INCORPORATION BY REFERENCE

The entire contents of c o-pending UK patent application numbers GB1 1 1 1288.5, GB121 1910.3 and GB1202427.9 and UK patents GB2325716, GB2308415, GB2341430, GB2382158 and GB2381597 are expressly incorporated herein by reference.

FIELD OF THE INVENTION

The present invention relates to a vehicle control system for one or more vehicle subsystems and to a method of controlling one or more vehicle subsystems.

BACKGROUND

It is known to provide a vehicle having a plurality of subsystems which can be operated in different configurations to suit different driving conditions. For example, automatic transmissions may be controlled in a variety of modes such as sport, manual, winter or economy. In each mode, subsystem control parameters such as accelerator pedal response and conditions under which changes between gear ratios take place may be modified so as to suit the conditions of the terrain or the particular taste of the driver. It is also known to provide air suspensions with on-road and off-road modes. Stability control systems can be operated at reduced activity in certain modes so as to give the driver more direct control, and power steering systems can be operated in different modes to provide a varying level of assistance depending on driving conditions. It is desirable to provide an improved control system for a motor vehicle operable in different configurations.

STATEMENT OF THE INVENTION

Some embodiments of the present invention may be understood with reference to the appended claims.

Aspects of the present invention provide a control system, a vehicle and a method.

Control systems according to embodiments of the present invention are suitable for a range of different vehicles including conventional engine-only vehicles, electric vehicles, and/or hybrid electric vehicles. I n an aspect of the invention for which protection is sought there is provided a control system for a motor vehicle, the system being operable in an automatic mode selection condition in which the system is configured to select automatically an appropriate system operating mode from a plurality of operating modes and whereby the system assumes operation in said system operating mode,

the system being further configured to activate an automatic progress control function in which a speed of the vehicle over terrain is controlled automatically by the system,

wherein when the system is in the automatic mode selection condition the system is configured to allow the automatic progress control function to be activated only when the system is operating in one of a subset of one or more system operating modes.

Embodiments of the present invention have the advantage that a user may enjoy the benefits of the automatic progress control function and automatic operating mode selection in such a manner that the cruise control system does not function with certain inappropriate operating modes. User enjoyment of a vehicle is therefore enhanced because the control system automatically ensures that the vehicle does not operate in an inappropriate operating mode with the cruise control system active.

Optionally, when the system is in the automatic mode selection condition the system is operable to allow the automatic progress control function to be activated and/or armed only when the system is operating in one of a subset of one or more system operating modes. It is to be understood that in this aspect optionally, but not essentially, a distinction may be made between activating or arming the automatic progress control function and triggering the automatic progress control function so as to begin controlling the vehicle speed over ground, the latter of which may commence only in dependence on certain operating conditions of the vehicle being met.

Optionally, the system being operable to allow the automatic progress control function to be activated only when the system is operating in one of a subset of one or more system operating modes may comprise

the system preventing the automatic progress control function from assuming an active state, in which the speed of the vehicle is controlled automatically by the system, unless the system is operating in an operating mode selected from said subset of one or more system operating modes.

Advantageously, if the system is operating in the automatic mode selection condition and the automatic progress control function is subsequently requested, the system may be configured automatically to select an appropriate operating mode from the subset of one or more system operating modes and to operate in that mode.

If the instant operating mode is not a member of the subset of operating modes, the system may switch mode to a mode that is a member of the subset. The system may switch operating mode to the most appropriate operating mode that is a member of the subset. If the instant operating mode is a member of the subset of operating modes, the system may remain in that mode until a mode change is deemed necessary or advisable.

Optionally the subset of one or more system operating modes comprises two or more system operating modes, wherein if the system is operating in the automatic mode selection condition and the automatic progress control function is subsequently requested, the system is configured automatically to select the most appropriate operating mode from the subset of two or more system operating modes and to assume operation in that mode.

Advantageously, if the system is operating with the automatic progress control system active and the automatic mode selection condition is assumed, the system may be arranged to select a system operating mode from the subset of one or more system operating modes and to assume operation in that mode.

In some embodiments, if when the automatic progress control system is not active the user selects an operating mode for which operation of the automatic progress control system is not permitted, the system may prevent the automatic progress control system from subsequently becoming active whilst the user continues to select an operating mode for which operation of the automatic progress control system is not permitted.

If the automatic progress control system is active when an operating mode is selected by a user for which operation of the automatic progress control system is not permitted, in some embodiments the system remains in the operating mode in which it has been operating and does not assume the operating mode newly selected by the user. A notification may be provided to a user to inform them of the reasons why the newly selected operating mode cannot be assumed. In some alternative embodiments, if the user selects an operating mode for which operation of the automatic progress control system is not permitted whilst the automatic progress control system is active, the system cancels operation of the automatic progress control system and assumes the operating mode selected by the user.

The system may be further operable in a manual operating mode selection condition in which a user may select a required system operating mode by means of user-operable mode selection input means. Optionally, when operating in the manual operating mode selection condition with the automatic progress control function activated the system is operable to allow a change in selected operating mode when the user-operable mode selection input means indicates a user requires a change in operating mode. Optionally the system is operable to allow a change in selected operating mode to a mode selected from amongst a second subset of two or more operating modes, when operating in the manual operating mode selection condition with the automatic progress control system active. The second subset may include the one or more modes of the first subset, plus one or more additional modes. It is to be understood that in some embodiments the allowed modes may be selected on the basis that since a user has manually selected a mode, the user has a good reason for selecting a given mode. Therefore the system may only refuse to assume a particular mode if it is deemed to be unsuitable for operation with the automatic progress control system active. In some embodiments, the automatic progress control system may be a cruise control system suited for on-highway operation, such as a conventional cruise control system. The cruise control system may be a speed control system that terminates speed control in the event that a traction control system or stability control system intervenes to apply torque to one or more wheels, such as by application of a brake, in order to prevent or reduce loss of traction or stability of a vehicle. Accordingly, where one or more of the operating modes are adapted for different driving conditions, the system may be arranged to prevent operation of the cruise control system at the same time as the system is operated in one or more operating modes that are adapted for driving conditions in which relatively high levels of wheel slip are expected, such as a mode adapted for travel over sand. Advantageously the operating modes are control modes of at least one vehicle subsystem of a vehicle, the system comprising a subsystem controller for initiating control of the or each of the vehicle subsystems in the selected one of the plurality of subsystem control modes, each of which corresponds to one or more different driving conditions for the vehicle.

The system may comprise evaluation means for evaluating one or more driving condition indicators to determine the extent to which each of the subsystem control modes is appropriate,

wherein when in the automatic mode selection condition the system is operable automatically to control the subsystem controller to initiate control of the or each subsystem in the subsystem control mode which is most appropriate.

The automatic progress control function may include an on-highway cruise control system operable to control the vehicle to maintain a substantially constant speed by application of positive drive torque. The cruise control system may be operable to maintain a substantially constant target speed set in response to a user input such as the pressing of a button when the vehicle is at a desired speed, to indicate to the cruise control system the speed at which the user wishes the vehicle to travel, The cruise control system may be operable to apply brake torque in addition to positive drive torque. The cruise control system may be operable to cause vehicle speed to fall below the target speed in the event the system detects the presence of traffic ahead of the vehicle that is travelling at a speed lower than the target speed. The cruise control system may be operable to maintain a substantially constant distance behind traffic ahead of the vehicle when the traffic is moving more slowly than the vehicle.

The cruise control system may be operable to suspend or cancel operation of the cruise control system upon detection of wheel slip exceeding a prescribed amount. The cruise control system may be operable to suspend or cancel operation of the cruise control system upon detection of intervention by a stability control system to reduce vehicle instability or a traction control system to improve traction.

The system may be operable to activate the automatic progress control function in an operative state in response to a user command to activate the automatic progress control function when the system is operating in one of the subset of one or more system operating modes.

The system may be operable to place the automatic progress control function in a standby state in response to a user command to activate the automatic progress control function when the system is not operating in one of the subset of one or more system operating modes.

The system may be operable to change said automatic progress control function from said standby mode into an operative state in response to the operating mode being changed to one of the subset of one or more system operating modes.

It is to be understood that the system may be operable to place the automatic progress control function temporarily in the standby state in response to a user command to activate the automatic progress control function when the system is not operating in one of the subset of one or more system operating modes. The system may then change the system operating mode to a mode that is a member of the subset of one or more system operating modes, and then allow the automatic progress control function to assume the activated state from the standby state. It is to be understood that in the case that the automatic progress control function is operable to command application of positive drive torque, such as an on-highway cruise control system or an off-road speed control system, the system may be operable to limit vehicle speed whilst the automatic progress control system is in the standby state in response to the user command to activate the automatic progress control system. Thus if the vehicle is descending an incline when the automatic progress control system is placed in the standby state, the system may apply a braking system to prevent the vehicle from accelerating, or accelerating to a speed above a predetermined set-speed or target speed value. Other arrangements are also useful.

Optionally, if the operating mode in which the system is operating is not one of the subset of one or more system operating modes, the system is operable to change the operating mode to one of the subset of one or more system operating modes upon activation of the automatic progress control function so as to prevent the automatic progress control function operating in an active state when said operating mode is not one of the subset of one or more system operating modes. The operating modes may be 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. The operating modes may be control modes of at least two vehicle subsystems selected from amongst an engine management system, a transmission system, a steering system, a brakes system and a suspension system.

The operating modes may be control modes of each of these systems.

Optionally, in each system operating mode the system is operable to cause each one of a plurality of vehicle subsystems to be operated in a subsystem configuration mode appropriate to the driving condition. For example, in the case of a vehicle sub-system in the form of a suspension system operable at a plurality of different ride-heights for a given vehicle loading, the subsystem configuration modes may include modes corresponding to different respective ride heights. In the case of a vehicle sub-system controller in the form of an engine or powertrain controller, the controller may be operable to provide different respective values of engine torque as a fu nction of accelerator pedal position in each of a plurality of d ifferent powertrain controller configuration modes. A subsystem control mode may therefore correspond to a set of subsystem configuration modes, for example one configuration mode for each subsystem. For example in one operating mode a 'high' ride height subsystem configuration mode may be set for the suspension system and a 'slow' accelerator pedal map subsystem configuration mode may be set for the powertrain controller. Some subsystems may allow two different parameters to be set. Thus the suspension system may allow a vehicle body roll stiffness setting of the suspension to be set to one of a plurality of configuration modes such as low, medium or high. Various possible known subsystem configuration modes will now be described. The reader is referred to US2003/0200016 for further details in respect of known types of subsystem configuration mode and the manner in which the configuration modes may be implemented. Other configuration modes are also useful. Other subsystems may also be controlled, in addition or instead. One of the subsystems may comprise a suspension system wherein said plurality of subsystem configuration modes comprise a plurality of ride heights.

