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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
First Claim
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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 vref 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 vref to a maximum speed required by the hindrance at the location of the hindrance;

    G) adapting the speed set-point values vref 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 vref.

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