Method and module for controlling a vehicle's speed based on rules and/or costs

• US 9,108,639 B2
• Filed: 12/22/2011
• Issued: 08/18/2015
• Est. Priority Date: 12/22/2011
• Status: Active Grant

• Current Assignee: Scania CV AB (Volkswagen AG)
• Original Assignee: Scania CV AB (Volkswagen AG)
• Inventors: Johansson, Oskar, Sdergren, Maria, Roos, Fredrik
• Primary Examiner(s): Cheung, Mary
• Assistant Examiner(s): MAZZARA, ANNE MARIE
• Application Number:
  US14/367,465
• Publication Number:
  US 20140350821A1
• Time in Patent Office: 1,335 Days
• Field of Search: 701/93
• US Class Current: 1/1
• CPC Class Codes: B60K 2310/244 changing target speed or setting a new target speed, e.g. changing algorithms
• CPC Class Codes: B60W 2710/0666 Engine torque
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• 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 method for determination of at least one reference value for controlling a vehicle'"'"'s speed is described. The method may entail making a first prediction v_{pred—Tnew—ret} and a second prediction v_{pred—Tnew—acc} of a vehicle speed along a horizon, said first prediction based on an engine torque T_ret which retards the vehicle as compared with a conventional cruise control, and said second prediction based on an engine torque T_acc which accelerates the vehicle as compared with a conventional cruise control; comparing said respective first prediction v_{pred—Tnew—ret} and second prediction v_{pred—Tnew—acc} of the vehicle speed with a lower limit value v_min and/or an upper limit value v_max which delineate a range within which the vehicle'"'"'s speed should be; and determining at least one reference value based on at least one of said respective comparisons and said first prediction v_{pred—Tnew—ret} and second prediction v_{pred—Tnew—acc} of the vehicle speed along the horizon.

Claims

1. A method for determination of at least one reference value for a speed regulator that controls a speed of a vehicle such that said reference value may differ from a value corresponding to the speed indicated by a driver of the vehicle, the method comprising:

making, automatically by a control unit including an automated processor, a first prediction and a second prediction of a speed of the vehicle along a horizon, said first prediction based on an engine torque which retards the vehicle as compared with the speed regulator in which the reference value equals the speed indicated by the driver, and said second prediction based on an engine torque which accelerates the vehicle as compared with the speed regulator in which the reference value equals the speed indicated by the driver;

comparing each of the first prediction and the second prediction with a lower limit value and/or an upper limit value which delineate, respectively, a lower limit and an upper limit of a range within which the speed of the vehicle is maintained;

determining the at least one reference value based on at least one of the comparisons and the first prediction and the second prediction; and

controlling the speed of the vehicle based on the at least one reference value determined.

2. A method according to claim 1, wherein the first prediction and the second prediction are made in parallel.

3. A method according to claim 1, wherein the comparing of the first prediction and the second prediction with the lower limit value and/or the upper limit value are done in parallel.

4. A method according to claim 1, wherein the at least one reference value is any of the following:

reference speed v_ref

a reference torque T_ref

a reference speed ω

_ref.

5. A method according to claim 1, wherein a hysteresis is applied to the at least one reference value.

6. A method according to claim 1, further comprising applying a rule to determine the at least one reference value.

7. A method according to claim 6, wherein the rule is that the at least one reference value is the speed indicated by the driver when the first prediction is below the lower limit value and the second prediction is above the upper limit value.

8. A method according to claim 6, wherein the rule is that the at least one reference value is the first predicted vehicle speed when both following conditions are true:

(a) a minimum value for the first predicted speed is equal to or above the lower limit value, and

(b) a maximum value for said first predicted speed is equal to or above a further upper limit value,

wherein the further upper limit value equals the speed indicated by the driver plus a constant c₁.

9. A method according to claim 6, wherein the rule is that the at least one reference value is the second predicted vehicle speed when both following conditions are true:

(a) a maximum value for said second predicted speed is equal to or below the upper limit value, and

(b) a minimum value for said second predicted speed is equal to or below a further lower limit value,

wherein the further lower limit value equals the speed indicated by the driver minus a constant c₂.

