A platooning control apparatus that realizes platooning of a plurality of vehicles by causing an own vehicle to follow other vehicle. The platooning control apparatus includes a follow control unit that controls acceleration/deceleration of the own vehicle by using forward information of the own vehicle and other vehicle information obtained through vehicle-to-vehicle communication, a first acquisition unit that obtains first slope information indicating a gradient of a road surface on which a leading vehicle of the platooning is traveling, a determination unit that determines based on the first slope information whether or not to inhibit acceleration/deceleration control to be performed by the follow control unit when the leading vehicle is accelerating or decelerating, and a suppression control unit that inhibits the acceleration/deceleration control to be performed by the follow control unit when the acceleration/deceleration control is determined to be inhibited.

A platooning control apparatus that realizes platooning of a plurality of vehicles by causing an own vehicle to follow other vehicle. The platooning control apparatus includes a follow control unit that controls acceleration/deceleration of the own vehicle by using forward information of the own vehicle and other vehicle information obtained through vehicle-to-vehicle communication, a first acquisition unit that obtains first slope information indicating a gradient of a road surface on which a leading vehicle of the platooning is traveling, a determination unit that determines based on the first slope information whether or not to inhibit acceleration/deceleration control to be performed by the follow control unit when the leading vehicle is accelerating or decelerating, and a suppression control unit that inhibits the acceleration/deceleration control to be performed by the follow control unit when the acceleration/deceleration control is determined to be inhibited.

A method for determining running resistance of a vehicle includes receiving, by a controller, a rotation speed of a driving source of the vehicle and an inclination angle of a road on which the vehicle runs; determining a torque of the driving source according to the rotation speed of the driving source and determining the inclination angle of the road according to the torque of the driving source; determining whether the inclination angle exceeds the inclination angle of the road; determining that there is no object towed by the vehicle, and determining the running resistance of the vehicle based on the inclination angle according to the torque of the driving source, when the inclination angle is less than or equal to the inclination angle of the road; and controlling the driving source or a transmission of the vehicle based on the determined running resistance of the vehicle.

A method for determining running resistance of a vehicle includes receiving, by a controller, a rotation speed of a driving source of the vehicle and an inclination angle of a road on which the vehicle runs; determining a torque of the driving source according to the rotation speed of the driving source and determining the inclination angle of the road according to the torque of the driving source; determining whether the inclination angle exceeds the inclination angle of the road; determining that there is no object towed by the vehicle, and determining the running resistance of the vehicle based on the inclination angle according to the torque of the driving source, when the inclination angle is less than or equal to the inclination angle of the road; and controlling the driving source or a transmission of the vehicle based on the determined running resistance of the vehicle.

A control system for a construction machine includes a tilt sensor for detecting an inclination angle of the construction machine parked on a slope, a door latch device including a lock/unlock actuator configured to lock/unlock a door of the construction machine according to a door lock control signal and a door unlock control signal and a release actuator configured to release the door according to a door release control signal, and a smart key module configured to output the door unlock control signal and the door release control signal when the inclination angle of the construction machine is within a preset safe range in case that an unlocking event signal is detected while a smart key is recognized.

A control system for a construction machine includes a tilt sensor for detecting an inclination angle of the construction machine parked on a slope, a door latch device including a lock/unlock actuator configured to lock/unlock a door of the construction machine according to a door lock control signal and a door unlock control signal and a release actuator configured to release the door according to a door release control signal, and a smart key module configured to output the door unlock control signal and the door release control signal when the inclination angle of the construction machine is within a preset safe range in case that an unlocking event signal is detected while a smart key is recognized.

The driving force ECU calculates a restricted driving force for a driving force restricting control, by using a Proportional-Integral-Differential control formula which utilizes a difference between a target acceleration varied depending on a vehicle speed and an actual acceleration of the vehicle. The driving force ECU adjusts (changes) a proportion gain K1 of the Proportional-Integral-Differential control formula based on an inclination angle θ of a road in such a manner that a value of the proportion gain K1 used when the inclination inclination angle θ is relatively large is smaller than a value of the proportion gain K1 used when the inclination inclination angle θ is relatively small. The driving force ECU performs a driving force restricting control by selecting, as a target driving force used for the driving force restricting control, a pedal required driving force or the restricted driving force, whichever is smaller.

The driving force ECU calculates a restricted driving force for a driving force restricting control, by using a Proportional-Integral-Differential control formula which utilizes a difference between a target acceleration varied depending on a vehicle speed and an actual acceleration of the vehicle. The driving force ECU adjusts (changes) a proportion gain K1 of the Proportional-Integral-Differential control formula based on an inclination angle θ of a road in such a manner that a value of the proportion gain K1 used when the inclination inclination angle θ is relatively large is smaller than a value of the proportion gain K1 used when the inclination inclination angle θ is relatively small. The driving force ECU performs a driving force restricting control by selecting, as a target driving force used for the driving force restricting control, a pedal required driving force or the restricted driving force, whichever is smaller.

A crest detection system (10, 19, 185C) for a vehicle (100), the system comprising a processing means (10, 19) arranged to receive, from terrain data capture means (185C) arranged to capture data in respect of terrain ahead of the vehicle by means of one or more sensors, terrain information indicative of the topography of an area extending ahead of the vehicle (100), wherein the processing means (10, 19) is configured to, in dependence upon a predicted path of the vehicle (100) over said terrain extending ahead of the vehicle (100), determine that a crest exists in the predicted path in dependence at least in part on the detection of a discontinuity in terrain along the predicted path ahead of the vehicle (100) based on the terrain information, and information in respect of slope of terrain before the discontinuity.

A crest detection system (10, 19, 185C) for a vehicle (100), the system comprising a processing means (10, 19) arranged to receive, from terrain data capture means (185C) arranged to capture data in respect of terrain ahead of the vehicle by means of one or more sensors, terrain information indicative of the topography of an area extending ahead of the vehicle (100), wherein the processing means (10, 19) is configured to, in dependence upon a predicted path of the vehicle (100) over said terrain extending ahead of the vehicle (100), determine that a crest exists in the predicted path in dependence at least in part on the detection of a discontinuity in terrain along the predicted path ahead of the vehicle (100) based on the terrain information, and information in respect of slope of terrain before the discontinuity.