SE1451481A1

SE1451481A1 - Apparatus and method for controlling a velocity of a vehicle

Info

Publication number: SE1451481A1
Application number: SE1451481A
Authority: SE
Inventors: Claesson André
Original assignee: Scania Cv Ab
Priority date: 2014-12-05
Filing date: 2014-12-05
Publication date: 2016-06-06
Also published as: DE102015015283A1; SE539688C2; BR102015030394A2

Description

Apparatus and method for controlling a velocity of a vehicle Technical field The present disclosure relates to an apparatus and a method for controlling a velocity of a vehicle capable of transporting a plurality of passengers. The disclosure also relates to a vehicle, a computer program and a computer program product.

Background Vehicles are commonly equipped with velocity controlling functions in order to assist the driver and to reduce the risk of overriding any velocity restrictions. One kind of velocity control function limits the maximum velocity of the vehicle according to current speed restrictions using positioning data, velocity sign recognition etc. The driver may then depress the acceleration pedal without affecting the velocity of the vehicle if the velocity has already reached a current maximum velocity restriction.

However, the above mentioned functionality may have some drawbacks. For example, a heavy vehicle may anyway cause overriding of the maximum velocity restriction in downhill slopes because of its weight. Further, the vehicle may roll over in a curve if it has a too large velocity as it has a high center of gravity.

In US2013289874, a travel plan generation method is described including a maximum speed limit section setting step for safety and comfort. The maximum speed of the vehicle is limited on the basis of a road environment on the route.

The road environment may include an intersection, a curve, a crossing section or a traffic signal. In US20100100295A1 a gradient of a slope of the road is estimated and a target velocity of the vehicle is computed based on the slope. The braking of the vehicle is then controlled such that the vehicle speed becomes equal to the target vehicle speed. 2 Summary A vehicle carrying many passengers, such as a bus, may have even more considerations such as comfort and safety for the passengers. A bus may also have passengers standing thereby making them more vulnerable for accelerations and rotations.

It is thus an object of the disclosure to alleviate at least some of the drawbacks with the prior art. It is a further object of the disclosure to provide a velocity restriction function for a vehicle with capacity for many passengers considering 10 comfort and safety for the passengers.

These object and others are at least partly achieved by the apparatus, the method and the vehicle according to the independent claims, and by the embodiments according to the dependent claims.

According to a first aspect, the object is at least partly achieved by an apparatus for controlling a velocity of a vehicle capable of transporting a plurality of passengers. The apparatus comprises at least one detector unit configured to detect passenger data of one or several passengers of the vehicle, and to generate a passenger data signal with the passenger data. The apparatus further comprises a processing unit configured to receive the passenger data signal and to analyze the passenger data in order to determine passenger situation data indicating the passenger situation. The processing unit is also configured to determine a maximum velocity of the vehicle based on the passenger situation data and at least one rule considering passenger safety and/or passenger comfort, and to send the maximum velocity to a velocity controller of the vehicle, whereby the velocity of the vehicle is restricted according to the maximum velocity.

The passenger situation is thus monitored and the maximum velocity of the vehicle is adapted according to the passenger situation to provide for an optimal comfort and security for the passengers of the vehicle. The vehicle can then be 3 driven with a velocity that is as high as possible while at the same time keeping good comfort and security for the passengers.

According to a second aspect, the object is at least partly achieved by a method for controlling a velocity of a vehicle capable of transporting a plurality of passengers. The method comprises: detecting passenger data of one or several passengers of the vehicle, analyzing the passenger data in order to determine passenger situation data indicating the passenger situation, determining a maximum velocity of the vehicle based on the passenger situation data and at least one rule considering passenger safety and/or passenger comfort, and sending the maximum velocity to a velocity controller of the vehicle, whereby the velocity of the vehicle is restricted according to the maximum velocity.

According to one embodiment, the passenger data is detected by means of a detector unit including a camera unit, a laser unit, a CCD-unit (Charge Coupled Device), a heat sensor, an IR-sensor (Infra Red), a pressure unit and/or a seat belt detector unit.

According to one embodiment, the method comprises analyzing the passenger data in order to determine passenger situation data such as: a number of passengers inside the vehicle, a number of standing passengers inside the vehicle, a number of sitting passengers inside the vehicle, a number of passengers inside the vehicle using seat belt, a number of human carriages such as baby carriages, wheel chairs, walking frames, bikes, etc. inside the vehicle.

