Motor vehicle controller and method

1. A motor vehicle controller, the controller being configured to:

receive a drive demand signal indicative of an amount of net drive to be applied to one or more driving wheels of a vehicle;

estimate a value of a parameter indicative of a surface coefficient of friction between one or more driving wheels and a driving surface, surface_friction; and

cause the application of a net torque to one or more wheels of a vehicle, an amount of net torque applied being determined in dependence at least in part on the received drive demand signal, the net torque being a difference between a positive drive torque and a negative brake torque applied to the or each wheel,

the controller being configured automatically to increase momentarily an amount of net torque applied to a driving wheel independently of the drive demand signal and to update an estimate of parameter surface_friction in dependence at least in part on a change in speed of said driving wheel when the amount of net torque applied to said at least one driving wheel is increased,

wherein increasing momentarily an amount of drive torque applied to the driving wheel and updating an estimate of parameter surface_friction comprises:

causing the application of positive drive torque and negative brake torque to the driving wheel substantially simultaneously;

increasing momentarily an a amount of net positive torque applied by momentarily reducing the amount of brake torque applied to the driving wheel;

measuring the speed of the driving wheel when the amount of brake torque applied to the driving wheel is reduced; and

updating said estimate of parameter surface_friction based at least in part on the measured speed of the driving wheel.

2. A method of controlling a motor vehicle comprising:

receiving a drive demand signal indicative of an amount of net drive to be applied to one or more driving wheels of a vehicle;

estimating a value of a parameter indicative of a surface coefficient of friction between one or more driving wheels and a driving surface, surface_friction; and

applying a net torque to one or more wheels of a vehicle, an amount of net torque applied being determined in dependence at least in part on the received drive demand signal, the net torque being a difference between a positive drive torque and a negative brake torque applied to the or each wheel,

the method comprising automatically increasing momentarily an amount of net torque applied to a driving wheel independently of the drive demand signal and updating an estimate of parameter surface_friction in dependence at least in part on a change in speed of said driving wheel when the amount of net torque applied to said driving wheel is increased,

wherein increasing momentarily an amount of net torque applied to the driving wheel and updating an estimate of parameter surface_friction comprises:

causing application of positive drive torque and negative brake torque to the driving wheel substantially simultaneously;

increasing momentarily an amount of net positive torque applied by momentarily reducing the amount of brake torque applied to the driving wheel;

measuring the speed of the driving wheel when the amount of brake torque applied to the driving wheel is reduced; and

updating said estimate of parameter surface_friction based at least in part on the measured speed of the driving wheel.

3. A controller according to claim 1 wherein the controller is configured to cause the application of a net torque to one or more wheels of a vehicle by controlling an amount of torque coupling between first and second axles of a vehicle, the controller being configured automatically to increase momentarily an amount of net torque applied to a driving wheel of a second axle at least in part by momentarily reducing an amount of torque coupling between the first and second axles of the vehicle.

4. A controller according to claim 1 wherein the controller is configured to cause the application of a net torque to one or more wheels of a vehicle by controlling an amount of torque coupling between respective wheels of an axle of a vehicle, the controller being configured automatically to increase momentarily an amount of net torque applied to a driving wheel of an axle at least in part by momentarily adjusting an amount of torque coupling between respective wheels of an axle.

5. A controller according to claim 1 configured to determine the amount of net torque to be applied to one or more driving wheels in dependence at least in part on the drive demand signal and the value of surface_friction.

6. A controller according to claim 5 configured to determine the amount of net torque to be applied to one or more driving wheels such that an amount of slip of one or more driving wheels is substantially equal to a predetermined amount.

7. A controller according to claim 6 wherein the predetermined amount is determined in dependence at least in part on the value of surface_friction and a speed of a vehicle.

8. A control system comprising a controller according to claim 1 .

9. A control system according to claim 8 configured to determine the amount of net torque to be applied to one or more driving wheels in dependence at least in part on information indicative of a terrain over which a vehicle is driving.

10. A control system according to claim 9 configured to receive information indicative of a terrain over which a vehicle is driving by receiving a signal indicative of the identity of an operating mode in which a vehicle is operating, the operating mode being selected from a plurality of operating modes.

11. A control system according claim 10 wherein the operating modes are control modes of at least one subsystem of a vehicle, the control system having a subsystem controller for initiating control of a vehicle subsystem in the selected one of the plurality of subsystem control modes, each one of the operating modes corresponding to one or more different driving conditions for a vehicle.

12. A control system according to claim 11 wherein the system comprises a processor configured to evaluate one or more driving condition indicators to determine the extent to which each of the subsystem control modes is appropriate.

13. A control system according to claim 12 operable in an automatic operating mode selection condition in which the system is configured automatically to control the subsystem controller to initiate control of the or each subsystem in the subsystem control mode which is most appropriate.

14. A control system according to claim 11 wherein in each operating mode the system is configured to cause each one of a plurality of vehicle subsystems to be operated in a subsystem configuration mode appropriate to the driving condition.

15. A control system according to claim 14 wherein the operating modes include one or more control modes selected from the following:

control modes of at least one vehicle subsystem selected from amongst an engine management system, a transmission system, a steering system, a brakes system and a suspension system;

control modes of a suspension system and the plurality of subsystem configuration modes comprise a plurality of ride heights;

control modes of a fluid suspension system in which fluid interconnection can be made between suspensions for wheels on opposite sides of the vehicle, and wherein said plurality of subsystem configuration modes provide different levels of said interconnection;

control modes of a steering system which can provide steering assistance, and wherein said plurality of subsystem configuration modes provide different levels of said steering assistance;

control modes of a brakes system which can provide braking assistance, and said plurality of subsystem configuration modes provide different levels of said braking assistance;

control modes of a brake control system which can provide an anti-lock function to control wheel slip, and said plurality of subsystem configuration modes allow different levels of said wheel slip;

control modes of a powertrain system which includes a powertrain control means and an accelerator or throttle pedal, the subsystem configuration modes providing different levels of responsiveness of the powertrain control means to movement of the accelerator or throttle pedal;

control modes of a traction control system which is arranged to control wheel spin, and said plurality of subsystem configuration modes allow different levels of said wheel spin

control modes of a yaw control system which is arranged to control vehicle yaw, and said plurality of subsystem configuration modes allow different levels of divergence of said vehicle yaw from an expected yaw;

control modes of a range change transmission and said subsystem configuration modes may include a high range mode and a low range mode of said transmission; and

control modes of a transmission system operable in a plurality of transmission ratios and including a transmission control means arranged to monitor at least one parameter of the vehicle and to select the transmission ratios in response, and wherein the subsystem configuration modes include a plurality of transmission configuration modes in which the transmission ratios are selected differently in response to said at least one parameter.

16. A processor arranged to implement the method of claim 2 .

17. A vehicle comprising a chassis, a body attached to said chassis, a plurality of wheels, a powertrain to drive said wheels, a braking system to brake said wheels, and a controller according to claim 1 .

18. A method according to claim 2 wherein:

said drive demand signal comprises a torque demand signal.