Control method and apparatus for a vehicle

1. A control method for a wheeled vehicle travelling on a surface, the vehicle having a vehicle powertrain for generating and delivering power to the vehicle wheels, the method comprising:

measuring at least one parameter associated with motion of the vehicle;

determining a relationship between the at least one measured parameter and a predetermined threshold that is indicative of a level at which wheel slip of the vehicle may occur; and

controlling a rate at which torque applied by the powertrain to at least one of the vehicle wheels may be changed based on the determined relationship to reduce a rate at which wheel slip may develop.

2. The method of claim 1 , wherein the controlling comprises controlling the rate at which the torque applied by the powertrain to the at least one of the vehicle wheels may increase based on the determined relationship.

3. The method of claim 1 , wherein the controlling comprises limiting a rate of torque increase by an amount that is based on a determination regarding how far a state of a vehicle has moved beyond a threshold for limiting the rate of torque increase.

4. The method of claim 1 , wherein the controlling comprises limiting a rate of torque increase by an amount based upon a difference between a value of the at least one measured parameter and the predetermined threshold.

5. The method of claim 4 , wherein the controlling comprises controlling an amount by which the rate of torque increase is limited based on a relationship between a value of the at least one measured parameter and the predetermined threshold.

6. The method of claim 1 , comprising

determining a wheel slip value;

reducing the torque applied by the powertrain to the at least one vehicle wheel if the determined wheel slip value exceeds a wheel slip threshold.

7. The method of claim 6 , comprising

using the determined wheel slip value to control wheel slip in a feedback control manner; and

using the measured at least one parameter and the determined relationship in a feed forward control manner.

8. The method of claim 6 , comprising

determining the wheel slip value based on the at least one measured parameter associated with motion of the vehicle.

9. The method of claim 6 , wherein the wheel slip threshold is varied based on a condition of terrain on which the vehicle is travelling.

10. The method of claim 6 , wherein at least one of the predetermined threshold or the wheel slip threshold is adjusted by user input based on a surface on which the vehicle is travelling.

11. The method of claim 1 , wherein the at least one measured parameter comprises at least one of

lateral acceleration of the vehicle,

yaw rate of the vehicle,

linear acceleration of the vehicle,

a variation in vertical load on a wheel,

speed of the vehicle,

steering wheel input angle,

steering wheel input angle not corresponding to a straight ahead direction of travel,

angular velocity of the steering wheel of the vehicle,

oversteer,

understeer,

front axle sideslip;

rear axle side slip;

body side slip;

an amount by which powertrain torque is below a powertrain torque demand level; and

estimated friction of the surface on which the vehicle is travelling.

12. The method of claim 1 comprising varying the predetermined threshold based on a condition of terrain on which the vehicle is travelling.

13. The method of claim 1 , wherein the controlling comprises one or more of:

(i) retarding or suppressing spark to one or more cylinders of the engine,

(ii) reducing fuel supply to one or more of the cylinders,

(iii) applying a brake to the at least one of the vehicle wheels,

(iv) closing a throttle,

(v) actuating a boost control solenoid to reduce engine power of a turbo charged engine, and

(vi) electronically controlling output torque of an electrical machine.

14. The method of claim 1 , wherein the controlling occurs independent of determining that wheel slip exists.

15. A device for controlling a wheeled vehicle travelling on a surface, the vehicle having a vehicle powertrain for generating and delivering power to vehicle wheels, the device comprising:

at least one sensor for measuring at least one parameter associated with motion of the vehicle; and

at least one controller configured to

determine a relationship between the at least one measured parameter and a predetermined threshold that is indicative of a level at which wheel slip of the vehicle may occur; and

control a rate at which torque applied by the powertrain to at least one of the vehicle wheels may be changed based on the determined relationship to reduce a rate at which wheel slip may develop.

16. The device of claim 15 , wherein the at least one controller is configured to control the rate at which the torque applied by the powertrain to the at least one of the vehicle wheels may increase based on the determined relationship.

17. The device of claim 15 , wherein the at least one controller is configured to limit a rate of torque increase by an amount that is based on a determination regarding how far a state of a vehicle has moved beyond a threshold for limiting the rate of torque increase.

18. The device of claim 15 , wherein the at least one controller is configured to limit a rate of torque increase by an amount based upon a difference between a value of the at least one measured parameter and the predetermined threshold.

19. The device of claim 15 , wherein the at least one controller is configured to control an amount by which the rate of torque increase is limited based on a relationship between a value of the at least one measured parameter and the predetermined threshold.

20. The device of claim 15 , wherein the at least one controller is configured to

determine a wheel slip value; and

reduce the torque applied by the powertrain to the at least one vehicle wheel if the determined wheel slip value exceeds a wheel slip threshold.

21. The device of claim 20 , wherein the at least one controller is configured to

use the determined wheel slip value to control wheel slip in a feedback control manner; and

use the measured at least one parameter and the determined relationship in a feed forward control manner.

22. The device of claim 20 , wherein the at least one controller is configured to vary the wheel slip threshold based on a condition of terrain on which the vehicle is travelling.

23. The device of claim 20 , wherein the at least one controller is configured to adjust at least one of the predetermined threshold or the wheel slip threshold is adjusted based on user input regarding a surface on which the vehicle is travelling.

24. The device of claim 15 , wherein the at least one controller is configured to vary the predetermined threshold based on a condition of terrain on which the vehicle is travelling.

25. The device of claim 15 , wherein the at least one controller is configured to control the rate at which torque applied to the at least one wheel may be changed independent of determining that wheel slip exists.

26. A vehicle, comprising

a plurality of wheels;

a vehicle powertrain for generating and delivering power to the wheels;

at least one sensor for measuring at least one parameter associated with motion of the vehicle; and

at least one controller configured to

determine a relationship between the at least one measured parameter and a predetermined threshold that is indicative of a level at which wheel slip of the vehicle may occur; and

control a rate at which torque applied by the powertrain to at least one of the vehicle wheels may be changed based on the determined relationship to reduce a rate at which wheel slip may develop.

27. The vehicle of claim 26 , wherein the at least one controller is configured to control the rate at which torque applied to the at least one wheel may be changed independent of determining that wheel slip exists.

28. A control method for a wheeled vehicle travelling on a surface, the vehicle having a vehicle powertrain for generating and delivering power to the vehicle wheels, the method comprising:

measuring one or more parameters associated with motion of the vehicle on the surface;

comparing the or each of the measured parameters with a predetermined threshold for said measured parameter that is indicative of a level at which wheel slip of the vehicle may occur;

in circumstances in which one or more of the measured parameters exceeds the predetermined threshold, controlling the torque applied by the powertrain to the vehicle wheels to reduce a rate at which wheel slip may develop;

calculating a wheel slip value based on one or more of the measured parameters;

comparing the wheel slip value with a predetermined wheel slip threshold for wheel slip of the vehicle; and

reducing the torque applied by the powertrain to the vehicle wheels if the wheel slip value exceeds the wheel slip threshold.