According to one embodiment, the method comprises receiving road topography data of the upcoming road of the vehicle and determining the maximum velocity of the vehicle based also on the road topography.

According to one embodiment, the method comprises receiving vehicle specific data such as a weight of the vehicle and/or a size of the vehicle, and determining the maximum velocity of the vehicle based also on the vehicle specific data. 4 According to one embodiment, the method comprises receiving data of the current velocity of the vehicle and determining a velocity ramp from the current velocity of the vehicle to the maximum velocity of the vehicle, and generating the maximum velocity signal with the velocity ramp.

According to one embodiment, the method comprises determining the velocity ramp with a ramped up or ramped down velocity of the vehicle considering passenger safety and/or comfort.

According to a third aspect, the object is at least partly achieved with a computer program P, wherein the computer program P comprises a computer program code to cause an apparatus, or a computer connected to the apparatus, to perform any of the method steps according to the disclosure.

According to a fourth aspect, the object is at least partly achieved with a computer program product comprising a computer program code stored on a computer-readable medium to perform the method according to any of the steps in the disclosure, when the computer program code is executed by an apparatus or by a computer connected to the apparatus.

Brief description of the drawings Fig. 1 shows a bus capable of transporting a plurality of passengers, arranged with an apparatus according to the disclosure.

Fig. 2 shows the apparatus as illustrated in Fig. 1 in greater detail for controlling a velocity of the vehicle shown in Fig. 1.

Fig. 3 shows a method according to one embodiment of the disclosure.

Detailed description Fig. 1 illustrates a motor vehicle 1 in the shape of a bus with the capability of transporting a plurality of passengers. A regular bus may have seating capacity for about 10 to 60 passengers, and standing capacity for about 20 to 60 passengers. Some buses may have a total capacity of up to 300 passengers. In many busses there are one or several areas for extra-ordinary equipage such as disabled or elderly persons mobility equipment, baby carriages etc. The bus may be a public transport bus used e.g. in towns, or a coach for long distance travelling. The bus may be a single-decker bus or a double-decker bus. The bus may also be an articulated bus, with at least two rigid sections linked by a pivoting joint. The bus may also be autonomously driven without a human driver. The bus may be autonomously driven independently, or be part of a road train where only the first vehicle has a human driver. The road train may include only busses or also other kinds of vehicles.

The motor vehicle 1 shown in Fig. 1 is arranged with an apparatus 2 for controlling a velocity of the vehicle 1. The apparatus 2 is arranged to determine a maximum velocity for the vehicle and send data of the maximum velocity to the velocity controller 3. The maximum velocity may be sent as a signal 13 or via another data carrier. The velocity controller 3 is arranged to limit the velocity of the vehicle 1 according to the maximum velocity. The velocity controller 3 may e.g. restrict the motor torque to an engine (not shown) of the vehicle 1 such that the vehicle 1 cannot achieve a greater velocity than the maximum velocity.

The function of controlling the velocity of the vehicle 1 may be optional for the driver of the vehicle 1 as a support. It may then be activated via i.a. a switch panel of the vehicle 1. The function may instead be installed and permanently activated in the vehicle 1 such that the driver cannot influence the function.

In Fig. 2 the apparatus 2 is shown in greater detail. The apparatus 2 comprises at least one detector unit 4 configured to detect passenger data of one or several passengers of the vehicle 1, and to generate a passenger data signal with the passenger data. The detector unit 4 may include a camera unit, a laser unit, a CCD-unit (Charge Coupled Device), a heat sensor, an IR-sensor (Infra Red), a pressure unit and/or a seat belt detector unit. Passenger data may be photos taken within the vehicle 1 illustrating the passenger situation, sensor data with 6 detected passengers within the vehicle 1 by means of their appearance, heat radiation, movement, pressure from hands on holding bars in the vehicle 1 or use of seat belt or belts in the vehicle 1. The passenger data is thus more or less raw data from one or several detector units 4 in the vehicle 1.

The detector unit 4 is further configured to send the passenger data signal to a processing unit 5 of the apparatus 2. The processing unit 5 is configured to receive the passenger data signal. The processing unit 5 is further configured to analyze the passenger data in order to determine passenger situation data indicating the passenger situation. The processing unit 5 may thus be configured to analyze the passenger data in order to determine passenger situation data such as: a number of passengers inside the vehicle 1, a number of standing passengers inside the vehicle 1, a number of sitting passengers inside the vehicle 1, a number of passengers in the vehicle 1 using seat belt, a number of human carriages such as baby carriages, wheel chairs, walking frames, bikes, etc. in the vehicle 1. Passenger situation data may also include location of the passenger(s) and/or human carriages, and/or size of passengers. It can even be possible to distinguish characteristics of the passengers such as elderly people, children etc.

