SYSTEMS AND METHODS FOR VEHICLE SPEED MANAGEMENT

• US 20150306957A1
• Filed: 04/24/2014
• Published: 10/29/2015
• Est. Priority Date: 04/24/2014
• Status: Active Grant

• Current Assignee: Cummins Incorporated
• Original Assignee: Cummins Incorporated
• Inventors: Sujan, Vivek Anand, Vajapeyazula, Phani, Follen, Kenneth, Wu, An, Forst, Howard Robert
• Granted Patent: US 9,272,621 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60K 31/00 Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator fittings acting on two or more sub-units B60W30/14; speedometers G01P; systems or devices for controlling speed in general G05D13/00 ; in traffic anti-collision system for road vehicles G08G1/16
• 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 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• 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 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 40/076 Slope angle of the road
• CPC Class Codes: B60W 50/0097 Predicting future conditions

Abstract

Controlling a speed of a vehicle based on at least a portion of a route grade and a route distance divided into a plurality of route sections, each including at least one of a section grade and section length. Controlling the speed of the vehicle is further based on determining a cruise control speed mode for the vehicle for each of the plurality of route sections and determining a speed reference command of the vehicle based on at least one of the cruise control speed mode, the section length, the section grade, and a current speed.

Claims

1. A method, comprising:

determining a route grade and a route distance;

determining at least one of a section grade and a section length for a plurality of route sections of a travel route for a vehicle based on at least a portion of each of the route grade and the route distance;

determining a cruise control speed mode for the vehicle for each of the plurality of route sections based on at least one of the section grade and the section length;

determining a speed reference command of the vehicle based on at least one of the cruise control speed mode, the section length, the section grade, and a current speed; and

controlling, with a controller, a speed of the vehicle based on the speed reference command.

2. The method of claim 1, wherein determining the cruise control speed mode for the vehicle for each of the plurality of route sections is further based on a surface classification of each of the plurality of route sections.

3. The method of claim 1, the plurality of route sections comprising a current route section including a current surface classification and a next route section including a next surface classification, wherein determining the cruise control speed mode is based on at least one of the current surface classification and the next surface classification.

4. The method of claim 1, wherein determining the speed reference command is further based on at least one of a vehicle condition, an environmental condition, a vehicle route condition, and a fuel amount.

5. The method of claim 4, wherein the vehicle condition includes at least one of a throttle position, an ambient air pressure, an ambient air temperature, an engine torque, and a brake position.

6. The method of claim 4, wherein the environmental condition includes at least one of an elevation condition, a wind condition, and a precipitation condition.

7. The method of claim 4, wherein the vehicle route condition includes at least one of a maximum speed limit, a minimum speed limit, a maximum route trip time, and a traffic condition.

8. The method of claim 1, further comprising:

determining an average grade based on at least a portion of the plurality of route sections;

determining a surface classification for each of the plurality of route sections based on the section grade, the section length, an average grade, and a surface classification change threshold; and

determining an adjusted cruise control speed mode for the vehicle based on the cruise control speed mode for each of the plurality of route sections, the average grade, and a speed adjustment distance threshold,

wherein determining the speed reference command of the vehicle is further based on the adjusted cruise control speed mode.

9. The method of claim 8, wherein the surface classification change threshold includes at least one of a grade percentage threshold, a hysteresis threshold, and an adaptive control logic threshold.

10. The method of claim 9, wherein the surface classification includes an uphill surface, a downhill surface, and a flat surface, wherein the uphill surface includes the section grade being positive and greater than the grade percentage threshold, wherein the downhill surface includes the section grade being negative and greater than the grade percentage threshold, and wherein the flat surface includes the section grade being less than or equal to the grade percentage threshold.

11. The method of claim 10, further comprising:

determining a plurality of previous surface classifications for at least a portion of the plurality of route sections,

wherein the hysteresis threshold is based on the surface classification and one or more of the plurality of previous surface classifications.

12. The method of claim 8, further comprising determining at least one of a filtered elevation and a filtered grade, wherein determining each of the filtered elevation and filtered grade includes using at least one of a low pass filter, a high pass filter, a band pass filter, and a moving average filter, and wherein determining the surface classification is further in response to at least one of the filtered elevation and the filtered grade.

13. The method of claim 8, wherein determining the surface classification is further in response the route distance being greater than a distance threshold.

14. The method of claim 1, wherein the cruise control speed mode includes one of a cruise mode, a pre-uphill speedup mode, an uphill slowdown mode, a pre-downhill slowdown mode, and a downhill speedup mode.

15. The method of claim 1, wherein determining the route grade and the route distance is based on at least one of a previously mapped route, a road grade sensor, a global positioning system, and a road grade device operable to provide road grade information.

16. The method of claim 1, wherein controlling the speed of the vehicle includes controlling at least one of a brake actuator position, a throttle actuator position, a fuel injector, an engine torque, a transmission gear ratio, a final drive selection, and a cruise control set point.

17. The method of claim 1, wherein determining the speed reference command includes using at least one function from the group consisting of a piecewise linear function, a nonlinear function, a polynomial function, an exponential function, a logarithmic function, a trigonometric function, a spline function, and a constant function.

18. The method of claim 1, further comprising:

providing the vehicle speed reference to an output device, wherein the output device is structured to display an indication of the vehicle speed reference command.

