Module for determining of reference values for a vehicle control system

• US 9,043,114 B2
• Filed: 05/31/2010
• Issued: 05/26/2015
• 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): Algahaim, Helal A
• Assistant Examiner(s): Nguyen, Nga X
• Application Number:
  US13/377,219
• Publication Number:
  US 20120083986A1
• Time in Patent Office: 1,821 Days
• Field of Search: 701/93, 701/96, 180/170
• US Class Current: 701/93
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• 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 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2720/103 Speed profile
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• 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
• CPC Class Codes: Y02T 10/84 Data processing systems or methods, management, administration

Abstract

A module for determination of speed set-point values v_ref for a vehicle'"'"'s control systems, comprising an input unit adapted to input, e.g., by the vehicle'"'"'s driver, of a reference speed v_set which is the speed desired by the driver for the vehicle. The module includes a horizon unit to determine a horizon by means of received position data and map data of an itinerary made up of route segments with at least one characteristic for each segment; a processor unit to calculate v_ref for the vehicle'"'"'s control systems across the horizon according to rules pertaining to categories in which segments within the horizon are placed, so that v_ref is within a range bounded by v_min and v_max, where v_min≦v_set≦V_max, which control system regulates the vehicle according to these set-point values.

Claims

1. A module for determination of speed set-point values for a control system of a vehicle, the module comprising:

a reference speed input unit configured and operable to input a reference speed, which is the speed obtained for a driver of the vehicle;

a position and map data input unit configured to receive position data and map data for the vehicle;

a horizon and route segment determination unit configured and operable to determine a horizon according to the received position data and map data, and to determine an itinerary made up of route segments with at least one road topography characteristic for each route segment;

a route segment category assigning and speed calculation unit configured and operable to assign, according to the at least one road topography characteristic, each route segment to a route segment category of a plurality of route segment categories,

to calculate automatically an introductory speed for each route segment, and

to generate, by adjusting each introductory speed according to rules of the route segment category, the speed set-point values across the horizon such that the speed set-point values are within a range bounded by v_min and v_max, where v_min≦

v_set≦

v_max; and

the control system is configured and operable to regulate the vehicle according to the speed set-point values.

2. The module according to claim 1, wherein the processor unit is configured to calculate the speed set-point values such that the range v_min and v_max is set manually by the driver via the input unit.

3. The module according to claim 1, wherein the processor unit is configured to calculate a predetermined number of different levels for the range v_min and v_max with different range widths.

4. The module according to claim 3, wherein v_min and v_max for each level are first and second predetermined numbers of km/h respectively below v_set and above v_set.

5. The module according to claim 3, wherein v_min and v_max for each level are speeds set, respectively, based on first and second predetermined percentages below v_set and above v_set.

6. The module according to claim 1, further comprising a regulating module configured and operable to automatically set the range v_min and v_max by calculations of speed ranges.

7. The module according to claim 6, wherein the regulating module is configured and operable to set the range v_min and v_max such that the range width between v_min and v_max is determined automatically according to a set time gap relative to a second vehicle ahead of the vehicle with the control system so that the range width is smaller for a short time gap and larger for a longer time gap.

8. The module according to claim 1, wherein the processor unit is configured and operable:

to calculate threshold values for the at least one road topography characteristic of the route segments according to one or more vehicle-specific values,

wherein the threshold values serve as boundaries for assigning the route segments to the route segment categories;

to compare at least one road topography characteristic of each route segment with the calculated threshold values; and

to assign each route segment to a route segment category according to results of the comparison.

9. The module according to claim 8, wherein the processor unit is configured to determine the one or more vehicle-specific values according to at least one of a current transmission ratio, a current vehicle weight, a torque curve of an engine of the vehicle, mechanical friction and a running resistance of the vehicle at current speed.

10. The module according to claim 8, wherein the characteristics of route segments are the route segment length and road gradient, and the processor unit is adapted to calculate the threshold values in the form of road gradient threshold values l_min and l_max.

11. The module according to claim 8, wherein the characteristics of route segments are their length and lateral acceleration, and

the processor unit is configured and operable to calculate the threshold values in the form of lateral acceleration threshold values.

12. The module to claim 1, wherein the horizon unit includes GPS to provide received position data which are determined by using the GPS.

13. The module to foregoing claim 1, wherein the horizon unit is configured and operable to determine the horizon continuously as long as the horizon does not exceed a planned itinerary for the vehicle, and

the processor unit is configured and operable to continuously perform steps for calculating and updating the set-point values for the control system for the whole length of the horizon.

14. The module according to claim 1, wherein the input unit is configured to receive the reference speed v_ref such that the driver of the vehicle inputs the reference speed v_ref.

15. The module according to claim 8, wherein the processor unit is configured to determine the one or more vehicle-specific values according to a current transmission ratio.

16. The module according to claim 8, wherein the processor unit is configured to determine the one or more vehicle-specific values according to a current vehicle weight.

17. The module according to claim 8, wherein the processor unit is configured to determine the one or more vehicle-specific values according to a torque curve of an engine of the vehicle.

18. The module according to claim 8, wherein the processor unit is configured to determine the one or more vehicle-specific values according to mechanical friction.

19. The module according to claim 8, wherein the processor unit is configured to determine the one or more vehicle-specific values according to a running resistance of the vehicle at current speed.

20. A module for determination of speed set-point values for a control system of a vehicle, the module comprising:

means for inputting a reference speed, which is the speed obtained for a driver of the vehicle;

means for receiving position data and map data for the vehicle;

means for determining a horizon according to the received position data and map data, and for determining an itinerary made up of route segments with at least one road topography characteristic for each route segment;

means for assigning, according to the at least one road topography characteristic, each route segment to a route segment category of a plurality of route segment categories,

for calculating an introductory speed for each route segment, and

for generating, by adjusting each introductory speed according to rules of the route segment category, the speed set-point values across the horizon such that the speed set-point values are within a range bounded by v_min and v_max, where v_min≦

v_set≦

v_max; and

the control system is configured and operable to regulate the vehicle according to the speed set-point values.