The processing unit 5 is further configured to determine a maximum velocity of the vehicle 1 based on the passenger situation data and at least one rule considering passenger safety and/or passenger comfort. The apparatus 2 may also be arranged with a memory unit 6 configured to communicate with the processing unit 2. The rule or rules considering passenger safety and/or passenger comfort and other kinds of data may thus be stored in the memory unit 6. For example, a rule may stipulate that if there are one or several passengers that are not using seatbelt, the maximum velocity is 50 km/h. Another rule may stipulate that if there are human carriages in the vehicle 1, the maximum velocity is 50 km/h. The processing unit 5 may also be configured to receive road topography data of the upcoming road of the vehicle 1 and to determine the maximum velocity of the vehicle 1 based also on the road topography. The processing unit 5 may further be configured to receive vehicle specific data such as a weight of the vehicle 1 7 and/or a size of the vehicle 1 and to determine the maximum velocity of the vehicle 1 based also on the vehicle specific data. Further, the processing unit 5 may receive data from a gyro (not shown) to determine the roll of the vehicle 1. The center of gravity of the vehicle 1 may continuously be determined by the processing unit 5 based on e.g. roll when turning. The processing unit 5 may further receive data from detectors in the vehicle 1 detecting e.g. traffic signs, presence and/or behavior of fellow road-users in front of and/or around the vehicle 1. The vehicle 1 may also be equipped with communication means for wireless communication between vehicles, e.g. vehicle to vehicle communication (V2V), and between vehicles and road nodes e.g. vehicle to infrastructure communication (V2I). The wireless communication may also be performed via mobile communication servers, via an application in a communication unit or via a server. The vehicle 1 is for the purpose of wireless communication equipped with a unit for wireless communication 8. The apparatus 2 may then receive information about what's happening further down a vehicle queue, any upcoming traffic signs etc.

The rule or rules may thus also take road topography of the upcoming road, the weight of the vehicle, and/or the size of the vehicle 1, any roll, center of gravity, information on traffic signs such as velocity restrictions, behavior of fellow road- users, wirelessly communicated information etc. into consideration when determining the maximum velocity. For example, if it is determined that a curve is upcoming and it has been detected that there are several standing passengers in the vehicle 1, a rule may stipulate that the maximum velocity is 10 km/h during the curve.

For the above purposes the vehicle 1 may be equipped with a positioning unit 7 configured to determine the position of the vehicle 1, and a map unit 8 with information of the topography and road extension. The positioning unit 7 may be configured to receive signals from a global positioning system such as GNSS (Global Navigation Satellite System), for example GPS (Global Positioning System), GLONASS, Galileo or Compass. Alternatively the positioning unit 7 may 8 be configured to receive signals from for example one or several distance detectors in the vehicle 1 that measure relative distances to for example a road side unit, nearby vehicles or similar with a known position. Based on the relative distance or distances the positioning unit 7 may determine the position of the own vehicle 1. A detector may also be configured to detect a signature in for example a road side unit, whereby the signature represents a certain position. The positioning unit 7 may then be configured to determine its own position via detection of the signature. The positioning unit 7 may instead be configured to determine the signal strength in one or a plurality of signals from a base station or road side unit with known position, and thereby determine the position of the vehicle 1 by using triangulation. Some of above mentioned technologies may of course be combined to ensure a correct position determination of the vehicle 1. The positioning unit 7 is configured to generate a position signal with the position of the vehicle 1, and to send it to the apparatus 2. Together with road topography data and destination information, the processor unit 5 may be configured to determine the upcoming trajectory of the vehicle 1 with topography information.

The processing unit 5 is further configured to send the maximum velocity to a velocity controller 3 of the vehicle 1, whereby the velocity of the vehicle 1 is restricted according to the maximum velocity. The processing unit 5 may further be configured to determine a position along the road where the vehicle 1 should have the maximum velocity. The processing unit 5 may then be configured to send the position together with the determined maximum velocity to the velocity controller 3, whereby the velocity controller 3 is arranged to set the maximum velocity of the vehicle 1 at the position.

