METHOD AND MODULE FOR CONTROLLING A VEHICLE'S SPEED BASED ON RULES AND/OR COSTS
First Claim
1. A method for controlling a speed of a vehicle based on at least one reference value, the method comprising:
- acquiring a set speed for the vehicle;
determining a horizon for an itinerary of the vehicle by reference to map data and location data, which horizon comprises one or more route segments, each route segment having at least one route characteristic;
performing, by a module comprising an automated processor, a number of simulation cycles sj, each simulation cycle comprising a number of simulation steps conducted at a predetermined rate, the simulation steps comprising;
making a first prediction of the speed of the vehicle according to a conventional cruise control when the set speed is imparted as the reference speed wherein the first prediction depends on the at least one route characteristic of said route segment;
comparing, as a first comparison, the first predicted speed with at least one of first lower and upper limit values and, wherein the first lower and upper limit values define an engine torque for use in an immediately following simulation cycle sj+1;
making a second prediction of the speed of the vehicle, wherein an engine torque is a value which depends on a result of said first comparison in the immediately preceding simulation cycle sj−
1;
comparing, as a second comparison, the second predicted speed of the vehicle with at least one of second lower and upper limit values, wherein the second lower and upper limit values delineate a speed range within which the speed of the vehicle is maintained;
determining the at least one reference value based on said second comparison and/or the second predicted vehicle speed in this simulation cycle sj; and
outputting to a control system of the vehicle said at least one reference value, and regulating a speed of the vehicle accordingly.
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Accused Products
Abstract
A method for controlling a vehicle'"'"'s speed, including: acquiring a set speed; determining, using using map and location data, a horizon made of route segments, each with a route characteristic; performing simulation cycles, each including: predicting the speed according to a conventional cruise control, which first prediction depends on the route characteristic; comparing the first predicted speed with lower and upper limit values, which define an engine torque for use in the next simulation cycle; making a second prediction of the speed when the engine torque depends on the comparison in the immediately preceding simulation cycle; comparing, as a second comparison, the second predicted speed with second lower and upper limit values, which delineate a speed range within which the speed is maintained; determining, based on the second comparison and/or the second predicted speed in this simulation cycle, a reference value for use by a vehicle control system.
40 Citations
43 Claims
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1. A method for controlling a speed of a vehicle based on at least one reference value, the method comprising:
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acquiring a set speed for the vehicle; determining a horizon for an itinerary of the vehicle by reference to map data and location data, which horizon comprises one or more route segments, each route segment having at least one route characteristic; performing, by a module comprising an automated processor, a number of simulation cycles sj, each simulation cycle comprising a number of simulation steps conducted at a predetermined rate, the simulation steps comprising; making a first prediction of the speed of the vehicle according to a conventional cruise control when the set speed is imparted as the reference speed wherein the first prediction depends on the at least one route characteristic of said route segment; comparing, as a first comparison, the first predicted speed with at least one of first lower and upper limit values and, wherein the first lower and upper limit values define an engine torque for use in an immediately following simulation cycle sj+1; making a second prediction of the speed of the vehicle, wherein an engine torque is a value which depends on a result of said first comparison in the immediately preceding simulation cycle sj−
1;comparing, as a second comparison, the second predicted speed of the vehicle with at least one of second lower and upper limit values, wherein the second lower and upper limit values delineate a speed range within which the speed of the vehicle is maintained; determining the at least one reference value based on said second comparison and/or the second predicted vehicle speed in this simulation cycle sj; and outputting to a control system of the vehicle said at least one reference value, and regulating a speed of the vehicle accordingly. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 41)
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21. A module arranged to control a speed of a vehicle, the module comprising:
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an input unit configured to receive a set speed for the vehicle; an itinerary unit configured to determine an itinerary by reference to map data and location data which comprise route segments, each route segment having at least one route characteristic; a calculation unit configured to perform a number of simulation cycles sj, each simulation cycle including a number N of simulation steps conducted at a predetermined rate, the simulation steps comprising; making a first prediction of the speed of the vehicle such that the set speed is imparted as a reference speed, the first prediction depending on the route characteristic of said route segment; comparing, as a first comparison, the first predicted vehicle speed with at least one of first lower and upper limit values, wherein the first lower and upper limit values define an engine torque for use in an immediately following simulation cycle sj+1; making a second prediction of the speed of the vehicle such that the engine torque is a value which depends on the result of said first comparison in an immediately preceding simulation cycle sj−
1;comparing, as a second comparison, the second predicted vehicle speed with at least one of second lower and upper limit values and of the vehicle, the second lower and upper limit values delineating a range within which the speed is maintained; and determining at least one reference value based on said second comparison and/or the second predicted vehicle speed in this simulation cycle sj; and a providing unit configured to supply a control system of the vehicle with said at least one reference value for regulating the vehicle. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 43)
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42. (canceled)
Specification