One of the subsystems may comprise 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.

One of the subsystems may comprise a steering system which can provide steering assistance, and wherein said plurality of subsystem configuration modes provide different levels of said steering assistance.

One of the subsystems may comprise a braking system which can provide braking assistance, and said plurality of subsystem configuration modes may provide different levels of said braking assistance.

One of the subsystems may comprise a brake control system which can provide an anti- lock function to control wheel slip, and said plurality of subsystem configuration modes may allow different levels of said wheel slip.

One of the subsystems may comprise a traction control system which is arranged to control wheel spin, and said plurality of subsystem configuration modes may allow different levels of said wheel spin. One of the subsystems may comprise a yaw control system which is arranged to control vehicle yaw, and said plurality of subsystem configuration modes may allow different levels of divergence of said vehicle yaw from an expected yaw.

One of the subsystems may comprise a range change transmission and said subsystem configuration modes may include a high range mode and a low range mode of said transmission.

The range change transmission may for example by comprised by a power transfer unit or power take-off unit for coupling a prop shaft of a driveline to a torque transmission path from an engine or transmission of the vehicle, such as an automatic transmission. One of the subsystems may comprise a powertrain system which includes a powertrain control means such as an electronic powertrain controller 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 pedal.

One of the subsystems may comprise a transmission system operable in a plurality of transmission ratios and including a transmission control means (such as an electronic transmission controller) 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.

One of the subsystems may comprise a differential system operable to provide a plurality of levels of differential lock, and the subsystem configuration modes may be arranged to provide different levels of said lock.

The differential system may be arranged to control the level of differential lock on the basis of a plurality of inputs, and to respond differently to said inputs in each of the modes. The differential system may comprise a centre differential, a front differential and/or a rear differential. The differential may be a clutch-based system in some embodiments, whereby differences in rates of rotation of wheels is accommodated by slipping of a clutch rather than by means of a conventional differential gear arrangement in which side wheels are coupled via pinion wheels supported by a differential cage in order to allow relative rotation.

One of the subsystems may comprise a vehicle body roll control system arranged to provide body roll correction to reduce vehicle body roll and the subsystem configuration modes provide different levels of body roll correction of the vehicle, at least under some driving conditions.

One of the subsystems may comprise a speed control system arranged to control the speed of the vehicle when descending a hill. The speed control system may be arranged to control the vehicle to different speeds in the different configuration modes. Optionally, the operating modes may include an off-road mode in which the subsystems are controlled in a manner suitable for driving on rough terrain and an on-road mode in which the subsystems are controlled in a manner suitable for driving on-road. Optionally the suspension system is arranged to provide a higher ride height in the off road mode than in the on-road mode.

Further optionally, in the off-road mode a higher level of said interconnection is provided than in the on-road mode.

The traction control system may be arranged to allow less wheel spin in the off-road mode than in the on-road mode.

Optionally the yaw control system is arranged to allow a higher degree of said divergence in the off-road mode than in the on-road mode.

Optionally, in the off-road mode the range change transmission is operated in the low range. Optionally, in the off-road mode the powertrain control means is arranged to provide lower levels of drive torque, for a given accelerator or throttle pedal position, at least at low levels of accelerator pedal depression, than in the on-road mode.

Optionally, the differential system is arranged to provide higher levels of differential lock in the off-road mode than in the on-road mode.

Optionally, the vehicle body roll control system is arranged to provide a higher body roll stiffness in the on-road mode than in the off-road mode. Optionally, the speed control system is arranged not to be placed in an operational state in the off-road mode and to be placed in an operational state in the on-road mode.

Optionally, the driving modes include at least one low friction mode in which the subsystems are controlled in a manner suitable for driving on low friction surfaces and a high friction mode in which the subsystems are controlled in a manner suitable for driving on high friction surfaces. Optionally, the brake control system allows higher levels of slip in the high friction mode than in the low friction mode. Optionally, the traction control system allows higher levels of wheel spin in the high friction mode than in the low friction mode.

Optionally, the braking control system provides a greater level of braking assistance in the high friction mode than in the low friction mode.

Optionally, the powertrain control means is arranged to provide lower levels of drive torque, for a given accelerator or throttle pedal position, at least at low levels of accelerator pedal depression, in the low friction mode than in the high friction mode. Optionally, the transmission system is arranged to operate in higher gears for a given value of said at least one parameter in the high friction mode than in the low friction mode.

Optionally, the differential system is arranged to provide higher levels of differential lock in the low friction mode than in the high friction mode.

Optionally, the high friction mode may comprise a standard or default mode in which the vehicle will operate normally and which is suitable for on-road driving.

Optionally, there are at least two such low friction modes and the suspension system is arranged to provide a higher ride height in one of the low friction modes than in the other.

Further optionally, there are at least two such low friction modes and the suspension system is arranged to provide a higher level of said cross linking in one of the low friction modes than in the other.

Optionally, the at least two low friction modes may comprise a mud mode suitable for traveling through deep mud, and another low friction mode suitable for driving in snow, on grass, or on gravel. Optionally there may be a plurality of low friction modes, one of which may be a grass mode in which the subsystems are controlled in a manner suitable for driving on grass, one of which may be an ice mode in which the subsystems are controlled in a manner suitable for driving in ice, and one of which may be a mud mode in which the subsystems are controlled in a manner suitable for driving on mud. Optionally one of the modes is a sand mode in which the subsystems are controlled in a manner suitable for driving on sand. At least one of the subsystems may be arranged, in the sand mode, to allow only relatively low levels of wheel spin when the vehicle is traveling at low speeds so as to avoid the vehicle wheels becoming submerged in sand, but to allow relatively high levels of wheel spin when the vehicle is traveling at higher speeds. Optionally, in the sand mode, the powertrain control system is arranged to provide relatively low levels of drive torque for a given throttle pedal position at low vehicle speeds and to provide relatively high levels of drive torque for a given throttle pedal position at higher vehicle speeds. The off-road mode may be a rock crawl mode in which the subsystems are controlled in a manner suitable for driving over rocks. Alternatively it may be set up for more general off- road use. One or more other off-road modes may be provided in addition or instead.

One of the modes may be a rough-road mode in which the subsystems are controlled in a manner suitable for driving on rough roads, for example for driving at relatively high speeds over rough surfaces.

At least one of the modes may be a plough surface mode in which the brake control subsystem is arranged to allow a relatively high degree of wheel slip under braking. This may be useful, for example on snow or sand, where the build-up of matter in front of the wheels under braking can improve braking performance.

Optionally, at least one of the modes is an on-road mode in which the subsystems are controlled in a manner suitable for driving on-road. For example, one of the modes may be a highway or motorway mode in which the subsystems are controlled in a manner suitable for driving at high speed (typically 80kph (50mph) or more) on a substantially flat road surface. One of the modes may be a country road mode in which the subsystems are controlled in a manner suitable for driving on country roads, which generally have more frequent and tighter bends, resulting in a lower average speed and a less even vehicle speed. The driving modes may be selectable by means of at least one of at least two inputs, one of which may be a terrain selection input arranged to influence the mode selected on the basis of the terrain selected, and the other of which may be a mode of use input arranged to influence the mode selected on the basis of a selected mode of use of the vehicle. Each of these inputs may be user-controlled inputs, or may be derived from one or more sensors.

The mode of use input may be arranged to allow selection between a plurality of driving styles, which may include, for example, a normal style, a sport style, and an economy style. Alternatively, or in addition, the mode of use input may be arranged to allow selection between a plurality of states of the vehicle, for example including a towing state or a loaded state.

In a further embodiment of the invention for which protection is sought there is provided a vehicle comprising a system according to a preceding aspect.

The vehicle may be adapted for off-road driving.

The vehicle may be a four wheel drive vehicle.

In an aspect of the invention for which protection is sought there is provided a method of controlling a vehicle system to operate in an automatic mode selection condition implemented by computing means, when the system is operating in the automatic mode selection condition the method comprising selecting automatically an appropriate system operating mode whereby the system assumes operation in the selected mode,

the method further comprising activating an automatic progress control function and controlling automatically a speed of the vehicle over terrain in response to activation of the automatic progress control function, and

whereby when the system is in the automatic mode selection condition the method comprises allowing the automatic progress control function to be activated only when the system is operating in one of a subset of one or more system operating modes.

Optionally, allowing the automatic progress control function to be activated only when the system is operating in one of a subset of one or more system operating modes may comprise preventing the automatic progress control function from assuming an active state, in which the speed of the vehicle is controlled automatically by the system, unless the system is operating in an operating mode selected from said subset of one or more system operating modes.

Optionally, if a request to activate the automatic progress control function is received whilst the system is in the automatic mode selection condition and an operating mode that is not one of the subset of one or more operating modes, the method comprises causing the system to assume the most appropriate mode of the subset of one or more operating modes, and subsequently allowing the automatic progress control function to become active.

Further optionally, if a request to activate the automatic progress control function is received whilst the system is in the automatic mode selection condition, the automatic progress control function is caused to remain in or assume a standby condition. In a further aspect of the invention for which protection is sought there is provided a carrier medium carrying computer readable code for controlling a vehicle to carry out a method according to an aspect of the invention.

In a further aspect of the invention for which protection is sought there is provided a method of controlling a vehicle system to operate in an automatic mode selection condition implemented by computing means, when the system is operating in the automatic mode selection condition the method comprising selecting automatically an appropriate system operating mode whereby the system assumes operation in the selected mode,

the method further comprising activating an automatic progress control function and controlling automatically a speed of the vehicle over terrain in response to activation of the automatic progress control function, and

whereby when the system is in the automatic mode selection condition the method comprises preventing the automatic progress control function from being in an active state unless the system is operating in one of a subset of one or more system operating modes.

