Creep torque feedback to improve controllably maneuvering a vehicle
View Patent ↗Systems and methods are provided for adjusting the creep torque to maneuver a vehicle to a target location. In various embodiments, the creep torque adjustment mode is deactivated when the driver changes the direction of travel. The change in direction also causes the parameters of the creep torque control to be reinitiated to their initial values. In various embodiments, the creep torque mode is increased from a low creep towards a target creep. If the driver engages the brakes, the input torque is set to zero, and when the driver releases the brake, the minimum creep torque is set to the value that creep torque had risen to just before the brake was applied. This allows the driver to control the acceleration and speed, by just braking. In various embodiments, the creep control controls reverse creep to aid in hooking up a vehicle to a trailer.
1. A vehicle control system comprising:
a processor;
a memory storing one or more instructions, which when executed, cause the processor to:
determine whether defined conditions for controlling creep torque of a vehicle are met; and in response to determining that the defined conditions for controlling the creep torque of the vehicle are met, produce a control signal to:
increase an input torque;
cause the vehicle to reach a target creep-generated-vehicle-speed; and
provide a selectable acceleration, the selectable acceleration being selected by applying a brake of the vehicle at a selected acceleration, the selected acceleration being applied after the brake is no longer being applied.
2. The system of claim 1 , wherein whether the defined conditions are met is determined by determining whether a speed of the vehicle is lower than a threshold speed.
3. The system of claim 1 , wherein whether the defined conditions are met is determined by determining whether an acceleration of the vehicle is lower than a threshold acceleration.
4. The system of claim 1 , the one or more instructions, which when executed, further cause the processor to:
set a maximum acceleration.
5. The system of claim 1 , the one or more instructions, which when executed, further cause the processor to:
determine whether an accelerator is engaged; and
interrupt the control signal when it is determined that the accelerator is engaged.
6. The system of claim 1 , wherein the control signal that is produced causes:
increasing the creep torque from an initial creep torque towards a maximum creep torque.
7. The system of claim 1 ,
the control signal being produced for traveling in a particular direction associated with a particular state of a shift; and
the one or more instructions, which when executed, further cause the processor to:
determine whether the shift was removed from the particular state; and
if it is determined that the shift was removed from the particular state, the selected acceleration that is applied while the brake is not being applied, is no longer selectable by the engaging of the brake at the selected acceleration.
8. The system of claim 1 , a torque control being a reverse creep torque control and the one or more instructions, which when executed, further cause the processor to:
determine whether the vehicle was removed from a reverse state; and
if it is determined that the vehicle has been removed from the reverse state, the selected acceleration that is applied while the brake is not being applied, is no longer selectable by the engaging of the brake at the selected acceleration.
9. The system of claim 1 , the one or more instructions being activated by receiving input from a user interface.
10. The system of claim 1 , the one or more instructions, which when executed, further cause the processor to determine a target distance to travel while controlling the creep torque.
11. The system of claim 1 , the one or more instructions, which when executed, further cause the processor to:
detect that the vehicle has been shifted out of reverse; and
in response, reinitiating a creep control parameter to an initial value that the creep control parameter had prior to entering a creep control mode;
during the creep control mode, when the one or more instructions are executed, the processor is caused to:
determine whether the defined conditions for controlling the creep torque are met; and
produce the control signal.
12. The system of claim 11 , the creep control parameter including a vehicle acceleration.
13. The system of claim 11 , the creep control parameter including the input torque.
14. The system of claim 1 , the control signal causing an acceleration of the vehicle to increase until a threshold speed is reached that is less than the target creep-generated-vehicle-speed.
15. The system of claim 14 , the control signal causing the acceleration to decrease at a defined rate when the threshold speed is reached, without decreasing the acceleration to zero, until the target creep-generated-vehicle-speed is reached.
16. The system of claim 15 , the one or more instructions, which when executed, further cause the processor to, after reaching the threshold speed, control a speed, via a feedback control, to keep the speed at the target creep-generated-vehicle-speed.
17. The system of claim 1 , wherein whether the defined conditions for controlling the creep torque are met is determined by detecting whether the vehicle is in position for aligning a portion of a first hookup that is on the vehicle with a portion of a second hookup that is on a trailer, to facilitate hooking up the trailer to the vehicle, via the first hookup and the second hookup.
18. A vehicle control system comprising:
a processor;
a memory storing one or more instructions, which when executed, cause the processor to:
determine whether defined conditions for controlling creep torque of a vehicle are met; and
in response to determining that the defined conditions for controlling the creep torque are met, produce a control signal to:
increase an input torque;
cause the vehicle to increase speed towards a target creep-generated-vehicle-speed;
detect a brake of the vehicle being engaged;
in response to detecting the brake being engaged, setting the input torque to a first input torque that occurred in association with the detecting the brake being engaged.
19. The system of claim 18 , the control signal being produced for traveling in a particular direction associated with a particular state of a shift; and
the one or more instructions, which when executed, further cause the processor to:
determine whether the shift was removed from the particular state; and
if it is determined that the shift has been removed from the particular state, terminate a creep torque control mode, during which an acceleration that is applied while the brake is not being applied, is selectable by the engaging of the brake at a selected acceleration and disengaging of the brake.
20. A vehicle control system comprising:
a processor;
a memory storing one or more instructions, which when executed cause the processor to:
determine whether defined conditions for controlling creep torque of a vehicle are met, where whether the defined conditions for controlling creep torque are met is determined by:
determining whether a vehicle acceleration is lower than a threshold acceleration;
determining whether a vehicle speed is lower than a threshold speed;
determining whether a brake of the vehicle is engaged; and
determining whether an accelerator is engaged;
wherein
if the brake is determined to be engaged, then determining that the defined conditions are not met;
if the accelerator is determined to be engaged, then determining that the defined conditions are not met;
if the vehicle acceleration is determined to be above the threshold acceleration, then determining that the defined conditions are not met; and
if the vehicle speed is determined to be greater than the threshold speed, then determining that the defined conditions are not met; and
in response to the defined conditions being met, produce a control signal
to increase an input torque, and
to cause the vehicle to reach a target creep-generated-vehicle-speed,
wherein after the defined conditions for controlling the creep torque are met, an acceleration that is applied is selectable by applying the brake at a selected acceleration, wherein after the applying the brake to select the acceleration, the input torque is set to produce the selected acceleration when the brake is no longer being applied.