Module and method pertaining to mode choice when determining reference values

• US 9,352,750 B2
• Filed: 12/22/2011
• Issued: 05/31/2016
• Est. Priority Date: 12/22/2011
• Status: Expired due to Fees

• Current Assignee: Scania CV AB (Volkswagen AG)
• Original Assignee: Scania CV AB (Volkswagen AG)
• Inventors: Johansson, Oskar, Sdergren, Maria, Roos, Fredrik
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): SMITH-STEWART, DEMETRA R
• Application Number:
  US14/367,571
• Publication Number:
  US 20150006055A1
• Time in Patent Office: 1,622 Days
• US Class Current: 1/1
• CPC Class Codes: B60K 2310/242 setting initial target speed, e.g. initial algorithms
• 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 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/11 Stepped gearings
• CPC Class Codes: B60W 2540/215 Selection or confirmation of options
• 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 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 40/105 Speed
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: Y02T 10/84 Data processing systems or methods, management, administration

Abstract

A reference value for controlling a vehicle'"'"'s speed is obtained by: receiving a choice from two selectable driving modes, each driving mode having a unique set of settings that influence the calculation of the reference value; making a first prediction, based on an engine torque T_ret that retards the vehicle as compared with conventional cruise control, and a second prediction based on an engine torque T_acc that accelerates the vehicle as compared with conventional cruise control; comparing the first and second predictions with a lower limit value and/or an upper limit value, which delineate a speed range within which the speed should be; and determining the reference value based on the mode choice and on at least one of the comparisons and said first prediction and second prediction of the speed along the horizon, such that the reference value is within the speed range.

Claims

1. A vehicle speed regulator module configured to control a speed of a vehicle based on at least one reference value, such that such the at least one reference value differs from a value corresponding to the speed indicated by a driver of the vehicle, the module comprising:

a mode selection input unit configured to receive a mode choice from at least two selectable driving modes, each driving mode comprising a setting that influences a calculation of the at least one reference value;

a reference value calculation unit configured;

to make a first prediction and a second prediction of the speed along an itinerary, 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;

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

to determine the at least one reference value based on the mode choice received and based on at least one of said comparisons and said first prediction and second prediction so that the at least one reference value is within the speed range bounded by the lower and upper limit values; and

the vehicle speed regulator module configured to regulate the speed of the vehicle based on the at least one reference value determined.

2. The module according to claim 1, wherein the lower and upper limit values and are defined based on the mode choice.

3. The module according to claim 1, wherein a further lower limit value and a further upper limit value are defined based on the mode choice and are related to the speed indicated by the driver.

4. The module according to claim 1, wherein the mode choice decides how said at least one reference value is determined.

5. The module according to claim 1, wherein when said at least one reference value is a reference speed, the mode choice defines a permissible acceleration and/or retardation of the vehicle.

6. The module according to claim 1, wherein the mode choice defines a weighting parameter β

which is used in evaluation of one or more cost functions when determining said at least one reference value.

7. The module according to claim 6, wherein the calculation unit is configured to evaluate a cost for at least one of said first prediction, said second prediction and a further first prediction v_{pred_Tk+new_ret}, and a further second prediction v_{pred_Tk+new_acc} of the speed by using at least one cost function J_{Tnew_ret}, J_{Tnew_acc}, J_{Tk+new_ret}, J_{Tk+new_acc}.

8. The module according to claim 7, wherein the calculation unit is configured to determine the respective cost functions J_{Tnew_ret}, J_{Tnew_acc}, J_{Tk+new_ret} and J_{Tk+new_acc} for said first prediction, said second prediction, said further first prediction and said further second prediction by weighting with a weighting parameter β

their respective energy reductions and journey time reductions relative to a conventional prediction v_{pred_cc} of the speed.

9. The module according to claim 8, wherein the calculation unit is configured to compare the cost functions J_{Tnew_ret}, J_{Tnew_acc}, J_{Tk+new_ret} and J_{Tk+new_acc} for said first prediction, said second prediction, said further first prediction and said further second prediction,

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

10. A vehicle comprising the module of claim 1.

11. 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 that differs from a value corresponding to the speed indicated by a driver of the vehicle, the method comprising:

receiving a mode choice from at least two selectable driving modes, each mode choice comprising a setting that influences calculation of the at least one reference value;

making a first prediction and a second prediction of the speed along an itinerary, said first prediction based on an engine torque which retards the vehicle as compared with 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 said first prediction and second prediction, respectively, with a lower limit value and/or an upper limit value, wherein the lower limit value and the upper limit value delineate a speed range within which the speed of the vehicle is maintained;

determining, by an automated digital processor circuit, the at least one reference value based on said mode choice and on at least one of said comparisons and said first prediction and second prediction so that the at least one reference value is within the speed range bounded by the lower and upper limit values; and

outputting the at least one reference value determined to a vehicle control system for controlling the speed of the vehicle.

12. The method according to claim 11, wherein the lower and upper limit values are defined based on the mode choice.

13. The method according to claim 11, wherein a further lower limit value and a further upper limit value are defined based on the mode choice and are related to the speed indicated by the driver.

14. The method according to claim 11, wherein the mode choice decides how said at least one reference value is determined.

15. The method according to claim 11, wherein when said at least one reference value is a reference speed, and the mode choice defines a permissible acceleration and/or retardation of the vehicle.

16. The method according to claim 11, wherein the method further comprises:

using at least one cost function for the determining of the at least one reference value; and

evaluating the at least one cost function based on a weighting parameter β

defined according to the mode choice.

17. The method according to claim 16, wherein the method further comprises:

using a cost function for the determining of said at least one reference value, the cost function evaluating a cost for at least one of said first prediction, said second prediction and a further first prediction v_{pred_Tk+new_ret}, and a further second prediction v_{pred_Tk+new_acc} of the speed,

wherein the cost function is at least one cost function of the cost functions J_{Tnew_ret}, J_{Tnew_acc}, J_{Tk+new_ret}, J_{Tk+new_acc}.

18. The method according to claim 17, wherein the cost functions J_{Tnew_ret}, J_{Tnew_acc}, J_{Tk+new_ret} and J_{Tk+new_acc} for said first prediction, said second prediction, said further first prediction and said further second prediction are determined by weighting with a weighting parameter β

their respective energy reductions and journey time reductions relative to a conventional prediction v_{pred_cc} of the speed.

19. The method according to claim 18, wherein the method further comprises:

comparing the cost functions J_{Tnew_ret}, J_{Tnew_acc}, J_{Tk+new_ret} and J_{Tk+new_acc} for said first prediction, said second prediction and said further first prediction, said further second prediction,

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

20. A non-transitory computer-readable medium incorporating instructions configured, when the instructions are run on a computer, to regulate a speed of a vehicle based on at least one reference value that differs from a value corresponding to the speed indicated by a driver of the vehicle, by performing steps including:

receiving a mode choice from at least two selectable driving modes, each mode choice comprising a setting that influences calculation of the at least one reference value;

making a first prediction and a second prediction of the speed along an itinerary, said first prediction based on an engine torque which retards the vehicle as compared with 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 said first prediction and second prediction, respectively, with a lower limit value and/or an upper limit value, wherein the lower limit value and the upper limit value delineate a speed range within which the speed of the vehicle is maintained;

determining, by an automated digital processor circuit, the at least one reference value based on said mode choice and on at least one of said comparisons and said first prediction and second prediction so that the at least one reference value is within the speed range bounded by the lower and upper limit values; and

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