In one aspect of the invention for which protection is sought there is provided a control system for a motor vehicle, the system being operable in an automatic mode selection condition in which the system is operable to select automatically an appropriate system operating mode from a plurality of operating modes whereby the system assumes operation in said system operating mode, the system being further operable to activate an automatic progress control function in which a speed of the vehicle over terrain is controlled automatically by the system,

wherein the system is operable to allow the automatic progress control function to be active only when the system is operating in one of a subset of one or more system operating modes.

In a further aspect of the invention for which protection is sought there is provided a method of controlling a vehicle system to operate in an automatic mode selection condition implemented by computing means, when the system is operating in the automatic mode selection condition the method comprising selecting automatically by computing means an appropriate system operating mode whereby the system assumes operation in the selected mode,

the method further comprising activating an automatic progress control function and controlling automatically a speed of the vehicle over terrain in response to activation of the automatic progress control function, and

allowing the automatic progress control function to be active only when the system is operating in one of a subset of one or more system operating modes.

Advantageously the operating modes are control modes of at least one vehicle subsystem of a vehicle, the system comprising a subsystem controller for initiating control of the or each of the vehicle subsystems in the selected one of the plurality of subsystem control modes, each of which corresponds to one or more different driving conditions for the vehicle, the system comprising evaluation means for evaluating one or more driving condition indicators to determine the extent to which each of the subsystem control modes is appropriate, wherein when in the automatic cond ition the system is operable automatically to control the subsystem controller to initiate control of the or each subsystem in the subsystem control mode which is most appropriate.

In an aspect of the invention for which protection is sought there is provided a motor vehicle control system for selecting a driving surface and for controlling a plurality of vehicle subsystems to operate in a plurality of subsystem configuration modes in dependence on the selected driving surface, the system being operable in a manual operating condition in which a user is able to select said driving surface and an automatic operating condition in which the system is operable to select said driving surface automatically, wherein the system is able to be switched between said manual and automatic operating conditions by means of a user-operable input device, the system being further operable to activate an automatic progress control function in which a speed of the vehicle over terrain is controlled automatically by the system,

wherein when operating in the automatic mode selection condition the system is operable automatically to prevent the automatic progress control function from being activated when the system is operating in a prescribed one or more of the subsystem configuration modes.

It is to be understood that the control system is thus operable automatically to suspend allowance of the automatic progress control functionality when operating in the prescribed one or more subsystem configuration modes. The system may be configured such that it will always prevent allowance of the automatic progress control functionality when operating in the prescribed one or more subsystem configuration modes when operating in the automatic mode selection condition. Embodiments of the invention have the advantage that when the system is operating in the automatic mode selection condition, a user may be prevented from causing the system to activate the automatic progress control function when the system has selected automatically an operating mode that is inappropriate to the automatic progress control function.

The automatic progress control function may advantageously be or include a cruise control function. The cruise control function may be operable to control a powertrain of the vehicle to maintain a prescribed vehicle speed which is set by the user. Typically, in conventional vehicles cruise control functionality is allowable only above a prescribed speed. In some vehicles having a power transfer unit (PTU) or the like having high and low gear ratio modes cruise control functionality may be available only when operating in the high ratio mode. Embodiments of the present invention have the advantage that the system is able to prevent a user from selecting cruise control functionality in conditions in which it may result in sub-optimal vehicle performance for those conditions.

Advantageously the prescribed one or more subsystem configuration modes include an on- road driving mode. Optionally cruise control functionality may be allowable when operating in an on-road driving mode (a general purpose mode, referred to herein as 'special programs off or SPO). Optionally cruise control functionality may also be allowable when the system is operating in a grass/gravel/snow subsystem control mode (GGS mode) that is suitable for use when the vehicle is travelling over terrain featuring grass, gravel or snow.

In some embodiments cruise control functionality is not permitted when the system is operating in the automatic mode selection condition and a mode other than the on-road driving mode or GGS mode has been selected automatically.

Optionally the system is operable to allow the automatic progress control function to be activated only when one or more further conditions are met. The one or more further conditions may include the condition that a selected powertrain gear ratio is in a prescribed range. Optionally the one or more further conditions may include the condition that a power transfer unit (PTU) of the powertrain is set to a prescribed gear ratio, advantageously a high (e.g. HIGH or HI) gear ratio as opposed to a low gear ratio (e.g. LOW or LO) for certain off-road conditions such as rock crawl where relatively low vehicle speeds are required. As noted above, the still further condition may exist that a cruise control mode or function may only be available provided the high gear ratio is selected in respect of the power transfer unit.

The on-road driving mode may correspond to the special programs off (SPO) mode described above.

In an aspect of the invention for which protection is sought there is provided a motor vehicle control system for selecting a driving surface and for controlling a plurality of vehicle subsystems to operate in a plurality of subsystem configuration modes in dependence on the selected driving surface, the system being operable in a manual operating condition in which a user is able to select said driving surface and an automatic operating condition in which the system is operable to select said driving surface automatically, wherein the system is able to be switched between said manual and automatic operating conditions by means of a user-operable input device,

the system being further operable to activate an automatic progress control function in which a speed of the vehicle over terrain is controlled automatically by the system, wherein when operating in the automatic mode selection condition the system is operable automatically to limit the driving surfaces that may be selected in the automatic mode selection condition to a prescribed one or more driving surfaces when the automatic progress control function is activated.

Thus, rather than prevent the automatic progress control system from being activated when in the automatic operating condition, the system may limit the operating modes in which the vehicle is permitted to operate when in the automatic condition with the automatic progress control system active.

In one aspect of the invention for which protection is sought there is provided a control system for a motor vehicle, the system being operable in an automatic mode selection condition in which the system is operable to select automatically an appropriate system operating mode whereby the system assumes operation in said system operating mode, the system being further operable to activate an automatic progress control function in which a speed of the vehicle over terrain is controlled automatically by the system,

wherein when operating in the automatic mode selection condition the system is operable to allow the automatic progress control function to be activated only when the system is operating in a subset of one or more system operating modes.

According to an aspect of the invention for which protection is sought there is provided a control system for a motor vehicle, the system being operable in an automatic mode selection condition in which the system is operable to select automatically an appropriate system operating mode, the system being further operable to activate an automatic progress control fu nction in which a speed of the vehicle over terrain is controlled automatically by the system in dependence on activation of the automatic mode selection condition.

In an embodiment, the system may be operable to select and/or determine a driving surface and to control a plu rality of vehicle su bsystems to operate in a plurality of subsystem configuration modes in dependence on the selected/determined driving surface. In an embodiment, the automatic progress control function may comprise a hill descent control (HDC) function. The automatic progress control function may in addition or instead comprise a cruise control function. It is to be understood that the system may be operable to activate the automatic progress control function in response to a user command, for example by means of user input means, for example by means of a selector button, knob, touchscreen or other user input means. In some embodiments the system may be operable automatically to activate the automatic progress control function in addition or instead.

The system may be further operable in a manual operating mode selection condition in which a user may select a required system operating mode by means of user-operable mode selection input means. The system may be further operable to allow a user to select the required operating condition by means of a user operable condition selection input means, the system being configured to assume the user selected operating mode. The user operable condition selection input means may be provided by the user-operable mode selection input means. In an embodiment, rotation of the user-operable mode selection input means may allow selection of the manual or automatic operating conditions.

In an embodiment, movement of the user-operable mode selection input means such as by rotation or translation may enable selection of the automatic condition. Similarly, rotation or translation of the user-operable mode selection input means may enable manual selection of a particular operating mode. Manual selection of a particular operating mode by means of the user-operable mode selection input means may signal a desire of a user to assume the manual condition and a particular operating mode. The same movement (e.g. one selected from amongst translation and rotation of the user-operable mode selection input means) may be used to signal a desire to assume the manual condition and the automatic condition. For example, the automatic condition may be selected by rotation of the input means, whilst a desired manual operating mode may also be selected by rotation of the input means. In some embodiments, rotation of the input means to a position corresponding to other than the automatic condition may indicate selection of the manual condition, the position of the input means indicating the desired operating mode in the manual condition.

In some alternative embodiments, a translational position of the input means may indicate whether the manual or automatic conditions are required. If the translational position (which may correspond to a particular distance of the input means from a fixed point along the axis, e.g. a distance along an axis of rotation of the input means) is such that the manual condition is indicated, a required manual operating mode may be selectable by rotation of the input means if the system is not already in the required manual operating mode. In a further embodiment of the invention for which protection is sought there is provided a vehicle comprising a system according to a preceding aspect. The vehicle may be adapted for off-road driving.

In a further aspect of the invention for which protection is sought there is provided a motor vehicle control system for selecting and/or determining a driving surface and for controlling a plurality of vehicle subsystems to operate in a plurality of subsystem configuration modes in dependence on the selected driving surface, the system being operable in a manual operating mode in which a user is able to select said driving surface and an automatic operating mode in which the system is operable to select/determine said driving surface automatically, wherein when the system is operating in said automatic operating mode, the system is operable to select an appropriate vehicle subsystem configuration mode and/or permit operation in one or more subsystem configuration mode(s) in dependence on the status of one or more vehicle subsystem(s) and/or one or more modes of vehicle operation.

In an example, the motor vehicle control system operating in the automatic operating mode assumes operation of at least one vehicle subsystem and/or is arranged to limit or otherwise restrict use in one or more said subsystem configuration mode(s) in dependence on any parameter which may influence vehicle behaviour.

In an embodiment, the system is able to be switched between said manual and automatic operating modes by means of a user-operable input device; and

wherein when operating in the automatic operating mode and a change from the automatic operating mode to the manual operating mode is made via the user-operable input device, the system is configured to select a default subsystem configuration mode.

In a further aspect of the invention for which protection is sought there is provided a control system for a motor vehicle, the system being operable in an automatic mode selection condition in which the system is operable to select automatically an appropriate system operating mode, the system being further operable to activate and/or arm an automatic progress control function in which a speed of the vehicle over terrain may be controlled automatically by the system in dependence on an operating condition of the vehicle, wherein when the automatic progress control function is actively controlling the speed of the vehicle, the system is operable automatically to suspend changes in the selected system operating mode.

In the above aspect, but not essentially, a distinction is made between activating or arming the automatic progress control function and triggering the automatic progress control function so as to begin controlling the vehicle speed over ground, the latter of which may commence only in dependence on certain operating conditions of the vehicle being met, for example movement below a predetermined speed and/or on an incline having a predetermined minimum gradient.

