Module for determining set-point values for control systems in a vehicle

• US 9,132,836 B2
• Filed: 05/31/2010
• Issued: 09/15/2015
• Est. Priority Date: 06/10/2009
• Status: Active Grant

• Current Assignee: Scania CV AB (Volkswagen AG)
• Original Assignee: Scania CV AB (Volkswagen AG)
• Inventors: Johansson, Oskar, Hansson, Jrgen, Pettersson, Henrik, Swartling, Fredrik
• Primary Examiner(s): Olszewski, John R
• Assistant Examiner(s): MELTON, TODD M
• Application Number:
  US13/377,304
• Publication Number:
  US 20120123651A1
• Time in Patent Office: 1,933 Days
• Field of Search: 701/51, 701/93, 701/94, 701/95
• US Class Current: 1/1
• 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 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 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 50/0097 Predicting future conditions
• CPC Class Codes: F16H 2059/666 Determining road conditions by using vehicle location or position, e.g. from global navigation systems [GPS]
• CPC Class Codes: F16H 2061/0216 Calculation or estimation of post shift values for different gear ratios, e.g. by using engine performance tables
• CPC Class Codes: F16H 59/66 Road conditions, e.g. slope, slippery
• CPC Class Codes: F16H 61/0213 characterised by the method for generating shift signals
• CPC Class Codes: Y02T 10/40 Engine management systems

Abstract

A module for determining speed set-point values v_ref for a vehicle'"'"'s control systems includes an input unit configured for 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. A horizon unit is configured for determining 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 is configured for calculating v_ref 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. The processor unit is further configured for determining a control signal with control parameters for the vehicle'"'"'s automatic gear change control unit, based on one or more vehicle-specific values and a calculated speed set-point value v_ref.

Claims

1. A module for determining speed set-point values, v_ref, for a vehicle'"'"'s control systems, comprising

an input unit configured to input a reference speed, v_set, which is the speed desired by a driver of the vehicle,

a horizon unit configured 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 assigned for each route segment;

and

a processor unit configured to calculate v_ref across the horizon according to rules pertaining to categories in which route 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, v_ref being determined such that the vehicle'"'"'s control systems control the engine of the vehicle so that the speed of the vehicle at least approaches the speed v_ref;

the processor unit being further configured to determine a control signal with one or more control parameters for the vehicle'"'"'s automatic gear change control unit, based on one or more vehicle-specific values, which vary as the vehicle'"'"'s state varies over time, and a calculated speed set-point value v_ref across the horizon, the speed set-point value v_ref being continuously calculated and updated, the speed set-point value v_ref being a function of how the one or more vehicle-specific values vary along the itinerary.

2. A module according to claim 1, in which the processor unit is further configured to calculate engine load and engine speed across the horizon on the basis of one or more vehicle-specific values, and to use the calculated engine load and/or engine speed to determine the one or more control parameters.

3. A module according to claim 1, in which the one or more control parameters comprise one or more of the following:

speed limits of an engine of the vehicle for changing gear,

distance from the vehicle to a crest of a hill, and average gradient of the hill.

4. A module according to claim 1, in which the one or more control parameters comprise one or more of the following:

a lowest engine speed limit of the vehicle for changing of gear downward;

a flag indicating that an upward change of gear should not take place;

a gradient of a current segment and remaining distance to a segment classified as a “

gentle upgrade”

if the vehicle is on a segment classified as a “

steep upgrade”

;

a desired speed at a transition to a segment classified as a “

gentle upgrade”

if the vehicle is on a segment classified as a “

steep upgrade”

.

5. A module according to claim 1, in which the processor unit is further configured:

to calculate threshold values for the at least one characteristic of each segment according to the one or more vehicle-specific values, wherein the threshold values serve as boundaries for assigning segments to different categories;

and to compare at least one characteristic of each segment with the calculated threshold values and placing each segment in a category according to the results of the comparisons.

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

7. A module according to claim 1, in which the at least one characteristic of each segment includes a length and a gradient of each segment and the processor unit is configured to calculate threshold values in the form of gradient threshold values l_min and l_max.

8. A module according to claim 1, in which the at least one characteristic of each segment includes a length and a gradient of each segment and the processor unit is configured to calculate threshold values in the form of lateral acceleration threshold values.

9. A module according to claim 1, wherein the position data is determined by using a global positioning system (GPS).

10. A module according to claim 1, in which the horizon unit is configured to update the horizon continuously so long as the horizon does not exceed a planned itinerary for the vehicle, and in which the processor unit is further configured to continuously perform steps to calculate and update the speed set-point values, v_ref, for the vehicle'"'"'s control systems for a whole length of the horizon.

11. A module according to claim 1, wherein an initial speed for each route segment within the horizon is set.

12. A module according to claim 11, wherein the initial speeds of the route segments within the horizon are adjusted as necessary within a range of the reference speed, v_set, as new route segments are added to the horizon.

13. The module according to claim 1, wherein v_min and v_max are set automatically by calculation of suitable ranges.

14. A module for determining speed set-point values, v_ref, for a vehicle'"'"'s control systems, comprising

an input unit configured to input a reference speed, v_set, which is the speed desired by a driver of the vehicle,

a horizon unit configured to determine at least two horizons by means of received position data and map data of an itinerary made up of route segments with at least one characteristic assigned for each route segment;

and

a processor unit configured to calculate v_ref across a respective horizon according to rules pertaining to categories in which route 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, v_ref being determined such that the vehicle'"'"'s control systems control the engine of the vehicle so that the speed of the vehicle at least approaches the speed v_ref;

the processor unit being further configured to determine a control signal with one or more control parameters for;

(1) the vehicle'"'"'s automatic gear change control unit, based on one or more vehicle-specific values and a calculated speed set-point value v_ref across the respective horizon; and

(2) at least the vehicle'"'"'s cruise control,

a respective horizon being determined for each of the vehicle'"'"'s automatic gear change control unit, and the vehicle'"'"'s cruise control.

15. The module according to claim 14, wherein v_min, and v_max are set automatically by calculation of suitable ranges.

16. A module for determining speed set-point values, v_ref, for a vehicle'"'"'s control systems, comprising

an input unit configured to input a reference speed, v_set, which is the speed desired by a driver of the vehicle,

a horizon unit configured 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 assigned for each route segment;

and

a processor unit configured to calculate v_ref across the horizon according to rules pertaining to categories in which route 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, v_ref being determined such that the vehicle'"'"'s control systems control the engine of the vehicle so that the speed of the vehicle at least approaches the speed v_ref;

the processor unit being further configured to determine a control signal with one or more control parameters for the vehicle'"'"'s automatic gear change control unit, based on one or more vehicle-specific values and a calculated speed set-point value v_ref across the horizon,

wherein the horizon is updated continuously by;

(1) adding new route segments so long as the horizon does not exceed a planned itinerary for the vehicle; and

(2) continuous stepping through the route segments within the horizon involving continuously calculating the initial speed of the vehicle v_i for each route segment.

17. The module according to claim 16, wherein v_min and v_max are set automatically by calculation of suitable ranges.