Hill ascent method

1. A method of controlling a vehicle having a transmission comprising at least one selectable forward gear ratio and at least one selectable reverse gear ratio, at least two clutches that are each able to connect at least one of said gear ratios to torque from an engine or prime mover of the vehicle and at least one wheel driven via the transmission, the method comprising:

at least one of selecting and engaging the at least one forward gear ratio or the at least one reverse gear ratio via a first clutch;

pre-selecting an opposing gear ratio of the at least one reverse gear ratio or the at least one forward gear ratio via a second clutch;

determining that a hill ascent has failed; and

at least one of selecting and engaging the opposing gear ratio.

2. The method as claimed in claim 1 comprising automatically applying wheel brakes of the vehicle upon determining the hill ascent has failed.

3. The method according to claim 1 wherein determining that the hill ascent has failed is based on at least one of:

a measurement of gradient in conjunction with vehicle speed;

a measurement of gradient in conjunction with a friction estimation;

a torque, power or throttle threshold being reached;

a sudden change in torque or power demand;

a sudden change in wheel speed;

a lack of vehicle movement consistent with a measured wheel speed;

a pre-determined or a threshold amount of wheel slip;

a determination that total traction available to the vehicle has been reached or that no more traction may be gained;

a cessation in driver demand for power or torque;

an application of brakes by a driver of the vehicle;

a cessation in driver demand for power or torque coupled with a driver braking demand;

a condition in which a low or lowest possible forward or reverse gear ratio selection has been made and the engine is at a maximum torque, power or throttle setting;

a condition in which a low or lowest possible forward or reverse gear ratio selection has been made and the engine is at a maximum torque, power or throttle setting, coupled with a determination that total traction available has been reached or no more traction may be gained;

a condition in which a low or lowest possible forward or reverse gear ratio selection has been made and the engine is at a threshold or pre-determined proportion of maximum torque, power or throttle; and

a condition in which a low or lowest possible forward or reverse gear ratio selection has been made and the engine is at a threshold or pre-determined proportion of maximum torque, power or throttle setting, coupled with a determination that total traction available has been reached or no more traction may be gained.

4. The method according to claim 1 comprising pre-selecting the opposing gear ratio prior to or during ascent of a gradient by the vehicle.

5. The method according to claim 4 comprising pre-selecting the opposing forward or reverse gear ratio in response to at least one of:

selection of a low or lowest available forward or reverse gear ratio;

selection of any of a drive mode, a traction control mode, a ‘hill ascent’ mode or a ‘low range’ mode;

selection of a low or lowest available forward or reverse gear ratio in response to selection of any of a drive mode, a traction control mode, a ‘hill ascent’ mode or a ‘low range’ mode;

a determination that previous gear ratio selections have been consecutively downwards;

a determination that previous gear ratio selections have been consecutively downwards without a decrease in power or torque demanded of the engine of the vehicle;

a determination that selection of a lowest forward or reverse gear ratio has occurred and a high power or torque demand is being made;

detection of a threshold attitude of the vehicle;

detection of a threshold pitch of the vehicle;

detection of a threshold torque demand to the engine;

a determination that the vehicle is ascending a gradient;

a determination that the vehicle is about to ascend a gradient;

a determination of a threshold amount of wheel slip;

a determination that the vehicle is ascending a gradient and that a particular surface type is being or about to be traversed, wherein said surface type is one of:

sand,

snow,

ice,

dirt,

grass, and

gravel; and

a determination that vehicle speed is below a first threshold while torque demand is above a second threshold.

6. The method according to claim 1 wherein selecting the forward or reverse gear ratio occurs in response to at least one of:

a command for selection of a low or lowest available forward or reverse gear ratio;

selection of any of a drive mode, a traction control mode, a ‘hill ascent’ mode or a ‘low range’ mode;

a determination that previous gear ratio selections have been consecutively downwards;

a determination that previous gear ratio selections have been consecutively downwards without a decrease in power or torque demanded of the engine of the vehicle;

detection of a threshold attitude of the vehicle;

detection of a threshold pitch of the vehicle;

detection of a threshold torque demand to the engine;

a determination that the vehicle is ascending a gradient;

a determination that the vehicle is about to ascend a gradient;

a determination that the vehicle is ascending or about to ascend a gradient and that a particular surface type is being or about to be traversed, wherein said surface type is one of;

sand,

snow,

ice,

dirt,

grass, and

gravel; and

a determination that vehicle speed is below a first threshold while torque demand is above a second threshold.

7. The method according to claim 6 wherein the selected forward or reverse gear ratio is the lowest available forward or reverse gear ratio.

8. The method as claimed in claim 1 comprising notifying a driver of the vehicle when there has been a hill ascent failure.

9. The method as claimed in claim 2 comprising subsequently releasing the wheel brakes.

10. The method as claimed in claim 9 wherein releasing the wheel brakes occurs in response to a driver input.

11. The method as claimed in claim 10 wherein the driver input is at least one of:

a touchscreen input;

a voice command;

a brake pedal movement;

an acceleration pedal movement;

a clutch pedal movement;

activation or use of a switch, toggle, knob or other rotary control;

selection or activation of a driving mode of the vehicle;

selection or activation of a control system of the vehicle; and

selection of a gear ratio or equivalent of the vehicle.

12. A controller configured to implement the method of claim 1 .

13. The controller as claimed in claim 12 , wherein the controller is configured to be activated or deactivated by a vehicle driver.

14. A method of hill ascent failure control for a vehicle provided with an automatic transmission comprising at least one selectable forward gear ratio and at least one selectable reverse gear ratio, and at least one wheel driven via the transmission, the method comprising:

(i) at least one of selecting and engaging the at least one forward gear ratio or the at least one reverse gear ratio;

(ii) determining that a hill ascent has failed;

(iii) applying wheel brakes of the vehicle; and

(iv) at least one of selecting and engaging an opposing gear ratio of the at least one reverse gear ratio or the at least one forward gear ratio;

wherein any one or more of (ii), (iii) and (iv) are automatic.

15. The method as claimed in claim 14 comprising notifying a driver of the vehicle when there has been a hill ascent failure.

16. The method as claimed in claim 14 comprising subsequently releasing the wheel brakes.

17. The method as claimed in claim 16 wherein releasing the wheel brakes occurs in response to a driver input.

18. The method as claimed in claim 17 wherein the driver input is at least one of:

a touchscreen input;

a voice command;

a brake pedal movement;

an acceleration pedal movement;

a clutch pedal movement;

activation or use of a switch, toggle, knob or other rotary control;

selection or activation of a driving mode of the vehicle;

selection or activation of a control system of the vehicle; and

selection of a gear ratio or equivalent of the vehicle.

19. A controller for a vehicle having a prime mover, a transmission including a plurality of selectable forward gear ratios and at least one selectable reverse gear ratio, at least one clutch for coupling torque from the prime mover to one or more of the gear ratios and at least one wheel arranged to be driven by the transmission, wherein the controller is configured to:

detect a failed slope ascent by the vehicle;

automatically apply one or more brakes to the at least one wheel of the vehicle on detection of said failed slope ascent; and

following application of said one or more brakes, at least one of automatically selecting and automatically engaging one of the selectable gear ratios that is an opposite direction gear ratio to the one of the selectable gear ratios that was engaged during the failed slope ascent.

20. The controller as claimed in claim 19 , wherein the controller is configured to be activated or deactivated by a vehicle driver.