Within the scope of this application it is expressly envisaged that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and/or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination. Features described in connection with one embodiment are applicable to all embodiments, unless such features are incompatible.

For the avoidance of doubt, it is to be understood that features described with respect to one aspect of the invention may be included within any other aspect of the invention, alone or in appropriate combination with one or more other features.

BRIEF DESCRIPTION OF THE DRAWINGS

One or more embodiments of the invention will now be described, by way of example only, with reference to the accompanying figures in which:

FIGURE 1 is a schematic illustration of a vehicle according to an embodiment of the present invention;

FIGURE 2 is a block diagram to illustrate a vehicle control system in accordance with an embodiment of the invention, including various vehicle subsystems under the control of the vehicle control system;

FIGURE 3 is a table showing which vehicle subsystem configuration mode is selected in each respective vehicle operating mode; FIGURE 4 is a schematic illustration of a switchpack according to an embodiment of the invention with a rotary knob in a deployed condition;

FIGURE 5 is a schematic illustration of a switchpack according to an embodiment of the invention with a rotary knob in a retracted condition; and

FIGURE 6 is a flow diagram illustrating a method of operation of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

FIG. 1 shows a vehicle 100 according to an embodiment of the invention intended to be suitable for off-road use, that is for use on terrains other than regular tarmac road, as well as on-road. The vehicle 100 has a powertrain 129 that includes an engine 121 that is connected to a driveline 130 having a transmission 124. In the embodiment shown the transmission 124 is an automatic transmission 124. Embodiments of the present invention are also suitable for use in vehicles with a manual transmission, continuously variable transmission or any other suitable transmission.

The driveline 130 is arranged to drive a pair of front vehicle wheels 1 1 1 ,1 12 by means of a front differential 135F and a pair of front drive shafts 1 18. The driveline 130 also comprises an auxiliary driveline portion 131 arranged to drive a pair of rear wheels 1 14, 1 15 by means of an auxiliary driveshaft or prop-shaft 132, a rear differential 135 and a pair of rear driveshafts 139. Embodiments of the invention are suitable for use with vehicles in which the transmission is arranged to drive only a pair of front wheels or only a pair of rear wheels (i.e. front wheel drive vehicles or rear wheel drive vehicles) or selectable two wheel drive/four wheel drive vehicles. In the embodiment of FIG. 1 the transmission 124 is releasably connectable to the auxiliary driveline portion 131 by means of a power transfer unit (PTU) 137, allowing selectable two wheel drive or four wheel drive operation. It is to be understood that embodiments of the invention may be suitable for vehicles having more than four wheels or where only two wheels are driven, for example two wheels of a three wheeled vehicle or four wheeled vehicle or a vehicle with more than four wheels.

The PTU 137 is operable in a 'high ratio' or a 'low ratio' configuration, in which a gear ratio between an input shaft and an output shaft thereof is selected to be a high or low ratio. The high ratio configuration is suitable for general on-road or 'on-highway' operations whilst the low ratio configuration is more suitable for negotiating certain off-road terrain conditions and other low speed applications such as towing.

The vehicle 100 has an accelerator pedal 161 , brake pedal 163 and steering wheel 181 . The steering wheel 1 81 has a cruise control selector button 181 C mounted thereto for activating a cruise control system 1 1 .

The vehicle 100 has a central controller, referred to as a vehicle control unit (VCU) 10. The VCU 10 receives and outputs a plurality of signals to and from various sensors and subsystems 12 provided on the vehicle 100.

FIG. 2 shows the VCU 10 in more detail. The VCU 10 controls a plurality of vehicle subsystems 12 including, but not limited to, an engine management system 12a, a transmission system 12b, an electronic power assisted steering unit 12c (ePAS unit), a brakes system 12d and a suspension system 12e. Although five subsystems are illustrated as being under the control of the VCU 10, in practice a greater number of vehicle subsystems may be included on the vehicle and may be under the control of the VCU 10. The VCU 10 includes a subsystem control module 14 which provides control signals via line 13 to each of the vehicle subsystems 12 to initiate control of the subsystems in a manner appropriate to the driving condition, such as the terrain, in which the vehicle is travelling (referred to as the terrain condition). The subsystems 12 also communicate with the subsystems control module 14 via signal line 13 to feedback information on subsystem status. In some embodiments, instead of an ePAS unit 12c, a hydraulically operated power steering unit may be provided.

The VCU 10 receives a plurality of signals, represented generally at 16 and 17, which are received from a plurality of vehicle sensors and are representative of a variety of different parameters associated with vehicle motion and status. As described in further detail below, the signals 16, 17 provide, or are used to calculate, a plurality of driving condition indicators (also referred to as terrain indicators) which are indicative of the nature of the condition in which the vehicle is travelling. One advantageous feature of some embodiments of the present invention is that the VCU 10 determines the most appropriate control mode for the various subsystems on the basis of the terrain indicators, and automatically controls the subsystems accordingly. That is, the VCU 10 determines the most appropriate control mode on the basis of the terrai n indicators and automatically causes each of the subsystems 12 to operate in the respective subsystem configuration mode corresponding to that control mode.

The sensors (not shown) on the vehicle include, but are not limited to, sensors which provide continuous sensor outputs 16 to the VCU 10, including wheel speed sensors, an ambient temperature sensor, an atmospheric pressure sensor, tyre pressure sensors, yaw sensors to detect yaw, roll and pitch of the vehicle, a vehicle speed sensor, a longitudinal acceleration sensor, an engine torque sensor (or engine torque estimator), a steering angle sensor, a steering wheel speed sensor, a gradient sensor (or gradient estimator), a lateral acceleration sensor (part of a stability control system (SCS)), a brake pedal position sensor, an acceleration pedal position sensor and longitudinal, lateral, vertical motion sensors.

In other embodiments, only a selection of the aforementioned sensors may be used. The VCU 10 also receives a signal from the electronic power assisted steering unit (ePAS unit 12c) of the vehicle to indicate the steering force that is applied to the wheels (steering force applied by the driver combined with steering force applied by the ePAS unit 12c).

The vehicle 100 is also provided with a plurality of sensors which provide discrete sensor output signals 17 to the VCU 10, including a cruise control status signal (ON/OFF), a transfer box or PTU 137 status signal (whether the gear ratio is set to a HI range or a LO range), a Hill Descent Control (HDC) status signal (ON/OFF), a trailer connect status signal (ON/OFF), a signal to indicate that the Stability Control System (SCS) has been activated (ON/OFF), a windscreen wiper signal (ON/OFF), an air suspension ride-height status signal (HI/LO), and a Dynamic Stability Control (DSC) signal (ON/OFF).

The VCU 10 includes an evaluation means in the form of an estimator module or processor 18 and a calculation and selection means in the form of a selector module or processor 20. Initially the continuous outputs 16 from the sensors are provided to the estimator module 18 whereas the discrete signals 17 are provided to the selector module 20.

Within a first stage of the estimator module 18, various ones of the sensor outputs 16 are used to derive a number of terrain indicators. In a first stage of the estimator module 18, a vehicle speed is derived from the wheel speed sensors, wheel acceleration is derived from the wheel speed sensors, the longitudinal force on the wheels is derived from the vehicle longitudinal acceleration sensor, and the torque at which wheel slip occurs (if wheel slip occurs) is derived from the motion sensors arranged to detect yaw, pitch and roll. Other calculations performed within the first stage of the estimator module 18 include the wheel inertia torque (the torque associated with accelerating or decelerating the rotating wheels), "continuity of progress" (the assessment of whether the vehicle is starting and stopping, for example as may be the case when the vehicle is travelling over rocky terrain), aerodynamic drag, yaw rate, and lateral vehicle acceleration.

The estimator module 18 also includes a second stage in which the following terrain indicators are calculated: surface rolling resistance (based on the wheel inertia torque, the longitudinal force on the vehicle, aerodynamic drag, and the longitudinal force on the wheels), the steering force on the steering wheel 181 (based on the lateral acceleration and the output from the steering wheel sensor), the wheel longitudinal slip (based on the longitudinal force on the wheels, the wheel acceleration, SCS activity and a signal indicative of whether wheel slip has occurred), lateral friction (calculated from the measured lateral acceleration and the yaw versus the predicted lateral acceleration and yaw), and corrugation detection (high frequency, low amplitude wheel height excitement indicative of a washboard type surface).

The SCS activity signal is derived from several outputs from an SCS ECU (not shown), which contains the DSC (Dynamic Stability Control) function, the TC (Traction Control) function, ABS and HDC algorithms, indicating DSC activity, TC activity, ABS activity, brake interventions on individual wheels, and engine torque reduction requests from the SCS ECU to the engine. All these indicate a slip event has occurred and the SCS ECU has taken action to control it. The estimator module 18 also uses the outputs from the wheel speed sensors to determine a wheel speed variation and corrugation detection signal.

On the basis of the windscreen wiper signal (ON/OFF), the estimator module 18 also calculates how long the windscreen wipers have been in an ON state (i.e. a rain duration signal). The VCU 10 also includes a road roughness mod ule 24 for calculating the terrain roughness based on the air suspension sensors (the ride height sensors) and the wheel accelerometers. A terrain indicator signal in the form of a roughness output signal 26 is output from the road roughness module 24. The estimates for the wheel longitudinal slip and the lateral friction estimation are compared with one another within the estimator module 18 as a plausibility check. Calculations for wheel speed variation and corrugation output, the surface rolling resistance estimation, the wheel longitudinal slip and the corrugation detection, together with the friction plausibility check, are output from the estimator module 18 and provide terrain indicator output signals 22, indicative of the nature of the terrain in which the vehicle is travelling, for further processing within the VCU 10.

