# US 9,751,405 B2 · Modular cruise control device for a motor vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,751,405 B2 - Document ID: US9751405B2 - Status: Granted - Kind: B2 - Application number: 14/561,743 - Filed: 2014-12-05 - Published: 2015-06-11 - Granted: 2017-09-05 - Earliest claimed: 2013-12-05 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Andreas Gauger - Web page: https://patentgrep.com/patent/US9751405B2 ## CPC - B60K 31/00: Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator - B60W 10/06: including control of combustion engines - B60W 10/18: including control of braking systems - B60W 30/143: {Speed control (B60W30/16 takes precedence)} - B60W 50/0098: {Details of control systems ensuring comfort, safety or stability not otherwise provided for} - B60W 2050/0006: {Digital architecture hierarchy} - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES - 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 ## Abstract A cruise control device for a vehicle includes a regulator to regulate an actual speed with respect to a predefined setpoint speed, using a modular configuration including a regulator core module and at least one add-on regulator module. The core module ascertains a setpoint longitudinal force to be induced on the vehicle, based on a predefined setpoint speed and an ascertained actual speed, and to transmit the setpoint longitudinal force to the at least one add-on module. An add-on regulator module triggers actuators, e.g., drive and/or braking systems, based on the setpoint longitudinal force, e.g., for inducing the setpoint longitudinal force. Functions necessary for implementing various cruise control functions can be available centrally in the core module, whereas functions, used only in certain cruise control functions, may be in add-on regulator modules. Such modularity may reduce development effort and the need for hardware resources. Cruise control functions for off-road use may be implemented and added to traditional cruise control functions. ## Claims ### Claim 1 A cruise control device for a motor vehicle, comprising: a regulator to regulate an actual speed with respect to a predefined setpoint speed of the motor vehicle; wherein the regulator includes: a regulator core module; and at least one add-on regulator module, the at least one regulator core module being configured to ascertain a setpoint longitudinal force to be induced on the motor vehicle, based on a predefined setpoint speed and an ascertained actual speed, and to transmit the setpoint longitudinal force to the at least one add-on regulator module, wherein the at least one add-on regulator module is configured to trigger actuators in the vehicle for inducing the setpoint longitudinal force based on the setpoint longitudinal force, and wherein the regulator core module and the at least one add-on regulator module are physically separate and distinct modules interconnected via at least one detachable interface. ### Claim 2 (depends on 1) The cruise control device of claim 1, wherein there are multiple add-on regulator modules, wherein the add-on regulator modules differ from one another with respect to regulating principles implemented therein. ### Claim 3 (depends on 1) The cruise control device of claim 1, wherein there are multiple add-on regulator modules, each of the add-on regulator modules being configured to trigger a different actuator from a plurality of actuators in the vehicle for inducing the setpoint longitudinal force. ### Claim 4 (depends on 1) The cruise control device of claim 1, wherein at least one add-on regulator module is configured to trigger an actuator of a braking system of the motor vehicle. ### Claim 5 (depends on 1) The cruise control device of claim 1, wherein at least one add-on regulator module is configured to trigger an actuator of a drive system of the motor vehicle. ### Claim 6 (depends on 1) The cruise control device of claim 1, wherein at least one add-on regulator module is configured to ascertain the actual speed of the motor vehicle and to transmit it to the regulator core module. ### Claim 7 (depends on 6) The cruise control device of claim 6, wherein the add-on regulator module is configured to ascertain the actual speed, taking into account a measured variable, which does not correlate with a rotational speed of one of the wheels of the motor vehicle. ### Claim 8 (depends on 1) The cruise control device of claim 1, wherein at least one add-on regulator module is configured to trigger at least two differently acting actuators in the motor vehicle for inducing the setpoint longitudinal force. ### Claim 9 A cruise control device for a motor vehicle, comprising: a regulator to regulate an actual speed with respect to a predefined setpoint speed of the motor vehicle; wherein the regulator includes: a regulator core module; and at least one add-on regulator module, the at least one regulator core module being configured to ascertain a setpoint longitudinal force to be induced on the motor vehicle, based on a predefined setpoint speed and an ascertained actual speed, and to transmit the setpoint longitudinal force to the at least one add-on regulator module, wherein the at least one add-on regulator module is configured to trigger actuators in the vehicle for inducing the setpoint longitudinal force based on the setpoint longitudinal force, wherein at least one add-on regulator module is configured specifically for a cruise control during off-road use, and wherein the regulator core module and the at least one add-on regulator module are physically separate and distinct modules interconnected via at least one detachable interface. ### Claim 10 (depends on 9) The cruise control device of claim 9, wherein there are multiple add-on regulator modules, wherein the add-on regulator modules differ from one another with respect to regulating principles implemented therein. ### Claim 11 (depends on 9) The cruise control device of claim 9, wherein there are multiple add-on regulator modules, each of the add-on regulator modules being configured to trigger a different actuator from a plurality of actuators in the vehicle for inducing the setpoint longitudinal force. ### Claim 12 (depends on 9) The cruise control device of claim 9, wherein at least one add-on regulator module is configured to trigger an actuator of a braking system of the motor vehicle. ### Claim 13 (depends on 9) The cruise control device of claim 9, wherein at least one add-on regulator module is configured to trigger an actuator of a drive system of the motor vehicle. ### Claim 14 (depends on 9) The cruise control device of claim 9, wherein at least one add-on regulator module is configured to ascertain the actual speed of the motor vehicle and to transmit it to the regulator core module. ### Claim 15 (depends on 14) The cruise control device of claim 14, wherein the add-on regulator module is configured to ascertain the actual speed, taking into account a measured variable, which does not correlate with a rotational speed of one of the wheels of the motor vehicle. ### Claim 16 (depends on 9) The cruise control device of claim 9, wherein at least one add-on regulator module is configured to trigger at least two differently acting actuators in the motor vehicle for inducing the setpoint longitudinal force. ### Claim 17 (depends on 9) The cruise control device of claim 9, wherein the regulator core module and the at least one add-on regulator module are interconnected via at least one detachable interface.