Method and module for determining of velocity reference values for a vehicle control system

• US 8,620,557 B2
• Filed: 05/31/2010
• Issued: 12/31/2013
• Est. Priority Date: 06/10/2009
• Status: Expired due to Fees

• Current Assignee: Scania CV AB (Volkswagen AG)
• Original Assignee: Scania CV AB (Volkswagen AG)
• Inventors: Johansson, Oskar, Hansson, Jrgen, Pettersson, Henrik
• Primary Examiner(s): Cheung, Mary
• Assistant Examiner(s): MAZZARA, ANNE MARIE
• Application Number:
  US13/377,175
• Publication Number:
  US 20120089312A1
• Time in Patent Office: 1,310 Days
• Field of Search: 701/1, 701/93
• US Class Current: 701/93
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/10 including control of change-speed gearings
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 2720/103 Speed profile
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 40/06 Road conditions
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: Y02T 10/40 Engine management systems

Abstract

A method for determining speed set-point values v_ref for a vehicle'"'"'s control systems including determining a horizon from position data and map data of an itinerary made up of route segments with at least one characteristic for each segment; calculating threshold values for the characteristic of segments according to one or more vehicle-specific values, which threshold values serve as boundaries for assigning segments to various categories; comparing the characteristic of each segment with the calculated threshold values and placing each segment within the horizon in a category calculating set-point values for the vehicle'"'"'s control systems across the horizon according to rules pertaining to the categories. When any characteristic in segments within the horizon indicates a hindrance, calculating the vehicle'"'"'s retardation determining a start position within the horizon for commencement of retardation according to its calculated retardation in order to achieve a lowering of the set-point speed v_ref to a maximum speed required by the hindrance at the location of the hindrance; adapting the speed set-point values v_ref within the horizon according to the start position and retardation of the vehicle and regulating the vehicle'"'"'s speed according to the speed set-values v_ref. Also a module determines set-point values for a control system in the vehicle.

Claims

1. A method performed by a control system incorporating a computer for determining speed set-point values for a vehicle'"'"'s control system, the method comprises comprising:

A) determining a horizon using position data and map data of an itinerary including route segments with at least one characteristic for each segment;

B) calculating threshold values for said at least one characteristic according to one or more vehicle-specific values,

C) comparing said at least one characteristic of each segment with the calculated threshold values and assigning each segment within the horizon to a respective category according to the results of the comparisons, wherein the threshold values serve as boundaries for assigning the segments to the respective categories;

D) calculating speed set-point values v_ref for the vehicle'"'"'s control system across the horizon according to rules pertaining to the categories to which segments within the horizon are assigned; and

when any characteristic in segments within the horizon indicates a hindrance, performing the following steps;

E) calculating a retardation of the vehicle on a supposition that the brakes are not used according to said rules pertaining to the segment categories;

F) determining a start position within the horizon for commencement of the retardation of the vehicle according to the vehicle'"'"'s calculated retardation in order to achieve a lowering of the speed set-point value v_ref to a maximum speed required by the hindrance at the location of the hindrance;

G) adapting the speed set-point values v_ref within the horizon according to said start position and the retardation of the vehicle; and

H) regulating the vehicle'"'"'s speed according to the speed set-point values v_ref.

2. A method according to claim 1, wherein the vehicle-specific values are determined by current transmission ratio, current vehicle weight, a maximum torque curve of an engine of the vehicle, mechanical friction and/or a running resistance at current speed of the vehicle.

3. A method according to claim 1, wherein the at least one characteristic indicates a hindrance in the form of a speed limit, a sharp bend, a roundabout or an intersection.

4. A method according to claim 3, wherein the maximum speed required by the hindrance limits the vehicle'"'"'s speed for a predetermined length of the horizon.

5. A method according to claim 3, wherein the characteristic indicates a hindrance due to temperature.

6. A method according to claim 3, wherein regulation of the vehicle'"'"'s speed to take into account hindrance is an optional setting for the driver.

7. A method according to claim 1, further comprising, after step F) a step F 1), indicating to a driver of the vehicle that a speed change is coming, whereupon step G) is performed if the driver acknowledges the indication.