10. A method according to claim 1, further comprising:

determining the at least one reference value in each cycle of a plurality of simulation cycles,

wherein a simulation cycle S_j comprises;

predicting a speed v<sub>pred—

cc</sub> of the vehicle along the horizon according to the speed indicated by the driver; and

making a first prediction of a speed v<sub>pred—

Tk+new—

ret</sub> of the vehicle along the horizon, the first prediction being based on a torque required to lower the vehicle'"'"'s speed below v<sub>pred—

cc</sub>,

making a second prediction of a speed v<sub>pred—

Tk+new—

acc</sub> of the vehicle along the horizon, the second prediction being based on a torque required to increase the vehicle'"'"'s speed above the v<sub>pred—

cc</sub>, such that the torque on which the first prediction v<sub>pred—

Tk+new—

ret</sub> and the second prediction v<sub>pred—

Tk+new—

acc</sub> are based depends on v v<sub>pred—

cc</sub> in an immediately preceding simulation cycle s<sub>j−

1</sub>.

11. A method according to claim 1, further comprising calculating a speed profile v, an energy consumption E_N and a journey time t_N of the vehicle at each prediction of the vehicle speed.

12. A method according to claim 11, wherein the determination of the at least one reference value is based on at least one evaluation of a cost for at least one of the first prediction, the second prediction and a further first prediction v_pred—

<sub>Tk+new—

ret</sub> and a further second prediction v<sub>pred—

Tk+new—

acc</sub> of the vehicle speed by using at least one cost function J<sub>Tnew—

ret</sub>, J<sub>Tnew—

acc</sub>, J<sub>Tk+new—

ret</sub>, J<sub>Tk+new—

acc</sub>.

13. A method according to claim 12, wherein respective cost functions J_Tnew—

_ret, J<sub>Tnew—

acc</sub>, J<sub>Tk+new—

ret</sub> and J<sub>Tk+new—

acc</sub> for said first prediction, said second prediction, said further first prediction v<sub>pred—

Tk+new—

ret</sub> and said further second prediction v<sub>pred—

Tk+new—

acc</sub> of the vehicle speed are determined by weighting with a weighting parameter P their respective energy reductions and journey time reductions relative to a conventional prediction of the vehicle'"'"'s speed v<sub>pred—

cc</sub>.

14. A method according to claim 13, wherein the method further comprises:

subjecting the cost functions J<sub>Tnew—

ret</sub>, J<sub>Tnew—

acc</sub>, J<sub>Tk+new—

ret</sub> and J<sub>Tk+new—

acc</sub> for said first prediction, said second prediction, said further first prediction v<sub>pred—

Tk+new—

ret</sub> and said further second prediction v<sub>pred—

Tk+new—

acc</sub> of the vehicle speed v<sub>pred—

Tnew—

ret</sub>, of the vehicle speed to a cost function comparison, wherein the determining said at least one reference value is made based on the comparison to arrive at lowest cost.

15. A method according to claim 11, further comprising adding a penalty to at least one from among the cost functions J_Tnew—

_acc, J<sub>Tk+new—

acc</sub>, for said second prediction, and said further second prediction v<sub>pred—

Tk+new—

acc</sub> of the vehicle speed, when the second prediction and said further second prediction reach different final speeds.

16. A method according to claim 1, further comprising adding a penalty to at least one of the cost functions J_Tnew—

_ret, J<sub>Tk+new—

ret</sub>, for said first prediction, and said further first prediction v<sub>pred—

Tk+new—

ret</sub> of the vehicle speed, when the first prediction and said further first prediction reach different final speeds.