The terrain indicator signals 22 from the estimator module 18 are provided to the selector module 20 for determining which of a plurality of vehicle subsystem control modes is most appropriate based on the indicators of the type of terrain in which the vehicle is travelling. The most appropriate control mode is determined by analysing the probability that each of the different control modes is appropriate on the basis of the terrain indicator signals 22, 26 from the estimator module 18 and the road roughness module 24. The vehicle subsystems 12 may be controlled automatically in a given subsystem control mode (in an "automatic mode" or "automatic condition" of operation of the VCU 10) in response to a control output signal 30 from the selector module 20 and without the need for driver input. Alternatively, the vehicle subsystems 12 may be operated in a given subsystem control mode according to a manual user input (in a "manual mode" or "manual condition" of operation of the VCU 10) via a Human Machine Interface (HMI) module 32. Thus the user determines in which subsystem control mode the subsystems will be operated. The HMI module 32 comprises a display screen (not shown) and a user operable switchpack 170 (FIG. 4). The user may select between the manual and automatic modes (or conditions) of operation of the VCU 10 via the switchpack 170. When the VCU 10 is operating in the manual mode or condition, the switchpack 170 also allows the user to select the desired subsystem control mode.

It is to be understood that the subsystem controller 14 may itself control the vehicle subsystems 12a-12e directly via the signal line 13, or alternatively each subsystem may be provided with its own associated intermediate controller (not shown in Figure 1 ) for providing control of the relevant subsystem 12a-12e. In the latter case the subsystem controller 14 may only control the selection of the most appropriate subsystem control mode for the subsystems 12a-12e, rather than implementing the actual control steps for the subsystems. The or each intermediate controller may in practice form an integral part of the main subsystem controller 14. When operating in the automatic mode, the selection of the most appropriate subsystem control mode may be achieved by means of a three phase process:

(1 ) for each type of control mode, a calculation is performed of the probability that the control mode is suitable for the terrain over which the vehicle is travelling, based on the terrain indicators;

(2) the integration of "positive differences" between the probability for the current control mode and the other control modes; and

(3) the program request to the control module 14 when the integration value exceeds a predetermined threshold or the current terrain control mode probability is zero.

The specific steps for phases (1 ), (2) and (3) will now be described in more detail.

In phase (1 ), the continuous terrain indicator signals in the form of the road surface roughness output 26 and the outputs 22 from the estimator module 18 are provided to the selector module 20. The selector module 20 also receives the discrete terrain indicators 17 directly from various sensors on the vehicle, including the transfer box status signal (whether the gear ratio is set to a HI range or a LO range), the DSC status signal, cruise control status (whether the vehicle's cruise control system 1 1 is ON or OFF), and trailer connect status (whether or not a trailer is connected to the vehicle). Terrain indicator signals indicative of ambient temperature and atmospheric pressure are also provided to the selector module 20.

The selector module 20 is provided with a probability algorithm 20a for calculating the most suitable control mode for the vehicle subsystems based on the discrete terrain indicator signals 17 received directly from the sensors and the continuous terrain indicators 22, 26 calculated by the estimator module 18 and the road surface roughness module 24, respectively. That is, the probability algorithm 20a calculates the most suitable system control mode, which determines the respective subsystem configuration mode in which each subsystem is to be operated, based on the discrete terrain indicator signals 17.

The control modes typically include a grass/gravel/snow control mode (GGS mode) that is suitable for when the vehicle is travelling in grass, gravel or snow terrain, a mud/ruts control mode (MR mode) which is suitable for when the vehicle is travelling in mud and ruts terrain, a rock crawl/boulder mode (RB mode) which is suitable for when the vehicle is travelling in rock or boulder terrain, a sand mode which is suitable for when the vehicle is travelling in sand terrain (or deep soft snow) and a special programs OFF mode (SP OFF mode or SPO mode) which is a suitable compromise mode, or general mode, for all terrain conditions and especially vehicle travel on motorways and regular roadways. Many other control modes are also envisaged, including those disclosed in US2003/0200016, the content of which is hereby incorporated by reference.

The different terrain types are grouped according to the friction of the terrain and the roughness of the terrain. For example, it is appropriate to group grass, gravel and snow together as terrains that provide a low friction, smooth surface and it is appropriate to group rock and boulder terrains together as high friction, very high roughness terrains.

FIG. 3 is a table taken from US2003/0200016 showing the particular sub-system configuration modes assumed by the subsystems 12 of the vehicle 100 in the respective different operating modes in which the VCU 10 may operate.

The operating modes are:

(a) A motorway (or highway) mode;

(b) A country road mode;

(c) A city driving (urban) mode;

(d) A towing (on-road) mode;

(e) A dirt track mode;

(f) A snow/ice (on-road) mode;

(g) A GGS mode;

(h) A sand mode;

(i) A rock crawl or boulder crossing mode; and

(j) A mud/ruts mode With reference to FIG. 3, the configuration of the suspension system 12e is specified in terms of ride height (high, standard or low) and side/side air interconnection. The suspension system 12e is a fluid suspension system, in the present embodiment an air suspension system, allowing fluid interconnection between suspensions for wheels on opposite sides of the vehicle in the manner described in US2003/0200016. The plurality of subsystem configuration modes provide different levels of said interconnection, in the present case no interconnection (interconnection closed) and at least partial interconnection (interconnection open).

The configuration of the ePAS steering unit 12c may be adjusted to provide different levels of steering assistance, wherein steering wheel 181 is easier to turn the greater the amount of steering assistance. The amount of assistance may be proportion to vehicle speed in some operating modes.

The brakes system 12d may be arranged to provide relatively high brake force for a given amount of pressure applied to the brake pedal 1 63 or a relatively low brake force, depending on the operating mode.

The brakes system 12d may also be arranged to allow different levels of wheel when an anti-lock braking system is active, (relatively low amounts on low friction ("low-mu" surfaces) and relatively large amounts on high friction surfaces).

An electronic traction control (ETC) system may be operated in a high mu or low mu configuration, the system tolerating greater wheel slip in the low mu configuration before intervening in vehicle control compared with a high mu configuration.

A dynamic stability control system (DSC) may also be operated in a high mu or low mu configuration.

The engine management system 12a may be operated in 'quick' or 'slow' accelerator (or throttle) pedal progression configuration modes in which an increase in engine torque as a function of accelerator pedal progression is relatively quick or slow, respectively. The rate may be dependent on speed in one or more modes such as Sand mode.

The PTU 137 may be operated in a high range (HI) subsystem configuration mode or low range (LO) subsystem configuration mode as described herein.

The transmission 124 may be operated in a "normal" mode that provides a reasonable compromise between fuel economy and driving performance, a "performance" mode which generally keeps the transmission in lower gears than in the normal mode, particularly when the driver is requesting a high level of driving torque to accelerate the vehicle, and a "manual" mode in which the control of gear changes is given completely to the driver. There is also a "snow" or "ice" mode which generally keeps the transmission in higher gears than the normal mode, in particular under acceleration from rest, to avoid loss of traction due to wheel spin, and a "sand" mode which keeps the transmission in relatively high gears at low speed to avoid excessive wheel spin. Excessive wheel spin can result in the wheels digging themselves into the sand at low speeds. However, the sand mode uses relatively low gears at higher speeds where a relatively high degree of wheel slip can be desirable to provide maximum traction. Lower gearing also helps the engine 121 to remain in an operating region where the engine speed is high and the power output is high, thereby helping to avoid the vehicle 100 becoming "bogged down" by a lack of power.

In some embodiments, a centre differential and a rear differential each include a clutch pack and are controllable to vary the degree of locking between a "fully open" and a "fully locked" state. The actual degree of locking at any one time may be controlled on the basis of a number of factors in a known manner, but the control can be adjusted so that the differentials are "more open" or "more locked". Specifically the pre-load on the clutch pack can be varied which in turn controls the locking torque, i.e. the torque across the differential that will cause the clutch, and hence the differential, to slip. A front differential could also be controlled in the same or similar way. For each subsystem control mode, the algorithm 20a within the selector module 20 performs a probability calculation, based on the terrain indicators, to determine a probability that each of the different control modes is appropriate. The selector module 20 includes a tuneable data map which relates the continuous terrain indicators 22, 26 (e.g. vehicle speed, road roughness, steering angle) to a probability that a particular control mode is appropriate. Each probability value typically takes a value of between 0 and 1 . So, for example, the vehicle speed calculation may return a probability of 0.7 for the RB mode if the vehicle speed is relatively slow, whereas if the vehicle speed is relatively high the probability for the RB mode will be much lower (e.g. 0.2). This is because it is much less likely that a high vehicle speed is indicative that the vehicle is travelling over a rock or boulder terrain.

In addition, for each subsystem control mode, each of the discrete terrain indicators 17 (e.g. trailer connection status ON/OFF, cruise control status ON/OFF) is also used to calculate an associated probability for each of the control modes, GGS, RB, Sand, MR or SP OFF. So, for example, if cruise control is switched on by the driver of the vehicle, the probability that the SP OFF mode is appropriate is relatively high, whereas the probability that the MR control mode is appropriate will be lower.

For each of the different sub system control modes, a combined probability value, Pb, is calculated based on the individual probabilities for that control mode, as described above, as derived from each of the continuous or discrete terrain indicators 17, 22, 26. In the following equation, for each control mode the individual probability as determined for each terrain indicator is represented by a, b, c, d...n. The combined probability value, Pb, for each control mode is then calculated as follows:

Pb = (a.b.c.d....n) / ((a.b.c.d...n) + (1 -a). (1 -b). (1 -c). (1 -d)....(1 -n))

Any number of individual probabilities may be input to the probability algorithm 20a and any one probability value input to the probability algorithm may itself be the output of a combinational probability function.

Once the combined probability value for each control mode has been calculated, the subsystem control program corresponding to the control mode with the highest probability is selected within the selector module 20 and an output signal 30 providing an indication of this is provided to the subsystem control module 14. The benefit of using a combined probability function based on multiple terrain indicators is that certain indicators may make a control mode (e.g. GGS or MR) more or less likely when combined together, compared with basing the selection on just a single terrain indicator alone. A further control signal 31 from the selector module 20 is provided to a control module 34.

In phase (2), an integration process is implemented continually within the selector module 20 to determine whether it is necessary to change from the current control mode to one of the alternative control modes.

The first step of the integration process is to determine whether there is a positive difference between the combined probability value for each of the alternative control modes compared with the combined probability value for the current control mode.

