Method and apparatus for controlling traveling speed of a vehicle

• US 8,346,456 B2
• Filed: 06/10/2009
• Issued: 01/01/2013
• Est. Priority Date: 06/10/2009
• Status: Active Grant

• Current Assignee: Daimler Truck AG (Daimler Truck Holding AG)
• Original Assignee: Daimler AG (Mercedes-Benz Group AG)
• Inventors: Aleksic, Mario, Benowitz, Mike, Martin, Bernd, Michalek, Joseph, Passegger, Thomas
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): PECHE, JORGE O
• Application Number:
  US12/482,150
• Publication Number:
  US 20100318273A1
• Time in Patent Office: 1,301 Days
• Field of Search: 701/25, 701/56, 701/65, 701/93, 701/96, 701/98
• US Class Current: 701/98
• CPC Class Codes: B60K 31/042 where at least one electrical quantity is set by the vehicle operator
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 50/0097 Predicting future conditions

Abstract

In a method for controlling the driving speed of a vehicle that has a speed control device into which a set speed can be entered as driver command, a reference variable of the speed control device is varied within a specified or specifiable speed range of the set speed, based on an evaluation of a section of the road ahead of the driver and maintaining a minimum fuel usage in a first operating mode of the speed control device. To enable a better control of the driving speed, the method includes steps of i) detecting a change of the set speed; ii) changing over from the first operating mode to a second operating mode of the speed control device when a change of the set speed has been detected; iii) determining the reference variable in the second operating mode based on the change in such a manner that a tuning of the speed control device to a higher driving speed takes place with an increase of the set speed resulting from the change, and a tuning process of the speed control device to a lower driving speed takes place with a decrease of the set speed resulting from the change; and iv) changing back from the second operating mode to the first operating mode, if an interruption criterion is fulfilled.

Claims

1. A method for controlling the driving speed of a vehicle having a speed control device, said method comprising:

determining a set speed, using a control unit, corresponding to a desired speed entered by a driver via an input device;

varying a reference variable of the speed control device, using the control unit, within a specified or specifiable range of the set speed, based on an evaluation of a section of the road ahead of the driver using a roadway profile, and based on maintaining a state of the vehicle with a fuel usage that is as low as possible, in a first operating mode of the speed control device;

detecting a change of the set speed, using the control unit, due to a driver input at a predetermine time;

changing over from the first operating mode to a second operating mode of the speed control device, using the control unit, when a change of the set speed has been detected;

wherein said first operation mode is designed to minimized fuel usage and said second operating mode is designed to provide the driver with feedback corresponding to said change in the set speed;

in the second operating mode adjusting the reference variable based on the change, in such a manner that the speed control device is tuned, due to the driver input at a predetermined time, to a higher driving speed in the case of an increase of the set speed resulting from the change, and to a lower driving speed in the case of a decrease of the set speed resulting from the change so the driver obtains adequate feedback that the speed was successfully set; and

changing back from the second operating mode to the first operating mode when an interruption criterion is satisfied, wherein said interruption criterion is related to the change of the set speed or a control deviation with a threshold.

2. The method according to the claim 1, further comprising:

determining a difference value of the change of the set speed;

determining an actual value of a reference variable at the change; and

setting the reference variable to a sum of the actual value of the reference variable and the difference value of the change.

3. The method according to claim 1, further comprising:

setting the reference variable to a sum of the actual value of the driving speed that exists at the change and the difference value of the change.

4. The method according to claim 1, further comprising:

changing back to the first operating mode as soon as a period of the interruption criterion has elapsed.

5. The method according to claim 1, further comprising:

changing back to the first operating mode as soon as a control deviation of the interruption criterion falls below a threshold value.

6. The method according to claim 1, further comprising:

switching from the second operating mode to a third operating mode as soon as the interruption criterion is fulfilled;

calculating a target value of the reference variable at the interruption criterion corresponding to the first operating mode;

determining an actual value of the reference variable at the interruption criterion;

bringing the reference variable from the actual value up to the target value of the reference variable in the third operating mode; and

changing from the third operating mode to the first operating mode after the approach.

7. A speed control device for the predictive control of the driving speed of a vehicle based on a set speed specified by a driver and based on a distance profile of a section of road ahead of the vehicle, the speed control device comprising:

a control unit configured to

determine a set speed corresponding to a desired speed entered by a driver via an input device;

vary a reference variable of the speed control device within a specified or specifiable range of the set speed, based on an evaluation of a section of the road ahead of the driver using roadway profile, and based on maintaining a state of the vehicle with a fuel usage that is as low as possible, in a first operating mode of the speed control device;

detect a change of the set speed due to a driver input at a predetermine time;

change over from the first operating mode to a second operating mode of the speed control device when a change of the set speed has been detected, wherein said first operation mode is designed to minimized fuel usage and said second operating mode is designed to provide the driver with feedback corresponding to said change in the set speed;

in the second operating mode, adjusting the reference variable based on the change, in such a manner that the speed control device is tuned, due to the driver input at a predetermined time, to a higher driving speed in the case of an increase of the set speed resulting from the change, and to a lower driving speed in the case of a decrease of the set speed resulting from the change so the driver obtains adequate feedback that the speed was successfully set; and

change back from the second operating mode to the first operating mode when an interruption criterion is satisfied,

wherein said interruption criterion is related to the change of the set speed or a control deviation with a threshold, and

wherein the speed control device is configured to modify the driving speed of the vehicle in response to a sudden change of the set speed, aligned with the change of the set speed, and to regulate it temporarily to a constant speed level.

8. The speed control device according to claim 7, wherein a distance profile of the section of the road ahead of the vehicle is determined in a predictive manner by means of a satellite-supported position determination system and a digital map.

9. A vehicle having a speed control device for controlling a driving speed of the vehicle, the speed control device comprising:

a control unit configured to

determine a set speed corresponding to a desired speed entered by a driver via an input device;

vary a reference variable of the speed control device within a specified or specifiable range of the set speed, based on an evaluation of a section of the road ahead of the driver using roadway profile, and based on maintaining a state of the vehicle with a fuel usage that is as low as possible, in a first operating mode of the speed control device;

detect a change of the set speed due to a driver input at a predetermine time;

change over from the first operating mode to a second operating mode of the speed control device when a change of the set speed has been detected, wherein said first operation mode is designed to minimized fuel usage and said second operating mode is designed to provide the driver with feedback corresponding to said change in the set speed;

in the second operating mode, adjusting the reference variable based on the change, in such a manner that the speed control device is tuned, due to the driver input at a predetermined time, to a higher driving speed in the case of an increase of the set speed resulting from the change, and to a lower driving speed in the case of a decrease of the set speed resulting from the change so the driver obtains adequate feedback that the speed was successfully set; and

change back from the second operating mode to the first operating mode when an interruption criterion is satisfied,

wherein said interruption criterion is related to the change of the set speed or a control deviation with a threshold, and

wherein the speed control device is configured to modify the driving speed of the vehicle in response to a sudden change of the set speed, aligned with the change of the set speed, and to regulate it temporarily to a constant speed level.