A vehicle speed control system is configured to automatically control the speed of the vehicle in dependence on an input set-speed. The system receives a user input of a target set-speed at which the vehicle is intended to travel. The system includes an input device to enable the user to incrementally increase and/or decrease the target set-speed upon each actuation of the input device by an incremental value. Torque is applied to at least one of the vehicle's wheels for propelling the vehicle at the vehicle control speed. The control system is configured to determine the incremental value in dependence upon at least one of: the instantaneous vehicle speed; the target set-speed; or the terrain over which the vehicle is travelling.

A method for an economical cruise control and an economical cruise control which demands from a vehicle engine system a reference speed v.sub.ref, which may differ from a chosen set speed v.sub.set. Adjustment of at least the set speed v.sub.set is allowed when the reference speed v.sub.ref differs from the set speed v.sub.set. The adjustment is based at least partly on input from a user of the economical cruise control. A user of the economical cruise control is thus provided with an increased feeling of control over the vehicle's speed.

Embodiments of the present invention provide a method of communicating to a user information in respect of a change in activation state of a vehicle speed control system from an inactive state to an active state, the method being implemented by means of a controller, the active state being a state in which the speed control system is operable to control vehicle speed in accordance with a target speed at least in part by causing application of positive powertrain drive torque, the inactive state being a state in which the speed control system does not cause application of positive powertrain drive torque, comprising: causing a transient increase in a speed of a motor of the powertrain prior to the speed control system controlling vehicle speed in accordance with a target speed in the active state.

Some embodiments of the present invention provide a system comprising: a first, controller operable to assume an off state or one of one or more on states, in a first on state the first controller being configured to generate a first controller powertrain signal in order to cause a powertrain to develop drive torque and cause a vehicle to operate in accordance with a target speed value, the system being configured to cause the first controller to assume the first on state in dependence at least in part on receipt of a first input signal indicative that the controller is required to assume the first on state and a second signal indicative that a driver is maintaining a driver-operated brake control device in a brake-applied condition, being a condition in which a braking system of a vehicle is caused to apply a brake to one or more wheels.

A cruise control system for a vehicle includes a controller configured to maintain a speed of the vehicle about a setpoint, and in response to predicted brake capacity falling below a threshold based on predicted brake fade, reduce the setpoint and downshift a transmission of the vehicle to increase negative torque to reduce brake fade. Also, a powertrain of a vehicle includes an engine, an automatic transmission coupled with the engine, and a controller. The controller is configured to maintain a speed of the vehicle about a setpoint, and in response to a predicted brake capacity falling below a threshold based on predicted brake fade, reduce the setpoint and downshift the transmission to increase a negative torque.

A cruise control apparatus is provided with: a controlling device configured to start a determination period, which is a period for determining whether or not to continue the intermittent operation mode, on condition that a change amount of the accelerator opening degree exceeds a predetermined change amount, during implementation of the intermittent operation mode, and configured to set an accelerator following period, which is a period for allowing the driver's accelerator operation to follow torque of the vehicle, after an end of the determination period, if it is determined that the intermittent operation mode is to be continued according to a change width of the accelerator opening degree obtained in the determination period.

Method for operating a longitudinal driver assistance system (13) of a motor vehicle (12) which is designed to regulate the speed of the motor vehicle (12) to a control speed, whereindepending on environment data describing the operating environment in which the motor vehicle (12) is currently operatedthe control speed can be changed from a desired speed (3) provided by a driver to a target speed (5) (which is provided for an upcoming operating environment (2) and/or can be determined from the environment data), wherein, when there is a change of the desired speed (3) to a new target speed (5) for an upcoming operating environment (2), for a predetermined time period and/or a predetermined distance in the upcoming operating environment (2), an intermediate speed (6) deviating from the target speed (5) in the direction of the current speed of the motor vehicle (12) is initially regulated to, which intermediate speed (6) is between the current speed of the motor vehicle (12) and the target speed (5), before the target speed (5) is regulated to after the time period expires or before the distance is traversed.

In one embodiment, speeds of an autonomous driving vehicle (ADV) are captured in response to a series of speed control commands issued at different points in time represented by a series of command cycles. For each of the command cycles, a first speed-changing rate is calculated based on a corresponding speed of the ADV and a second speed-changing rate is calculated based on the corresponding speed and a corresponding speed control command using a predetermined algorithm or function. A unit gain of speed control is determined using a cost function based on the first speed-changing rates and the second speed-changing rates, such that the cost representing a difference between the first speed-changing rates and the second speed-changing rates. The unit gain is then utilized to generate subsequent speed control commands for operating the ADV.

A method is provided for controlling an actual speed of a motor vehicle. The method comprising the steps of: based on a vehicle configuration of the present vehicle, setting a threshold speed for the vehicle; obtaining a set speed of the vehicle; comparing the set speed to the threshold speed; if the set speed is below the threshold speed; determining a desired reference speed of the vehicle between the set speed and the threshold speed; and adjusting the actual speed of the vehicle toward the reference speed.

A vehicle control device which can substantially eliminate or shorten a period when vehicle speed exceeds a lowered speed limit when a vehicle goes into a road where a speed limit lower than before then during running of the vehicle should be provided. A speed control decreases vehicle speed so that the vehicle speed approaches the next speed limit from a time point when it is judged that a position of the own-vehicle is at a predetermined position in front of a transition point which is a point where the next speed limit starts to be applied, in a case where a specified condition that the next speed limit is lower than the present speed limit is satisfied.