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

• US 8,849,539 B2
• Filed: 05/31/2010
• Issued: 09/30/2014
• 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
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US13/377,196
• Publication Number:
  US 20120083984A1
• Time in Patent Office: 1,583 Days
• Field of Search: 701/1, 701/23, 701/25, 701/26, 701/27, 701/28, 701/38, 701/70, 701/93, 701/98, 701400-541
• 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 2520/403 between front and rear axle
• 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 determination of speed set-point values v_ref for a vehicle'"'"'s control systems, includes determining a horizon from position data and map data of an itinerary made up of route segments with length and gradient characteristics for each segment; calculating threshold values for the gradient of segments according to one or more vehicle-specific values, which threshold values serve as boundaries for assigning segments to various categories; comparing the gradient of each segment with the threshold values and placing each segment within the horizon in a category according to the results of the comparisons; calculating speed set-point values v_ref for the vehicle'"'"'s control systems across the horizon according to rules pertaining to the classes in which segments within the horizon are placed; adding an offset v_offset to the calculated speed set-point values v_ref when the vehicle is in a segment which is in a category indicating a steep upgrade or a steep downgrade; regulating the vehicle according to the speed set-point values v_ref. A module determines of speed set-point values for a vehicle'"'"'s control systems.

Claims

1. A method for determination of speed set-point values v_ref for a vehicle'"'"'s control systems, the method comprising:

A) determining a horizon using position data and map data of an itinerary made up of route segments with length and gradient characteristics for each segment;

B) calculating threshold values for the gradient of segments according to one or more vehicle-specific values, which threshold values serve as boundaries for assigning segments to various categories;

C) comparing the gradient of each segment with the threshold values and placing each segment within the horizon in a category according to the results of the comparisons;

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

E) adding an offset v_offset to the calculated speed set-point values v_ref when the vehicle is in a segment which is in a category indicating a steep upgrade or a steep downgrade; and

F) regulating the vehicle according to the speed set-point values v_ref.

2. A method according to claim 1, in which a positive offset v_offset is added to the calculated speed set-point values v_ref when the vehicle is on a steep upgrade.

3. A method according to claim 1, in which a negative offset v_offset is added to the calculated speed set-point values v_ref when the vehicle is on a steep downgrade.

4. A method according to claim 1, wherein said offset v_offset is a variable value over time.

5. A method according to claim 1, further comprising when a first steep upgrade or a first steep downgrade is followed by a steep upgrade or a steep downgrade within a certain distance L, not allowing both acceleration and retardation of the vehicle within the section L.

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

7. A method according to claim 1, wherein threshold values are calculated in the form of gradient threshold values l_min and l_max.

8. A method according to claim 1, wherein the horizon is determined by using position data from a GPS.

9. A module for determining speed set-point values for a vehicle'"'"'s control systems, the module comprising:

a horizon unit configured and operable to determine a horizon using position data and map data of an itinerary made up of route segments with length and gradient characteristics for each segment;

a processor unit configured and operable to;

calculate threshold values for the gradient of segments according to one or more vehicle-specific values, which threshold values serve as boundaries for assigning segments to various categories;

compare the gradient of each segment with the threshold values and placing each segment within the horizon in a category according to the results of the comparisons;

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

configured and operable to add an offset v_offset to the calculated speed set-point values v_ref when the vehicle is in a segment which is in a category indicating a steep upgrade or a steep downgrade, after which the vehicle is regulated according to the speed set-point values v_ref.

10. A module according to claim 9, in which the processor unit is configured and operable to add a positive offset v_offset to the calculated speed set-point values v_ref when the vehicle is on a steep upgrade.

11. A module according to claim 9, wherein the processor unit is configured and operable to add a negative offset v_offset to the calculated speed set-point values v_ref when the vehicle is on a steep downgrade.

12. A module according to claim 9, wherein said offset v_offset is a variable value over time.

13. A module according to claim 9, wherein when a first steep upgrade or a first steep downgrade is followed by a steep upgrade or a steep downgrade within a certain distance L, the processor unit is configured and operable to not allow both acceleration and retardation of the vehicle within the section L.

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

15. A module according to claim 9, wherein the processor unit is configured and operable to calculate threshold values in the form of gradient threshold values l_min and l_max.

16. A module according to claim 9, wherein the horizon unit is configured and operable to determine the horizon by using position data from a GPS.

17. A computer program product comprising computer program instructions for enabling a computer system in a vehicle to perform a method for determination of speed set-point values v_ref for a vehicle'"'"'s control systems, the method comprising:

A) determining a horizon using position data and map data of an itinerary made up of route segments with length and gradient characteristics for each segment;

B) calculating threshold values for the gradient of segments according to one or more vehicle-specific values, which threshold values serve as boundaries for assigning segments to various categories;

C) comparing the gradient of each segment with the threshold values and placing each segment within the horizon in a category according to the results of the comparisons;

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

E) adding an offset v_offset to the calculated speed set-point values v_ref when the vehicle is in a segment which is in a category indicating a steep upgrade or a steep downgrade; and

F) regulating the vehicle according to the speed set-point values v_ref,

wherein the computer program instructions are stored on a non-transitory medium which is readable by a computer system.