17. A module arranged for determination of at least one reference value for a speed regulator that controls a speed of a vehicle such that said reference value may differ from a value corresponding to the speed indicated by a driver of the vehicle, the module comprising:

a calculation unit configured to make a first prediction and a second prediction of the vehicle speed along a horizon, said first prediction based on an engine torque which retards the vehicle as compared with the speed regulator in which the reference value equals the speed indicated by the driver, and said second prediction based on an engine torque which accelerates the vehicle as compared with the speed regulator in which the reference value equals the speed indicated by the driver;

said module further configured;

to compare the first prediction and the second prediction with a lower limit value and/or an upper limit value which delineate, respectively, a lower threshold and an upper threshold of a range within which the speed of the vehicle is maintained;

to determine at least one reference value based on at least one of the comparisons and said first prediction and second prediction; and

to output the at least one reference value determined for controlling the speed of the vehicle.

18. A module according to claim 17, said module being arranged to make said first prediction and second prediction of a vehicle speed along the horizon in parallel.

19. A module according to claim 17, said module being arranged to do said comparisons of said first prediction and a second prediction with a lower limit value v_min and/or an upper limit value v_max in parallel.

20. A module according to claim 17, in which said at least one reference value is any of the following:

reference speed v_ref

a reference torque T_ref

a reference speed ω

_ref.

21. A module according to claim 17, wherein said module applies a hysteresis to said at least one reference value.

22. A module according to claim 17, wherein said module applies rules to determine which at least one reference value the vehicle is to regulated on.

23. A module according to claim 22, wherein a rule is that the at least one reference value is determined as the set speed v_set, when said first prediction of the vehicle speed is below the second limit value and said second prediction of the vehicle speed is above the upper limit value.

24. A module according to claim 23, wherein said module determines, as the at least one reference value, said first predicted vehicle speed, when a minimum value for said first predicted speed is equal to or above the lower limit value and if also a maximum value for said first predicted speed is equal to or above a further upper limit value,

wherein the further upper limit value is the set speed plus a constant c₁.

25. A module according to claim 23, wherein said module determines, as the at least one reference value, said second predicted vehicle speed, when both following conditions are true:

(a) a maximum value for said second predicted speed is equal to or below the upper limit value, and

(b) a minimum value for said second predicted speed is equal to or below a further lower limit value,

wherein the further lower limit value is a speed indicated by the driver minus a constant c₂.

26. A module according to claim 17, wherein said module is configured to determine the at least one reference value in each cycle of a plurality of simulation cycles, wherein in a simulation cycle s_j the module performs:

a conventional prediction of the speed v<sub>pred—

cc</sub> of the vehicle along the horizon according to a conventional cruise control; and

at least one further first prediction v<sub>pred—

Tk+new—

ret</sub> of the vehicle'"'"'s speed along the horizon, each such further first prediction being based on a torque required to lower the speed of the vehicle below the conventionally predicted vehicle speed v<sub>pred—

cc</sub>,

at least one further second prediction of the speed of the vehicle along the horizon is made, each such further second prediction being based on a torque required to increase the vehicle'"'"'s speed above the conventionally predicted vehicle speed v<sub>pred—

cc</sub>,

where the torque on which the at least one further first prediction v<sub>pred—

Tk+new—

ret</sub> and second prediction v<sub>pred—

Tk+new—

acc</sub> are based depends on said conventionally predicted vehicle speed v<sub>pred—

cc</sub> in an immediately preceding simulation cycle s<sub>j−

1</sub>.

27. A module according to claim 17, wherein said module is configured to calculate the speed profile v of the vehicle, energy consumption E_N and journey time t_N during each prediction of the speed of the vehicle.

28. A module according to claim 27, wherein said module is configured to determine said at least one reference value on the basis of at least one evaluation of a cost for at least one from among said first prediction, said second prediction and a further first prediction v_pred—

<sub>Tk+new—

ret</sub> and a further second prediction v<sub>pred—

Tk+new—

acc</sub> of the vehicle speed by using at least one cost function J<sub>Tnew—

ret</sub>, J<sub>Tnew—

acc</sub>, J<sub>Tk+new—

ret</sub>, J<sub>Tk+new—

acc</sub>.