By way of example, assume the current control mode is GGS with a combined probability value of 0.5. If a combined probability value for the sand control mode is 0.7, a positive difference is calculated between the two probabilities (i.e. a positive difference value of 0.2). The positive difference value is integrated with respect to time. If the difference remains positive and the integrated value reaches a predetermined change threshold (referred to as the change threshold), or one of a plurality of predetermined change thresholds, the selector module 20 determines that the current terrain control mode (for GGS) is to be updated to a new, alternative control mode (in this example, the sand control mode). A control output signal 30 is then output from the selector module 20 to the subsystem control module 14 to initiate the sand control mode for the vehicle subsystems. I n phase (3), the probability d ifference is monitored and if, at any point d uring the integration process, the probability difference changes from a positive value to a negative value, the integration process is cancelled and reset to zero. Similarly, if the integrated value for one of the other alternative control modes (i.e. other than sand), reaches the predetermined change threshold before the probability result for the sand control mode, the integration process for the sand control mode is cancelled and reset to zero and the other alternative control mode, with a higher probability difference, is selected.

HDC INTERACTION

As described above, the vehicle 100 has an HMI module 32 comprising a user operable switchpack 170 shown schematically in FIG. 4. The switchpack 170 allows a user to toggle the VCU 10 between the automatic and manual conditions of operation.

The switchpack 170 has a frame 170F supporting switchgear associated with the switchpack 170. The switchpack 170 has a rotary knob 172 connected to a multistable rotary switch (not shown). The knob 172 may be moved between an exposed or deployed position as shown in FIG. 4 and a retracted position as shown in FIG. 5. In the exposed position the knob 172 stands proud of a panel 172P which surrounds the knob 172. Icons 172a-e are marked in the panel at circumferentially spaced apart locations around the knob 172 over an arc of around 140° in the embodiment shown although other angles and other numbers of modes are also useful. The icons 172a-e may be illuminated selectively in order to indicate the identity of the control mode in which the subsystems 12 are being operated.

Other switches 171 a, b are also provided in a remaining portion of the panel 172P allowing a driver to activate a hill descent control (HDC) function, via switch 171 a, and select a required gear ratio of the PTU 137 ('high' or 'low'), via switch 171 b. Further switches 171 c of the switchpack enable the SCS system of the vehicle to be activated or deactivated, a ride height to be adjusted (buttons 171 c'), an 'eco' mode (arranged to enhance fuel economy) to be selected and an automatic speed limiter (ASL) function to be selected.

The rotary knob 172 has a substantially cylindrical column portion 174 with its cylinder axis oriented substantially vertically. The knob 172 has an upper panel 175 bearing the word 'AUTO'. When the knob 172 is in the retracted position an indicator lamp 175L of the panel 175 illuminates, indicating that the VCU 10 has assumed the automatic condition in which the VCU 10 selects automatically an appropriate subsystem control mode.

When the knob 172 is in the exposed position the indicator lamp 175L is extinguished, indicating that the VCU 10 has assumed the manual condition. The knob 172 is moved between the exposed and retracted positions by means of a spring mechanism triggered by pressing on the panel 175. Other arrangements are also useful such as an electrical actuator. In some embodiments a switch is integrated into the knob 172 such that pressing on the panel 175 alone actuates the switch to switch between the automatic and manual conditions. In some embodiments the switch is positioned such that sufficient axial pressure applied to substantially any exposed portion of the knob 172 including rim 172R results in actuation of the switch. The knob 172 may be configured to exercise a relatively small axial translation when the switch is actuated, providing tactile feedback to the user, followed by a relatively large axial translation as the knob 172 moves between the exposed and retracted positions or vice versa. The knob 172 is configured such that the rim 172R may be grasped by the user and rotated about a cylinder axis of the column portion 174. The switchpack 170 is arranged such that the VCU 10 may determine in which direction the user turns the rim 172R based on a signal output by the switchpack 170. In an example rim 172R is provided with a knurled peripheral surface arranged to facilitate the user grasping the knob 172 with their fingers.

Rotation of the rim 172R is indexed in discrete angular increments of around 10-20° by means of a detent mechanism. This allows tactile feedback to be provided to a user confirming when the knob 172 has been rotated through one of the discrete angular increments. Other angles and other arrangements are also useful. The rim 172R may be rotated by any number of turns in either direction without constraint by the switchpack 170. In some embodiments, when the VCU 10 is in the manual condition, rotation of the rim 172R by two increments in a clockwise (or anticlockwise) direction causes the VCU 10 to assume the mode corresponding to the icon 172a-e that is located adjacent the icon corresponding to the currently selected mode in a clockwise (or anticlockwise) direction. If no such icon exists then the VCU 10 takes no action and the currently selected mode remains selected. If the user rotates the knob 172R by only a single increment in a given direction, with no further increment in that direction within a prescribed time period (such as 1 s or any other suitable period), no change in control mode takes place. This feature reduces a risk that a user unintentionally changes the selected mode. It is to be understood that any prescribed number of turns by the incremental amount may be required in order to enable a mode change to take place. Furthermore, any prescribed time period may be set within which the prescribed number of turns by the incremental amount (or in addition, or instead any two consecutive incremental amounts) are to take place. In some embodiments, a user is required to rotate the rim 172R by only a single incremental amount in order to signal a requirement to change mode.

In some embodiments, in addition to or instead of rotating the rim 172R of the knob 172 in order to change control mode when the VCU 10 is in the manual condition, the knob 172 may be configured such that mode changes may be effected by rotation of column 174. In some embodiments the rim 1 72 R may be rotatable wh ilst the colu mn 1 74 remains stationary, whilst in some alternative embodiments the rim 172R and column 174 may be arranged to rotate together. They may for example be fixedly coupled or integrally formed in some embodiments.

In some embodiments, the VCU 10 may be configured to allow manual selection of a given control mode following user selection of that mode only once it has determined that the user has finished rotating the rim 172R. The VCU 10 may wait a prescribed period of time after the last incremental rotation has been detected, for example up to around 2s, before allowing a mode change to take place. In some embodiments the VCU 10 may be arranged to effect a mode change a predetermined time after it has been determined that the user has released their grip from the knob 172.

In some embodiments the VCU 10 may be arranged to verify that one or more prescribed vehicle settings or parameters are appropriate to the mode the user wishes to select before allowing a mode change. For example, the VCU 10 may check one or more selected from amongst selected PTU gear ratio, selected ride height and/or one more other settings. If the settings are not appropriate to the mode the user wishes to select, the VCU 10 may be configured to remain in the current control mode until the settings are determined to be appropriate. In the meantime the VCU 10 may cause the icon of the currently selected mode to remain illuminated. The icon corresponding to that of the mode the user wishes the VCU 10 to assume may be arranged to illuminate intermittently in some embodiments, e.g. by flashing. The user may be informed of the one or more deficiencies in settings identified by the VCU 10. If they are not remedied within a prescribed period of time, or in some embodiments if an attempt to remedy them is not commenced within a prescribed period, the VCU 10 may be configured to operate as if the user had not sought to change mode. That is, information in respect of deficiencies is not displayed any longer, and flashing of the icon corresponding to the proposed mode is terminated.

It is to be understood that when a user activates the automatic condition of the VCU 10 the VCU 10 controls the vehicle subsystems to operate in the most appropriate control mode as determined by the VCU 10. The rotary knob 172 assumes the retracted position and any rotation of the rim 172R by a user does not cause a change in the selected control mode. Rather, it is ignored by the VCU 10.

If whilst the VCU 10 is in the automatic condition the manual condition is activated, the VCU 10 controls the vehicle subsystems automatically to assume the SPO mode, being the mode intended to provide the best compromise in vehicle subsystem adjustment/set-up for normal road and light off-road use. The knob 172 also assumes the exposed position. Icon 172a, which corresponds to the SPO mode, is illuminated. If a user wishes to select a mode other than the SPO mode, he or she may grasp the rim 172R and rotate the rim 172R in a clockwise direction to select the appropriate mode. If the rim 172R is rotated by two indexed angular increments and the user waits for 2s, the VCU 10 assumes the GGS mode. Icon 172a is no longer illuminated and icon 172b becomes illuminated. If the rim 172R is rotated by two further angular increments, the vehicle will assume MR mode, icon 172b will no longer be illuminated and icon 172c will be illuminated instead, and so forth. As noted above, the number of angular increments may be any suitable number such as 1 , 3 or any other suitable number. Any other suitable user wait period may also be employed. Thus it is to be understood that the angular position of the rim 172R when the automatic condition was last selected is irrelevant to the determination of the control mode the VCU 10 will assume when the manual condition is subsequently selected. Regardless of the control mode that was selected when the knob 172 was last retracted, when the knob 172 is subsequently exposed VCU 10 selects the SPO control mode. Because the rim 172R is freely rotatable without constraint (due to the absence of features constraining rotation such as an end stop to prevent further rotation in a given direction) the actual (absolute) angular position of the rim 172R is irrelevant. It is to be understood that if this feature were not employed and the rim 172R were required to be in a prescribed absolute rotational position in order to select SPO mode, additional (automatic) actuation of the rim 172R by the switchpack 170 would be required when transitioning from the automatic to manual conditions of the VCU 10. For example, if the rim 172R had been set to select RB mode prior to the user selecting the automatic condition of the VCU 10, the switchpack 170 would be required to rotate the rim 172R from the position corresponding to the RB mode to that corresponding to the SPO mode when manual mode were subsequently selected. Additional, potentially complicated failsafe countermeasures would be required.

It is to be understood that in some alternative embodiments, when the automatic condition is deselected and the manual condition is assumed, the VCU 10 may be arranged to remain in the driving mode that was selected automatically by the VCU 10 when in the automatic condition until the user selects a different driving mode by rotation of the rim 172R. Thus, when the manual condition is selected, the icon 172a-e corresponding to the currently (automatically) selected driving mode remains illuminated. If the VCU 10 is configured such that none of icons 172a-e are illuminated when the VCU 10 is in the automatic condition then the icon corresponding to the currently selected driving mode is illuminated when the manual condition is assumed.

It is to be understood that other arrangements are also useful.