According to one embodiment, the processing unit 5 is configured to receive data of the current velocity of the vehicle 1 and to determine a velocity ramp from the current velocity of the vehicle 1 to the determined maximum velocity of the vehicle 1, and generate the maximum velocity signal with the velocity ramp. The velocity ramp may include positions or times adhering to a certain velocity in the velocity ramp. The processing unit 5 may be configured to determine the velocity ramp 9 with a ramped up or ramped down velocity of the vehicle 1 considering passenger safety and/or comfort. For example, if the vehicle 1 is almost empty, the velocity may be ramped up or down during a shorter time-span or length of the road than if the vehicle 1 had a plurality of standing passengers. If the vehicle 1 only carries the driver of the vehicle 1, the velocity of the vehicle 1 may be changed with no or very little ramping. Thus, the velocity ramp may be determined based on the passenger situation data. The current velocity of the vehicle 1 is a known parameter in the vehicle 1, and may be determined by a velocity detector (not shown).

When ramping down the velocity, the maximum velocity of the vehicle 1 is changed according to the determined ramp. Brakes such as primary brakes and secondary brakes e.g. supplemental brakes are used to lower the velocity according to the ramp. When ramping up the velocity, the acceleration controller 3 is used. The fuel input or power to the engine of the vehicle 1 may be limited to achieve a lower velocity. An acceleration curve of the vehicle 1 may be analyzed, and the fuel input or power may be adapted based on the curve. If the engine is an electric engine, then the electrical power to the engine may be restricted.

The vehicle 1 may communicate internally between its apparatuses, units, devices, sensors, detectors etc. via a communication bus, for example a CAN-bus (Controller Area Network) which uses a message based protocol. Examples of other communication protocols that may be used are TTP (Time-Triggered Protocol), Flexray, etc. In that way signals and data described herein may be exchanged between different units, devices, sensors and/or detectors in the vehicle 1. Signals and data may instead be transferred wirelessly between the different apparatuses, units, devices, sensors and/or detectors.

The processing unit 5 and the memory unit 6 may be part of an electronic control 30 unit (ECU) of the vehicle 1. The processing unit 5 may be made up of one or more Central Processing Units (CPU). The memory unit 6 may be made up of one or more memory units. A memory unit may include a volatile and/or a non-volatile 10 memory, such as a flash memory or Random Access Memory (RAM). The memory unit 6 further includes a computer program P including a computer program code to cause the apparatus 2, or a computer connected to the apparatus 2, to perform any of the method steps that will be described in the following.

In Fig. 3 a method for controlling the velocity of the vehicle 1 is illustrated by means of a flowchart. The method will now be explained with reference to the flowchart. The method comprises detecting passenger data of one or several passengers of the vehicle 1 (Al). This step may be accomplished with one or several detector units 4 as explained above. Thereafter, the method comprises analyzing the passenger data in order to determine passenger situation data indicating the passenger situation (A2). The passenger situation may be e.g. the number of passengers standing or sitting, how many of the passengers are having seatbelts etc. The method further comprises determining a maximum velocity of the vehicle 1 based on the passenger situation data and at least one rule considering passenger safety and/or passenger comfort (A3), and sending the maximum velocity to a velocity controller of the vehicle 1, whereby the velocity of the vehicle 1 is restricted according to the maximum velocity (A4).

According to one embodiment, the method comprises receiving road topography data of the upcoming road of the vehicle and/or comprising receiving vehicle specific data such as a weight of the vehicle and/or a size of the vehicle, and determining the maximum velocity of the vehicle based also on the road topography and/or vehicle specific data.

According to one embodiment, the method may further comprise receiving data of the current velocity of the vehicle and determining a velocity ramp from the current velocity of the vehicle to the maximum velocity of the vehicle, and generating the maximum velocity signal with the velocity ramp. The velocity ramp is determined to ramp up or down the velocity of the vehicle considering passenger safety and/or comfort.

