Method and apparatus for speed estimation and control

• US 9,187,097 B2
• Filed: 06/19/2012
• Issued: 11/17/2015
• Est. Priority Date: 06/22/2011
• Status: Active Grant

• Current Assignee: Polestar Performance AB (Polestar Automotive Holding UK Plc)
• Original Assignee: Volvo Car Corporation (AB Volvo)
• Inventors: Levin, Daniel, Roennberg, Johan
• Primary Examiner(s): McNally, Kerri
• Application Number:
  US13/527,165
• Publication Number:
  US 20120326856A1
• Time in Patent Office: 1,246 Days
• Field of Search: 340/437, 340/438, 340/436, 340/435, 340/441, 340/439, 340/988, 340/447, 701/300, 701/301, 701/70, 701/71, 701/72, 701/73
• US Class Current: 1/1
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2540/30 Driving style
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2552/40 Coefficient of friction
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• 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 30/146 Speed limiting
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: Y02T 10/84 Data processing systems or methods, management, administration

Abstract

A system and method for determining a speed profile for a vehicle travelling along a road in which a curve speed estimation unit receives inputs indicating a position of the vehicle relative to a curve ahead of the vehicle, and inputs related to vehicle velocity, curve geometry, road surface conditions, vehicle-specific data; and driver preferences. The curve sped estimation unit use at least some of the above-listed inputs to determine a speed profile for the curve by generating an acceleration limit map which depends on a relationship between a maximum possible longitudinal acceleration and a maximum possible lateral acceleration.

Claims

1. A method of determining a speed profile for a vehicle travelling on a road comprising:

identifying a curve of the road that is being approached by the vehicle; and

determining the speed profile for the curve by generating an acceleration limit map, the map depending on a relationship between a maximum possible longitudinal acceleration and a maximum possible lateral acceleration for traversing the curve.

2. The method of claim 1, wherein the acceleration limit map is generated based on a parameter related to a driving style of a driver of the vehicle.

3. The method of claim 1, wherein the acceleration limit map is generated based on a parameter related to at least one of the following:

available road friction and vehicle-specific data.

4. The method of claim 3, wherein the parameter relates to available road friction and is determined based upon at least one of:

information received from an anti-lock brake system of the vehicle, information received from an electronic stability control system of the vehicle, outside temperature, air moisture content, road surface reflection, road surface finish, information received via wireless communication from other vehicles, and information received via wireless communication from surrounding infrastructure.

5. The method of claim 1, wherein the acceleration limit map is generated based on a parameters related to at least one of the following:

road curvature, road bank angle, and road slope.

6. The method of claim 1, further comprising the step of calculating a projected vehicle speed at the curve based on a current vehicle speed, a current vehicle longitudinal acceleration, and a current vehicle lateral acceleration;

and comparing the speed profile with the projected vehicle speed.

7. The method of claim 6, further comprising the step of warning a driver of the vehicle if the projected vehicle speed exceeds the speed profile for at least a portion of the curve.

8. The method of claim 6, further comprising the step of decelerating the vehicle if the projected vehicle speed exceeds the speed profile for at least a portion of the curve.

9. The method of claim 6, further comprising the step of informing a driver of the vehicle if the projected vehicle speed is below the speed profile for at least a portion of the curve.

10. A curve speed estimation unit for a motor vehicle operative to:

receive inputs indicating a position of the vehicle relative to a curve of a road on which the vehicle is travelling;

receive inputs related to a velocity of the vehicle;

receive inputs related to geometry of the curve;

receive inputs related to surface conditions of the road;

receive inputs related to vehicle-specific data;

receive inputs related to driver preferences; and

use at least some of the above inputs to determine a speed profile for the curve by generating an acceleration limit map, the acceleration limit map depending on a relationship between a maximum possible longitudinal acceleration and a maximum possible lateral acceleration for traversing the curve.

11. The curve speed estimation unit of claim 10, wherein the inputs related to geometry of the curve comprise at least one of a radius of curvature, an angle of bank, and a road slope.

12. The curve speed estimation unit of claim 10, wherein the inputs related to vehicle-specific data comprise at least one of a vehicle type, a vehicle center-of-mass location, and a weight of the vehicle.

13. The curve speed estimation unit of claim 10, wherein the inputs related to surface conditions of the road comprise at least one of a surface friction, an outside temperature, and a road surface material.

14. The curve speed estimation unit of claim 10, wherein the inputs related to surface conditions of the road are received via wireless communication from at least one of a second vehicle and a surrounding infrastructure.

15. The curve speed estimation unit of claim 10, wherein the curve speed estimation unit further receives inputs related to a measured driving style.

16. The curve speed estimation unit of claim 10, wherein the inputs related to driver preferences comprise a selection by a driver of the vehicle of one of a comfort mode, an economy mode, and a performance mode.

17. A method of determining a speed profile for a road curve being approached by a vehicle comprising:

identifying physical characteristics of the road;

identifying vehicle-specific data related to an ability of the vehicle to negotiate the curve;

and determining the speed profile for the curve by generating an acceleration limit map, the map generated by considering a relationship between a maximum possible longitudinal acceleration and a maximum possible lateral acceleration for traversing the curve.

18. The method of claim 17 wherein the physical characteristics of the road comprise at least one of a radius of curvature, an angle of bank, and a road slope.