehicle speed is above a velocity threshold (VT), road grade is less than a road grade threshold (Gr), system mass of the vehicle and a connected trailer is greater than a mass threshold (MT), and a cruise control system in the vehicle is engaged and not overridden;
• and
• when the activation conditions are met, engaging trailering velocity compensation, wherein engaging trailering velocity compensation comprises:
• adjusting a speed error used by the cruise control system;
• adjusting a speed offset for application of brakes used by the cruise control system;
• adjusting a speed offset for release of brakes used by the cruise control system;
• determining a set speed offset for inhibiting engine torque;
• determining a set speed offset for releasing engine torque inhibiting;
• adjusting a headway time gap value used by the cruise control system;
• and
• controlling vehicle speed based on the adjusted speed error, adjusted speed offset for application of brakes, adjusted speed offset for release of brakes, set speed offset for inhibiting engine torque, set speed offset for releasing engine torque inhibiting, and adjusted headway time gap value.