It is to be understood that when the VCU 10 is operating in the manual condition, the HDC function may be selected by means of switch 171 a. When active, the HDC function limits a rate of progress (i.e. a speed) of the vehicle 100 over ground to a prescribed value by application of a foundation braking system of the vehicle 100. In the vehicle 100 of FIG.1 the foundation braking system is provided by a friction braking system. In some embodiments the foundation braking system may be provided by a regenerative braking system in addition or instead. HDC functionality is described in UK patents GB2325716, GB2308415, GB2341430, GB2382158 and GB2381597. It is to be understood that if the vehicle is descending a slope, a user may activate the HDC function by pressing switch 1 71 a. The VCU 10 then assumes control of the foundation braking system and limits the speed at which the vehicle 100 may descend the slope to a user-prescribed value. If the vehicle speed drops below the user-prescribed value the user may increase the speed by pressing the accelerator pedal 1 61 . If the user wishes to decrease speed below the prescribed value temporarily, for example if the user wishes to stop the vehicle, the user may press the brake pedal 163 to activate the foundation braking system in the expected manner. The VCU 10 is configured wherein if the VCU 10 is operating in the automatic mode and the user selects the HDC function, the VCU 10 activates the HDC function but suspends any further automatic changes in selected sub-system control mode. That is, the VCU 10 remains in the presently selected control mode when the HDC function is selected. If the VCU 10 is operating in the automatic condition, the VCU 10 may be operable to automatically initialise HDC in a standby mode, such that its function may be armed and waiting to intervene where required. If HDC intervenes whilst the vehicle is travelling with VCU 10 operating in the automatic condition, a control mode change will not be made during the period for which the HDC function is operating and intervening to maintain composed vehicle progress,

In some embodiments the VCU 10 also suspends determination of the most appropriate control mode for the terrain over which the vehicle 100 is travelling until the HDC function is deselected. This feature may reduce a computational burden placed on the VCU 10 whilst the HDC function is active in some embodiments.

In some alternative embodiments the VCU 10 continues to determine the most appropriate control mode for the terrain over which the vehicle 100 is travelling even whilst the HDC function is active. It is to be understood that the reliability of certain terrain indicators used in determining the terrain over which the vehicle 100 is moving may be reduced during HDC intervention. That is, HDC intervention may give rise to an erroneous determination of the type of terrain over which the vehicle is moving and therefore of the most appropriate control mode. Thus the VCU 10 may wait for a prescribed number of wheel rotations to take place, for a prescribed distance to be travelled or for a prescribed time period to elapse once the HDC intervention has ceased before allowing automatic control mode changes to take place. In some embodiments the VCU 10 may wait for a prescribed time period to elapse or for a prescribed number of wheel rotations to take place or for a prescribed distance to be travelled over terrain having a gradient below a prescribed value before allowing a change in mode to take place automatically.

In some embodiments, when the HDC intervention has ceased, the VCU 10 is arranged to remain in the selected control mode and delay automatic changing of control mode for a prescribed period of time, optionally a prescribed period of from around 5s to around 2 mins before allowing a change in control mode to be made automatically whilst the VCU 10 is in the automatic condition. Other values are also useful.

In some embodiments when the HDC function is deactivated the VCU 10 is arranged to remain in the selected control mode for a prescribed distance of travel, optionally a distance of from around 2m to around 200m before allowing a change in control mode to be made automatically whilst the VCU 10 is in the automatic condition.

This delay (in distance or time) has the advantage that when the VCU 10 returns to automated control mode following cessation of HDC intervention, the vehicle response to the user pressing of the brake and/or accelerator pedals 163, 161 will be in line with that anticipated and expected by the user, and consistent with that experienced by the driver prior to HDC intervention.

In some embodiments, when the VCU 10 activates the HDC function an HDC-specific relationship between accelerator pedal position and torque developed by the powertrain is implemented by the VCU 10. Similarly a predetermined relationship between brake pedal pressure and brake torque applied by means of the foundation braking system is established. These values may be independent of the control mode in which the VCU 10 is operating. I n some alternative embodiments, the form of the response of the powertrain 129 and braking system to accelerator and brake pedal inputs respectively is dependent on the selected control mode and corresponds to that implemented when the VCU 10 is in that control mode and the HDC function is not active. Thus it is to be understood that in such embodiments, the fact that changes in control mode are suspended when the HDC function is active have the advantage that a response of the vehicle to accelerator and brake pedal inputs does not change whilst the HDC function is active, i.e. because the selected control mode is not changed. This reduces a risk that a driver is inconvenienced by a change in vehicle response to accelerator and/or brake pedal control inputs when performing a hill descent operation. Embodiments of the present invention have the advantage that vehicle composure may be preserved and in some embodiments or situations composure may be enhanced. Some embodiments have the advantage that user confidence in vehicle operation performance and expected response may be enhanced. Automatic terrain recognition and control mode selection may be made with confidence.

CRUISE CONTROL INTERACTION

In the embodiment shown in the accompanying drawings, a vehicle cruise control function implemented by the cruise control system 1 1 may be selected and activated by means of the cruise control selector 181 C mounted to the steering wheel 181 of the vehicle 100. In the embodiment of FIG. 1 the VCU 10 is configured to allow the cruise control system 1 1 to be activated whether the VCU 10 is operating in the manual or automatic conditions, provided prescribed criteria are met. In some embodiments the VCU 10 is configured to implement the cruise control function rather than a separate control system 1 1 . The cruise control system 1 1 may optionally only operate provided the vehicle speed is in a prescribed cruise speed range. In the present embodiment the prescribed cruise speed range is the range from 30km/h to 150km/h, although other speed ranges are also useful.

When operating in the manual condition in which a user may select manually a required driving mode the VCU 10 is arranged to allow the cruise control function to be activated provided the PTU 137 is operating in the high ratio range and a speed of the vehicle 100 is within the prescribed cruise speed range.

It is to be understood that in some embodiments the VCU 10 is configured to allow selection of a prescribed one or more driving modes only when the PTU is operating in the low ratio range, i.e. certain driving modes are not available when the PTU is operating in the high ratio range. Accordingly, such modes are not compatible with operation of the cruise control system 1 1 .

In the present embodiment, when operating in the manual condition the VCU 10 is operable to allow the cruise control system 1 1 to be activated and deactivated by means of user control 181 C provided the PTU 137 is set to the high gear ratio and the user has selected one of a subset of operating modes referred to as the manual/cruise subset of operating modes. In the present embodiment the manual/cruise subset of operating modes consists of the SPO mode and GGS mode. Thus, the cruise control system 1 1 can only enter an operational state provided the mode selector rotary knob 172 is set to the SPO or GGS modes. If the VCU 10 is operating in the manual condition in a mode other than the SPO or GGS modes, activation of the cruise control system 1 1 in an operational state is not permitted.

Other arrangements are also useful. In some embodiments when in the manual condition (and in some embodiments the automatic condition) the VCU 10 may be operable to allow the cruise control system 1 1 to be activated only if the user has selected the SPO mode.

In the present embodiment, if the VCU 10 is operating in the manual condition with the cruise control system 1 1 already active, the VCU 10 only permits a user to select one of the manual/cruise subset of operating modes, i.e. the SPO or GGS modes. If a user sets the mode selector knob 172 to a mode other than SPO or GGS, the VCU 10 ignores the selection and continues in the instant operating mode in which the VCU 10 is operating. Under these conditions the cruise control system 1 1 remains active and a message is provided to the user to inform them why the desired operating mode cannot be assumed. If the cruise control system 1 1 is inactive, a user is permitted to select any operating mode provided the mode is allowed by the currently selected PTU gear ratio.

When operating in the automatic condition the PTU 10 is operable to allow the cruise control function to be activated provided the PTU 137 is set to the high gear ratio and the VCU 10 has selected automatically one of a subset of allowable operating modes referred to as the auto/cruise subset of operating modes. In the present embodiment the auto/cruise subset of operating modes also consists of the SPO mode and GGS mode.

As noted above, if the VCU 10 is operating in the automatic condition, the VCU 10 only permits the cruise control system 1 1 to be activated if the VCU 10 has selected operation in the SPO or GGS operating modes. In the present embodiment, if a user attempts to activate the cruise control system 1 1 by depressing the cruise control selector 181 C and the VCU 10 has not automatically selected the SPO or GGS operating modes, the VCU 10 selects the most appropriate operating mode from the auto/cruise subset of operation modes, i.e. the most appropriate one of the SPO and GGS operating modes for the current operating conditions. The VCU 10 selects the mode having the largest combined probability value for being the most appropriate mode, as described above. The VCU 10 then assumes this mode, and causes the cruise control system 1 1 to become active. That is, the cruise control system 1 1 may be placed in a standby state if SPO or GGS is not selected. After the VCU 10 changes the operational mode of the vehicle from its current operational mode to the most appropriate of the SPO and GGS operational modes, the cruise control system 1 1 changes from a standby state to an operational state, wherein it assumes control of the progress of the vehicle 100.

It is to be understood that in some alternative embodiments, instead of selecting an operating mode that permits activation of the cruise control system 1 1 when a user seeks to activate the cruise control system 1 1 , the VCU 10 may ignore the request to activate the cruise control system 1 1 , and continue operating in the most appropriate operating mode as determined by the VCU 10 as described above. If whilst the cruise control system 1 1 is active and the vehicle is operating in the manual condition the user selects the automatic condition, the VCU 10 selects the most appropriate operating mode selected from amongst the auto/cruise subset of operating modes. That is, the VCU 10 selects the most appropriate operating mode selected from amongst the SPO and GGS operating modes. If the VCU 10 is not already operating in this mode, the VCU 10 assumes this operating mode and allows the cruise control system 1 1 to become active.

If whilst operating in the automatic condition with the cruise control system 1 1 active a user selects the manual condition and a mode of operation other than SPO or GGS, the VCU 10 is configured to maintain the cruise control system 1 1 in the active condition and remain in the automatic condition. A notification is then provided to a user indicating why the manual condition has not been assumed. In some alternative embodiments, the VCU 10 may cause operation of the cruise control system 1 1 to be cancelled and allow assumption of the manual condition and the selected operating mode. If whilst operating in the automatic condition with the cruise control system 1 1 active a user selects the manual condition and a mode of operation that is allowable with the cruise control system 1 1 active, i.e. the SPO or GGS modes in the present embodiment, the VCU 10 is configured to maintain the cruise control system 1 1 in the active condition. The VCU 10 assumes the manual condition and selects the SPO or GGS mode according to the state of the mode selector knob 172. FIG. 6 illustrates a method of operation of the vehicle 100 of FIG. 1 .

At step S101 the vehicle 100 is operating with the cruise control system 1 1 active and the VCU 10 in the manual condition.