27. The method of claim 18, wherein the plurality of route sections comprises at least a current route section including a current surface classification and a next route section including a next surface classification, and wherein determining the vehicle speed mode is further based on at least one of the current surface classification and the next surface classification.

28. The method of claim 18, wherein the first route section is a current route section that the vehicle is currently on and the second route section is a next route section which the vehicle will be on after the vehicle travels across the section length of the current route section.

29. The method of claim 18, wherein determining the vehicle speed reference is further in response to at least one of a saturation threshold and a rate limiter.

30. The method of claim 18, wherein the vehicle speed mode identification includes one of a cruise speed mode to return to or maintain a cruise speed, a pre-uphill speedup speed mode to increase the current speed before entering an uphill, an uphill slowdown speed mode to decrease the current speed during the uphill, a pre-downhill slowdown speed mode to decrease the current speed before entering a downhill, and a downhill speedup speed mode to increase the current speed during a downhill.

19. A method, comprising:

determining, with a controller, a plurality of route sections along a travel route for a vehicle in active cruise control mode, the plurality of route sections comprising a first route section and a second route section, each of the first route section and the second route section including at least one of a section grade and a section length;

determining a vehicle speed mode identification based on at least one of the first route section and the second route section;

determining a vehicle speed reference based on at least one of the vehicle speed mode identification, the section length, the section grade, and a current speed; and

providing the vehicle speed reference to an output device from the controller.

20. The method of claim 19, further comprising:

providing, from the controller, the vehicle speed reference to the one or more vehicle speed regulators for controlling a speed of the vehicle based on the vehicle speed reference.

21. The method of claim 20, further comprising:

calculating an average section grade based on the section grade of at least a portion of the plurality of route sections;

determining a first route section surface classification in response to the first route section and a surface classification change threshold; and

determining a second route section surface classification in response to the second route section and the surface classification change threshold,

wherein determining the vehicle speed reference is further based on at least one of the first and second route section surface classifications.

22. The method of claim 21, further comprising:

determining a previous route section comprising one or more of the plurality of route sections previous to the first route section; and

determining a third route section surface classification in response to the previous route section and the surface classification change threshold,

wherein determining the vehicle speed mode identification is further based on the third route section surface classification.

23. The method of claim 21, further comprising:

determining an adjusted vehicle speed mode identification based on the first route section surface classification, the second route section surface classification, the average section grade, a threshold length and the vehicle speed mode identification, and

wherein determining the vehicle speed reference is further in response to the adjusted vehicle speed mode identification.

24. The method of claim 23, further comprising:

determining a previous route section comprising one or more of the plurality of route sections previous to the first route section; and

determining a third route section surface classification in response to the previous route section and the surface classification change threshold,

wherein determining the adjusted vehicle speed mode identification is further based on the third route section surface classification.

25. The method of claim 21, wherein each of the first and second route section surface classifications are selected from a surface classification list that includes an uphill surface classification, a downhill surface classification, and a flat surface classification.

26. The method of claim 21, wherein the surface classification change threshold includes at least one of a road grade percentage threshold, a hysteresis threshold, and an adaptive control logic threshold.

31. An apparatus, comprising:

an electronic controller in operative communication with a vehicle system in active cruise control mode, wherein the vehicle system includes an engine and a plurality of inputs operable to provide signals indicating conditions of at least one of a route, an environment, and the engine, wherein the electronic controller includes;

a section grade and surface classification module structured to divide a route grade into one or more sections based on a section length, wherein the one or more sections comprises a current section and a next section;

a speed mode determination module structured to determine a vehicle speed mode for each of the one or more sections based on at least one of the current section and the next section; and

a speed reference determination module structured to output to a display an indication of a vehicle speed reference command based on at least one of a current speed, the vehicle speed mode, a first length of the current section, a first grade of the current section, a second length of the next section, and a second grade of the next section.

32. The apparatus of claim 31, wherein the section grade and surface classification module is further structured to determine an average grade over at least a portion of the one or more sections and a surface classification for each of the one or more sections, and wherein the speed mode determination module is further structured to determine the vehicle speed mode for each of the one or more sections based on the surface classification for each of the one or more sections.

33. The apparatus of claim 31, wherein the vehicle speed reference command comprises at least one command selected from the group consisting of a brake actuator position command, a throttle actuator position command, a fuel injection command, a torque command, a transmission gear ratio command, a fuel injection command, a final drive selection command, a cruise control speed setting command, and a requested speed command.

34. The apparatus of claim 31, wherein the vehicle speed mode includes one of a cruise speed mode, a pre-uphill speedup speed mode, an uphill slowdown speed mode, a pre-downhill slowdown speed mode, and a downhill speedup speed mode.

35. The apparatus of claim 31, wherein the route condition includes at least one of a maximum speed limit, a minimum speed limit, a maximum route trip time, a traffic condition, and a maximum number of deviations from a cruise set point.

36. The apparatus of claim 31, wherein the engine condition includes at least one of an ambient air pressure input, an ambient air temperature input, an engine throttle position input, and an engine torque.

37. The apparatus of claim 31, wherein the environment condition includes at least one of include a wind amount, a precipitation condition, an altitude, and a relative humidity.

38. The apparatus of claim 31, wherein the surface classification includes at least one of an uphill surface classification, a downhill surface classification, and a flat surface classification.

39. The apparatus of claim 31, wherein the speed reference determination module is further structured to provide the vehicle speed reference command to the vehicle system for controlling one or more vehicle speed regulators.