8. A method according to claim 1, wherein the itinerary is determined by means of a navigation system.

9. A module for determination of speed set-values v_ref for a vehicle'"'"'s control system, the module comprising:

a horizon unit configured and operable to determine a horizon using position data and map data of an itinerary including segments with at least one characteristic for each segment;

a processor unit that includes a data processor, the processor unit configured and operable;

to calculate threshold values for said at least one characteristic according to one or more vehicle-specific values,

to compare said at least one characteristic of each segment with the calculated threshold values, and to assign each segment to a respective category according to the results of the comparisons, wherein the threshold values serve as boundaries for assigning the segments to the respective categories; and

to calculate speed set-point values v_ref for the vehicle'"'"'s control systems across the horizon according to rules pertaining to the categories to which segments within the horizon are assigned;

a hindrance unit configured and operable to perform the following steps when any characteristic of segments within the horizon indicates a hindrance;

calculating a retardation of the vehicle on a supposition that brakes of the vehicle are not used according to said rules pertaining to the segment categories; and

determining a start position within the horizon for commencement of the retardation of the vehicle according to the vehicle'"'"'s calculated retardation in order to achieve a lowering of the speed set-point speed value v_ref to a maximum speed required by the hindrance at the location of the hindrance; and

the processor unit is further configured and operable to adapt the speed set-point value v_ref within the horizon according to said start position and the retardation of the vehicle; and

the control system regulates the vehicle'"'"'s speed according to the speed set-point values v_ref.

10. A module according to claim 9, wherein vehicle-specific values of current transmission ratio, current vehicle weight, a maximum torque curve of an engine of the vehicle, mechanical friction and/or a running resistance at current speed are determined.

11. A module according to claim 9, wherein the hindrance unit is configured and operable to detect a hindrance within the horizon from the fact that a characteristic for a route segment indicates a speed limit, a sharp bend, a roundabout or an intersection.

12. A module according to claim 11, wherein the hindrance unit is configured and operable to determine a length of the horizon for which the maximum speed required by the hindrance limits the vehicle'"'"'s speed.

13. A module according to claim 11, wherein the hindrance unit is configured and operable to determining whether the characteristic indicates a hindrance due to some other parameter.

14. A module according to claim 9, wherein the regulating the vehicle'"'"'s speed to take into account the hindrance is an optional setting for the driver.

15. A module according to claim 9, wherein the hindrance unit is configured and operable to indicate for a driver of the vehicle that a speed change is coming, and to receive input data which accept or reject the speed change.

16. A module according to claim 9, wherein the horizon unit is configured and operable to determine the itinerary by reference to a navigation system.

17. A computer-readable medium incorporating a non-transitory program of instructions configured to enable a computer system to:

A) determine a horizon using position data and map data of an itinerary including route segments with at least one characteristic for each segment;

B) calculate threshold values for said at least one characteristic according to one or more vehicle-specific values,

C) compare said at least one characteristic of each segment with the calculated threshold values and assign each segment within the horizon to a respective category according to the results of the comparisons, wherein the threshold values serve as boundaries for assigning the segments to the respective categories;

D) calculate speed set-point values v_ref for a vehicle'"'"'s control system across the horizon according to rules pertaining to the categories to which segments within the horizon are assigned; and

when any characteristic in segments within the horizon indicates a hindrance, performing the following steps;

E) calculate a retardation of the vehicle on a supposition that the brakes are not used according to said rules pertaining to the segment categories;

F) determine a start position within the horizon for commencement of the retardation of the vehicle according to the vehicle'"'"'s calculated retardation in order to achieve a lowering of the speed set-point value v_ref to a maximum speed required by the hindrance at the location of the hindrance;

G) adapt the speed set-point values v_ref within the horizon according to said start position and the retardation of the vehicle; and

H) regulate the vehicle'"'"'s speed according to the speed set-point values v_ref when the computer program of instructions is run on said computer system.

18. A computer-readable medium according to claim 17, wherein the computer system is on-board the vehicle.