29. A module according to claim 28, wherein said module is configured to determine the respective the cost functions J_Tnew—

_ret, J<sub>Tnew—

acc</sub>, J<sub>Tk+new—

ret</sub> and J<sub>Tk+new—

acc</sub> for said first prediction, said second prediction, said further first prediction v<sub>pred—

Tk+new—

ret</sub> and said further second prediction v<sub>pred—

Tk+new—

acc</sub> of the vehicle speed by weighting with a weighting parameter .beta. their respective energy reductions and journey time reductions relative to a conventional prediction of the vehicle'"'"'s speed v<sub>pred—

cc</sub>.

30. A module according to claim 29, wherein said module is configured to subject the cost functions J_Tnew—

_ret, J<sub>Tnew—

acc</sub>, J<sub>Tk+new—

ret</sub> and J<sub>Tk+new—

acc</sub> for said first prediction, said second prediction, said further first prediction v<sub>pred—

Tk+new—

ret</sub> and said further second prediction v<sub>pred—

Tk+new—

acc</sub> of the vehicle speed v<sub>pred—

Tnew—

ret</sub>, of the vehicle speed to a cost function comparison,

wherein the determining of said at least one reference value is based on the comparison to arrive at lowest cost.

31. A module according to claim 27, wherein said module is configured to add a penalty to at least one of the cost functions J_Tnew—

_ret, J<sub>Tk+new—

ret</sub>, for said first prediction v<sub>pred—

Tnew—

ret</sub>, and said further first prediction v<sub>pred—

Tk+new—

ret</sub> of the vehicle speed, when said first prediction and said further first prediction reach different final speeds.

32. A module according to claim 27, wherein said module is configured to add a penalty to at least one from among the cost functions J_Tnew—

_acc, J<sub>Tk+new—

acc</sub>, for said second prediction v<sub>pred—

Tnew—

acc</sub>, and said further second prediction v<sub>pred—

Tk+new—

acc</sub> of the vehicle speed, when said second prediction and said further second prediction reach different final speeds.

33. A non-transitory computer readable medium product incorporating instructions configured to enable a computer of a vehicle to perform a method of determining at least one reference value for a speed regulator that controls a speed of a vehicle such that said reference value may differ from a value corresponding to the speed indicated by a driver of the vehicle, the method comprising:

making, automatically by a control unit including an automated processor, a first prediction and a second prediction of a speed of the vehicle along a horizon, said first prediction based on an engine torque which retards the vehicle as compared with the speed regulator in which the reference value equals the speed indicated by the driver, and said second prediction based on an engine torque which accelerates the vehicle as compared with the speed regulator in which the reference value equals the speed indicated by the driver;

comparing each of the first prediction and the second prediction with a lower limit value and/or an upper limit value which delineate, respectively, a lower limit and an upper limit of a range within which the speed of the vehicle is maintained;

determining the at least one reference value based on at least one of the comparisons and the first prediction and the second prediction; and

controlling the speed of the vehicle based on the at least one reference value determined,

when the instructions are run on said computer.

34. A vehicle comprising a module arranged for determination of at least one reference value for a speed regulator that controls a speed of a vehicle such that said reference value may differ from a value corresponding to the speed indicated by a driver of the vehicle, the module comprising:

a calculation unit configured to make a first prediction and a second prediction of the vehicle speed along a horizon, said first prediction based on an engine torque which retards the vehicle as compared with the speed regulator in which the reference value equals the speed indicated by the driver, and said second prediction based on an engine torque which accelerates the vehicle as compared with the speed regulator in which the reference value equals the speed indicated by the driver;

said module further configured;

to compare the first prediction and the second prediction with a lower limit value and/or an upper limit value which delineate, respectively, a lower threshold and an upper threshold of a range within which the speed of the vehicle is maintained;

to determine at least one reference value based on at least one of the comparisons and said first prediction and second prediction; and

to output the at least one reference value determined for controlling the speed of the vehicle.