Claims

1. 0 15 20 25 30 ll Iaims 1. An apparatus (2) for controlling a velocity of a vehicle (1) capable of transporting a plurality of passengers, c h a ra cte rized in that the apparatus (2) comprises - at least one detector unit (4) configured to detect passenger data of one or several passengers of the vehicle (1 ), and to generate a passenger data signal with the passenger data; - a processing unit (5) configured to - receive the passenger data signal; - analyze the passenger data in order to determine passenger situation data indicating the passenger situation; - determine a maximum velocity of the vehicle (1) based on the passenger situation data and at least one rule considering passenger safety and/or passenger comfort; - send the maximum velocity to a velocity controller (3) of the vehicle (1 ), whereby the velocity of the vehicle (1) is restricted according to the maximum velocity. The apparatus (2) according to claim 1, wherein the detector unit (4) includes a camera unit, a laser unit, a CCD-unit (Charge Coupled Device), a heat sensor, an IR-sensor (Infra Red), a pressure unit and/or a seat belt detector unit. The apparatus (2) according to claim 1 or 2, wherein the processing unit (5) is configured to analyze the passenger data in order to determine passenger situation data such as: a number of passengers inside the vehicle (1), a number of standing passengers inside the vehicle (1 ), a number of sitting passengers inside the vehicle (1 ), a number of passengers inside the vehicle (1) using seat belt, a number of human carriages such as baby carriages, wheel chairs, walking frames, bikes, etc. inside the vehicle (1). The apparatus (2) according to any of the preceding claims, wherein the processing unit (5) is configured to receive road topography data of the upcoming road of the vehicle (1) and to determine the maximum velocity of the vehicle (1) based also on the road topography. 10 15 20 25 30 12 The apparatus (2) according to any of the preceding claims, wherein the processing unit (5) is configured to receive vehicle specific data such as a weight of the vehicle (1) and/or a size of the vehicle (1) and to determine the maximum velocity of the vehicle (1) based also on the vehicle specific data. The apparatus (2) according to claim 4 or 5, wherein the processing unit (5) is configured to receive data of the current velocity of the vehicle (1) and to determine a velocity ramp from the current velocity of the vehicle (1) to the maximum velocity of the vehicle (1 ), and generate the maximum velocity signal with the velocity ramp. The apparatus (2) according to clam 6, wherein the processing unit (5) is configured to determine the velocity ramp with a ramped up or ramped down velocity of the vehicle (1) considering passenger safety and/or comfort. A method for controlling a velocity of a vehicle (1) capable of transporting a plurality of passengers, comprising - detecting passenger data of one or several passengers of the vehicle (1 ); - analyzing the passenger data in order to determine passenger situation data indicating the passenger situation; - determine a maximum velocity of the vehicle (1) based on the passenger situation data and at least one rule considering passenger safety and/or passenger comfort; - sending the maximum velocity to a velocity controller (3) of the vehicle (1 ), whereby the velocity of the vehicle (1) is restricted according to the maximum velocity. The method according to claim 8, wherein the passenger data is detected by means of a detector unit including camera unit, a laser unit, a CCD-unit (Charge Coupled Device), a heat sensor, an IR-sensor (Infra Red), a pressure unit and/or a seat belt detector unit. The method according to claim 8 or 9, comprising analyzing the passenger data in order to determine passenger situation data such as: a number of passengers inside the vehicle (1), a number of standing passengers inside the vehicle (1), a number of sitting passengers inside the vehicle (1), a number of passengers inside the vehicle (1) using seat belt, a number of 10 15 20 25 30 13 human carriages such as baby carriages, wheel chairs, walking frames, bikes, etc. inside the vehicle (1 ). 11. The method according to any of the claims 8 to 10, comprising receiving road topography data of the upcoming road of the vehicle (1) and determining the maximum velocity of the vehicle (1) based also on the road topography. 12. The method according to any of the claims 8 to 11, comprising receiving vehicle specific data such as a weight of the vehicle (1) and/or a size of the vehicle (1), and determining the maximum velocity of the vehicle (1) based also on the vehicle specific data. 13. The method according to claim 11 or 12, comprising receiving data of the current velocity of the vehicle (1) and determining a velocity ramp from the current velocity of the vehicle (1) to the maximum velocity of the vehicle (1 ), and generating the maximum velocity signal with the velocity ramp. 14. The method according to clam 13, comprising determining the velocity ramp with a ramped up or ramped down velocity of the vehicle (1) considering passenger safety and/or comfort. 15. A vehicle (1) arranged with an apparatus (2) according to any of the claims 1 to 7. 16. The vehicle (1) according to claim 15, wherein the vehicle (1) is a bus. 17. A computer program P, wherein said computer program P comprises a computer program code to cause an apparatus (2), or a computer connected to the apparatus (2), to perform the method according to any of claims 8 -15. 18. A computer program product comprising a computer program code stored on a computer-readable medium to perform the method according to any of the claims 8-15, when the computer program code is executed by an apparatus (2) or by a computer connected to the apparatus (2).