At step S103 the VCU 10 checks whether a user has selected the automatic condition via selector knob 172 as described above with respect to FIG. 4 and FIG. 5. If a user has not selected the automatic condition the VCU 10 continues at step S101 . If a user has selected the automatic condition, then at step S105 the VCU 10 selects the most appropriate operating mode from the auto/cruise subset of permitted operating modes, i.e. from the SPO and GGS operating modes in the present embodiment.

At step S107 the VCU 10 operates in the automatic condition with the most appropriate operating mode selected from the auto/cruise subset of permitted operating modes.

At step S109 the VCU 10 continues to limit the allowable operating modes to the modes of the auto/cruise subset of modes. At step S 1 1 1 the VCU 1 0 checks whether the cru ise control system 1 1 has been deselected by a user.

If at step S1 1 1 the VCU 10 determines that the cruise control system 1 1 has been deselected, the VCU 10 continues at step S1 13.

At step S1 13 the VCU 10 commands the cruise control system 1 1 to become inactive and continues operating in the automatic condition. That is, the VCU 10 continues selecting the most appropriate operating mode from the currently permitted operating modes. In the present embodiment, if at step S1 1 1 the cruise control system 1 1 becomes inactive automatically, for example due to a user depressing the brake pedal 163, or the occurrence of a traction control or stability control event, the VCU 10 continues selecting the most appropriate operating mode from the currently permitted operating modes. If at step S1 1 1 the VCU 10 determines that the cruise control system 1 1 has not been deselected, the VCU 10 continues at step S1 15. At step S1 15 the VCU 10 determines whether the manual condition has been selected by a user. If the manual condition has not been selected the user the VCU 10 continues at step S103. If the manual condition has been selected, the VCU 10 continues at step S1 17.

At step S1 17 the VCU 10 determines whether the user has selected a mode from the manual/cruise subset of operating modes. If the user has selected one of those modes, the VCU 10 continues at step S1 19. At step S1 19 the VCU 10 assumes the manual condition and the particular operating mode selected by the user by means of the rotary knob 172. The VCU 10 then continues at step S103.

If at step S1 17 the VCU 10 determines that the user has selected an operating mode that is not one of the manual/cruise subset of operating modes, the VCU 1 0 continues at step S121 . At step S121 the VCU 10 remains in the automatic condition and the cruise control system 1 1 remains active. A notification is provided to the user that the requested operating mode cannot be assumed. The VCU 10 then continues at step S105. Embodiments of the present invention have the advantage that selection and deselection of manual and automatic operating conditions of a vehicle control system and operation of a cruise control system may be managed automatically in order to improve user enjoyment of a vehicle 100. A workload on user may be reduced in some embodiments, reducing user fatigue.

Embodiments of the present invention may be understood by reference to the following numbered paragraphs:

1 . A control system for a motor vehicle, the system being operable in an automatic mode selection condition in which the system is operable to select automatically an appropriate system operating mode from a plurality of operating modes whereby the system assumes operation in said system operating mode,

the system being further operable to activate an automatic progress control function in which a speed of the vehicle over terrain is controlled automatically by the system, wherein when the system is in the automatic mode selection condition the system is operable to allow the automatic progress control function to be activated only when the system is operating in one of a subset of one or more system operating modes. 2. A system according to paragraph 1 wherein the system being operable to allow the automatic progress control function to be activated only when the system is operating in one of a subset of one or more system operating modes comprises

the system preventing the automatic progress control function from assuming an active state, in which the speed of the vehicle is controlled automatically by the system, unless the system is operating in an operating mode selected from said subset of one or more system operating modes.

3. A system according to paragraph 1 or paragraph 2 wherein if the system is operating in the automatic mode selection condition and the automatic progress control function is subsequently requested, the system is configured automatically to select an appropriate operating mode from the subset of one or more system operating modes and to operate in that mode.

4 A system according to paragraph 3 wherein the subset of one or more system operating modes comprises two or more system operating modes, wherein if the system is operating in the automatic mode selection condition and the automatic progress control function is subsequently requested, the system is configured automatically to select the most appropriate operating mode from the subset of two or more system operating modes and to assume operation in that mode.

5. A system according to any preceding paragraph wherein if the system is operating with the automatic progress control system active and the automatic mode selection condition is assumed, the system is arranged to select a system operating mode from the subset of one or more system operating modes and to assume operation in that mode.

6. A system according to any preceding paragraph further operable in a manual operating mode selection condition in which a user may select a required system operating mode by means of user-operable mode selection input device. 7. A system according to any preceding paragraph wherein the automatic progress control function is an on-highway cruise control system operable to control the vehicle to maintain a substantially constant speed by application of positive drive torque. 8. A system according to paragraph 7 wherein the cruise control system is operable to suspend or cancel operation of the cruise control system upon detection of wheel slip exceeding a prescribed amount.

9. A system according to paragraph 7 or paragraph 8 wherein the cruise control system is operable to suspend or cancel operation of the cruise control system upon detection of intervention by a stability control system to reduce vehicle instability or a traction control system to improve traction.

10. A system according to any preceding paragraph operable to activate the automatic progress control function in an operative state in response to a user command to activate the automatic progress control function when the system is operating in one of the subset of one or more system operating modes.

1 1 . A system according to any preceding paragraph operable to place the automatic progress control function in a standby state in response to a user command to activate the automatic progress control function when the system is not operating in one of the subset of one or more system operating modes.

12. A system according to paragraph 1 1 operable to change said automatic progress control function from said standby mode into an operative state in response to the operating mode being changed to one of the subset of one or more system operating modes.

13. A system according to any preceding paragraph wherein, if the operating mode in which the system is operating is not one of the subset of one or more system operating modes, the system is operable to change the operating mode to one of the subset of one or more system operating modes upon activation of the automatic progress control function so as to prevent automatic progress control function operating in an active state when said operating mode is not one of the subset of one or more system operating modes. 14. A control system according to any preceding paragraph wherein the operating modes are control modes of at least one subsystem of a vehicle, the system comprising a subsystem controller for initiating control of the or each of the vehicle subsystems in the selected one of the plurality of subsystem control modes, each of which corresponds to one or more different driving conditions for the vehicle.

15. A control system according to paragraph 14, the system comprising an evaluator for evaluating one or more driving condition indicators to determine the extent to which each of the subsystem control modes is appropriate.

16. A control system according to paragraph 15, wherein when in the automatic condition the system is operable automatically to control the subsystem controller to initiate control of the or each subsystem in the subsystem control mode which is most appropriate. 17. A control system according to any one of paragraphs 14 to 16 wherein the operating modes are 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. 18. A control system according to paragraph 17 wherein the operating modes are control modes of at least two vehicle subsystems selected from amongst an engine management system, a transmission system, a steering system, a brakes system and a suspension system. 19. A control system according to any one of paragraphs 14 to 18 wherein in each system operating mode the system is operable to cause each one of a plurality of vehicle subsystems to be operated in a subsystem configuration mode appropriate to the driving condition. 20. A control system according to paragraph 19 wherein the operating modes include control modes of a suspension system and the plurality of subsystem configuration modes comprise a plurality of ride heights.

21 . A control system according to any one of paragraphs 19 or 20 wherein the operating modes include control modes of a flu id suspension system in wh ich fl uid 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.

22. A control system according to any one of paragraphs 19 to 21 wherein the operating modes include 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.

23. A control system according to any one of paragraphs 19 to 22 wherein the operating modes include 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.

24. A control system according to any one of paragraphs 19 to 23 wherein the operating modes include 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.

25. A control system according to any one of paragraphs 19 to 24 wherein the operating modes include 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.

26. A control system according to any one of paragraphs 19 to 25 wherein the operating modes include 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.

27. A control system according to any one of paragraphs 19 to 26 wherein the operating modes include 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.

28. A control system according to any one of paragraphs 19 to 27 wherein the operating modes include control modes of a powertrain system which includes a powertrain controller and an accelerator or throttle pedal, the subsystem configuration modes providing different levels of responsiveness of the powertrain controller to movement of the accelerator or throttle pedal.

29. A control system according to any one of paragraphs 19 to 28 wherein the operating modes include control modes of a tra n sm i ssi o n syste m ope ra bl e i n a pl u ra l ity of transmission ratios and including a transmission controller (such as an electronic transmission controller) 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.

30. A vehicle comprising a system according to any preceding paragraph.

31 . A vehicle according to paragraph 30 wherein the vehicle is adapted for off-road driving.

32. A method of controlling a vehicle system to operate in an automatic mode selection condition implemented by a computing device, when the system is operating in the automatic mode selection condition the method comprising selecting automatically an appropriate system operating mode whereby the system assumes operation in the selected mode,

the method further comprising activating an automatic progress control function and controlling automatically a speed of the vehicle over terrain in response to activation of the automatic progress control function, and

whereby when the system is in the automatic mode selection condition the method comprises allowing the automatic progress control function to be activated only when the system is operating in one of a subset of one or more system operating modes.

33. A method according to paragraph 32 whereby allowing the automatic progress control function to be activated only when the system is operating in one of a subset of one or more system operating modes comprises preventing the automatic progress control function from assuming an active state, in which the speed of the vehicle is controlled automatically by the system, unless the system is operating in an operating mode selected from said subset of one or more system operating modes. 34. A method according to paragraph 32 or 33 whereby if a request to activate the automatic progress control function is received whilst the system is in the automatic mode selection condition and an operating mode that is not one of the subset of one or more operating modes, the method comprises causing the system to assume the most appropriate mode of the subset of one or more operating modes, and subsequently allowing the automatic progress control function to become active.

35. A method according to paragraph 34 whereby if a request to activate the automatic progress control function is received whilst the system is in the automatic mode selection condition, the automatic progress control function is caused to remain in or assume a standby condition.

36. A carrier medium carrying computer readable code for controlling a vehicle to carry out the method of any one of paragraphs 32 to 35.

Throughout the description and claims of this specification, the words "comprise" and "contain" and variations of the words, for example "comprising" and "comprises", means "including but not limited to", and is not intended to (and does not) exclude other moieties, additives, components, integers or steps.

Throughout the description and claims of this specification, the singular encompasses the plural unless the context otherwise requires. In particular, where the indefinite article is used, the specification is to be understood as contemplating plurality as well as singularity, unless the context requires otherwise.

Features, integers, characteristics, compounds, chemical moieties or groups described in conjunction with a particular aspect, embodiment or example of the invention are to be understood to be applicable to any other aspect, embodiment or example described herein unless incompatible therewith.